CN104443332B - A kind of bionic machine fish being combined driving by active joint and passive joint - Google Patents
A kind of bionic machine fish being combined driving by active joint and passive joint Download PDFInfo
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- CN104443332B CN104443332B CN201410768766.4A CN201410768766A CN104443332B CN 104443332 B CN104443332 B CN 104443332B CN 201410768766 A CN201410768766 A CN 201410768766A CN 104443332 B CN104443332 B CN 104443332B
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- swing arm
- joint
- tail fin
- output shaft
- motor output
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Abstract
A kind of combined the bionic machine fish of driving by active joint and passive joint and belong to bionic coatings underwater robot technical field.This bionic machine fish is made up of sealing cabin and tail fin propeller；Accommodate in sealing cabin and include various loaded components, tail fin propeller has two-freedom swing arm structure, mair motor drives swing arm to do translational motion at horizontal plane by bevel gear, it is connected through the hinge caudal peduncle and tail fin at swing arm end, caudal peduncle front end connects stretching spring, when flapping when about swing arm, tail fin does passive rotation under the common effect in stretching spring and flow field；Installing a reel on regulation motor output shaft, connect the steel wire winding of stretching spring on it, the rotation of regulation motor can change the pretightning force of stretching spring, and then changes the rigidity of passive joint.The present invention utilizes flexible member to realize recycling of mechanical energy, is obtained the mechanical system natural frequency adapted from different trip speed by regulation passive joint rigidity, thus realizes self-adapted high-efficient and move about.
Description
Technical field
The present invention relates to a kind of bionic coatings underwater robot, particularly one joined by active joint and passive joint
Close the bionic machine fish driven.
Background technology
Bionic machine fish is that a kind of fish locomotion that imitates realizes the new type water diving device of propelling, pushes away with traditional propeller
The underwater hiding-machine entered is compared, and bionic machine fish has that energy efficiency is high, mobility is good, low noise and be prone to hidden
The advantage such as cover, obtained the most in recent years studying widely.The joint of bionic machine fish is generally by high-torque, height
The servo drive system of gain feedback controls, and can predefine track with accurate tracking, effectively suppression flow field disturbance
Impact on travelling gait.Owing to the afterbody of bionic machine fish does reciprocally swinging, joint motor is in lasting adding
During speed braking is reversely accelerated, compared with the screw propeller that motor rotates continuously, bionic machine
The angle of rake whole efficiency of fishtail fin is not significantly improved.Biological study shows, animal muscle has bullet
Property energy storage effect, Fish can utilize muscle to realize recycling of mechanical energy, and by effectively utilizing health
The intrinsic dynamics of flow field coupled system reduces muscle energy consumption；Fish can also regulate the elasticity of muscle, makes
The natural frequency of health-flow field coupled system frequency of flapping with tail fin matches, thus realizes under different trip speed
Efficiently advance.Inspired by this, use elastic energy storage element can simulate muscle and realize storage and the release of energy,
Make the mutual phase transformation of potential energy of kinetic energy that afterbody flaps and flexible member, by regulating the rigidity of flexible member, it is thus achieved that
The mechanical system natural frequency adapted from different trip speed, can realize self-adapted high-efficient and move about.
Summary of the invention
It is an object of the invention to provide a kind of bionic machine fish being combined driving by active joint and passive joint, logical
Cross and effectively utilize the intrinsic dynamics of mechanical system, improve the energy efficiency of bionical underwater propeller, it is achieved from
Adapt to the most travelling.
For achieving the above object, the present invention takes techniques below scheme:
This bionic machine fish is made up of sealing cabin and tail fin propeller；Sealing cabin has Torpedo Shape, in it
Accommodate the loaded components including mair motor, regulation motor, control parts, power supply and sensor；
Described tail fin propeller includes the swing arm being connected with sealing cabin rear end, and pendulum by swing arm axis of rotation
Arm end passes through the caudal peduncle that caudal peduncle rotating shaft is rotationally connected, affixed tail fin on caudal peduncle；Tail fin propeller has two
Degree of freedom, drives tail fin to do translation-rotation compound motion；
The main motor output shaft of described mair motor is connected with swing arm rotating shaft by bevel-gear sett, is exported by mair motor
The rotation of axle is converted into the swing of swing arm；
The regulation motor output shaft of described regulation motor is connected with reel, and swing arm is hollow bar, arranges and draw in it
Stretching spring, one end of stretching spring is connected with caudal peduncle, and the other end is connected with reel by steel wire.
The afterbody of described sealing cabin arranges end cap, installs trousers outside end cap.
Described main motor output shaft and regulation motor output shaft are arranged on end cap by dynamic seal respectively.
Described main motor output shaft, regulation motor output shaft parallel longitudinal with machine fish respectively.
The invention have the benefit that
(1) tail fin of described bionic machine fish can do translation rotation compound motion, and translational motion produces main
The action of striking waters wanted, and rotational motion provides the suitable angle of attack for action of striking waters.Translation joint is active joint,
Directly driven by direct current generator；Cradle head is passive joint, can produce under the common effect in spring and flow field
Action, the rigidity continuously adjustable of spring, to change the natural frequency of mechanical system, thus it is high to realize self adaptation
Go for an outing dynamic.
(2) the regulation motor by closed loop control can adjust the rigidity of passive joint accurately and rapidly, makes tail
The frequency of the natural frequency of fin passive rotation and tail fin actively translation adapts, so that tail fin is under resonance state
Run, improve the propulsive efficiency of tail fin.
(3) active joint is combined with passive joint, controllability and the energy efficiency of machine fish can be taken into account.
Accompanying drawing explanation
Fig. 1 is the three-dimensional knot of the bionic machine fish being combined driving by active joint and passive joint of the present invention
Structure schematic diagram.
Fig. 2 is the angle of rake generalized section of tail fin.
Fig. 3 is the angle of rake principle schematic of tail fin.
Label in figure:
1-sealing cabin；2-tail fin propeller；3-swing arm；4-caudal peduncle；5-tail fin；6-trousers；7-end cap；
8-mair motor；9-regulates motor；10-electric machine support；11-shaft coupling；12-main motor output shaft；13-moves close
Sealing；14-bevel gear；15-swing arm rotating shaft；16-caudal peduncle rotating shaft；17-stretches spring；18-steel wire；19-adjusts
Joint motor output shaft；20-reel.
Detailed description of the invention
The invention provides a kind of bionic machine fish being combined driving by active joint and passive joint, below in conjunction with
The present invention is explained by drawings and Examples.
As it is shown in figure 1, the agent structure of the present invention is sealing cabin 1 and tail fin propeller 2.Sealing cabin 1
For stiff case and have Torpedo Shape, its internally installed motor, driver, controller, power supply and sensor
Etc. payload；Sealing cabin 1 tail end connects tail fin propeller 2, and tail fin propeller 2 has two-freedom
Swing arm structure, wherein swing arm 3 drives tail fin 5 to do translational motion, to produce main action of striking waters, caudal peduncle 4
Drive tail fin 5 to rotate motion, the action suitable angle of attack of offer of striking waters is provided.Pacify at sealing cabin 1 tail end
Dress trousers 6, on the one hand protects the drive mechanism of tail fin propeller 2, on the other hand suppression sealing cabin 1 tail
The flow-disturbing in portion, reduces travelling resistance.
As in figure 2 it is shown, have an end cap 7 at sealing cabin 1 tail end, end cap 7 is as tail fin propeller
Main support structure be tightly connected with sealing cabin 1；Mair motor 8 is fixed on by electric machine support 10
In sealing cabin 1；Mair motor 8 drives main motor output shaft 12 to rotate by shaft coupling 11, and mair motor is defeated
Movement output, dynamic seal 13 are fixed on end cap 7 by shaft 12 through dynamic seal 13；Due to
Main motor output shaft 12 is parallel longitudinal with machine fish, uses bevel-gear sett 14 to change transmission direction, bores tooth
Wheel 14 drive swing arm rotating shaft 15 rotates, and swing arm rotating shaft 15 and swing arm 3 are connected, thus realizes swing arm 3
Swinging in the horizontal direction, i.e. the translational motion of tail fin 5.
As Figure 1-3, arranging a caudal peduncle rotating shaft 16 at swing arm 3 end, caudal peduncle 4 is by caudal peduncle rotating shaft 16
Opposed swing arms 3 rotates；Swing arm 3 is hollow structure, and stretching spring 17 is positioned at the cavity of swing arm 3, and edge
Stretching motion is done in swing arm 3, and the rear end of stretching spring 17 connects caudal peduncle 4；The front end of stretching spring 17 connects
Steel wire 18, steel wire 18 is through the internal cavities of swing arm 3, and draws from the center hole of swing arm rotating shaft 15；
Regulation motor 9 uses the drive mechanism identical with mair motor 8 by movement output, is regulating motor output shaft
Installing reel 20 on 19, steel wire 18 is wrapped on reel 20, turning of regulation motor output shaft 19
Move and stretching spring 17 can be made to stretch, thus change the pretightning force of stretching spring 17, it is achieved passive joint rigidity
Regulation.When swing arm about 3 is flapped, tail fin 5 by water active force and opposed swing arms 3 rotates, and
Stretching spring 17 makes tail fin 5 tend to replying equilbrium position by caudal peduncle 4, and tail fin 5 is at stretching spring 17
The lower phase place that produces of common effect with flow field lags behind the passive rotation motion of translational motion.
The present invention should not be restricted to the described embodiments, every according to technical solution of the present invention without creative work
Just can draw replacing and the improvement of parts, should be included within the scope of the present invention.
Claims (4)
1. combined a bionic machine fish for driving by active joint and passive joint, by sealing cabin (1)
Constitute with tail fin propeller (2)；Sealing cabin (1) has Torpedo Shape, accommodates and include mair motor in it
(8), regulation motor (9), control parts, power supply and sensor are in interior loaded components；It is characterized in that,
Described tail fin propeller (2) includes being rotationally connected by swing arm rotating shaft (15) with sealing cabin (1) rear end
Swing arm (3), and swing arm (3) end is by the rotationally connected caudal peduncle (4) of caudal peduncle rotating shaft (16),
The upper affixed tail fin (5) of caudal peduncle (4)；Tail fin propeller (2) has two-freedom, drives tail fin (5) to do
Translation-rotation compound motion；
The main motor output shaft (12) of described mair motor (8) is by bevel-gear sett (14) and swing arm rotating shaft
(15) connect, the rotation of main motor output shaft (12) is converted into the swing of swing arm (3)；
The regulation motor output shaft (19) of described regulation motor (9) is connected with reel (20), swing arm (3)
For hollow bar, arranging stretching spring (17) in it, one end of stretching spring (17) is connected with caudal peduncle (4),
The other end is connected with reel (20) by steel wire (18)；
Translational motion produces main action of striking waters, and rotational motion provides the suitable angle of attack for action of striking waters；
Translation joint is active joint, mair motor (8) directly drive；Cradle head is passive joint, in stretching
Producing action under the common effect in spring (17) and flow field, the rigidity of stretching spring (17) can continuously adjust,
To change the natural frequency of mechanical system, thus realize self-adapted high-efficient and move about.
A kind of bionic machine being combined driving by active joint and passive joint the most according to claim 1
Fish, it is characterised in that the afterbody of described sealing cabin (1) arranges end cap (7), end cap (7) outside peace
Dress trousers (6).
A kind of bionic machine being combined driving by active joint and passive joint the most according to claim 2
Fish, it is characterised in that described main motor output shaft (12) and regulation motor output shaft (19) are passed through respectively
Dynamic seal (13) is arranged on end cap (7).
A kind of bionic machine being combined driving by active joint and passive joint the most according to claim 1
Fish, it is characterised in that described main motor output shaft (12), regulation motor output shaft (19) respectively with machine
Fish parallel longitudinal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410768766.4A CN104443332B (en) | 2014-12-12 | 2014-12-12 | A kind of bionic machine fish being combined driving by active joint and passive joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410768766.4A CN104443332B (en) | 2014-12-12 | 2014-12-12 | A kind of bionic machine fish being combined driving by active joint and passive joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104443332A CN104443332A (en) | 2015-03-25 |
| CN104443332B true CN104443332B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410768766.4A Expired - Fee Related CN104443332B (en) | 2014-12-12 | 2014-12-12 | A kind of bionic machine fish being combined driving by active joint and passive joint |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059510A (en) * | 2015-07-22 | 2015-11-18 | 河海大学 | Wave-energy-driven ship with functions of GPS positioning and navigation |
| CN105539792B (en) * | 2015-12-12 | 2017-12-08 | 北京航空航天大学 | A kind of cam robot driven by ropes fish tail swing device with Huan Zhou gate-types mechanism |
| CN107161307B (en) * | 2017-05-12 | 2019-01-01 | 上海湖益科贸有限公司 | A kind of torsional spring string Biomimetic Fish tail-rotor suitable for ships and light boats |
| SE546052C2 (en) * | 2018-11-12 | 2024-04-23 | Dolprop Ind Ab | Method and system for fluke drive |
| CN110588933B (en) * | 2019-08-28 | 2021-07-27 | 哈尔滨工业大学（威海） | Self-adaptive attack angle swing wing propeller and design method |
| CN111319741B (en) * | 2020-03-31 | 2021-08-17 | 东华大学 | Bionic robot fish driving device |
| CN113404024B (en) * | 2021-06-23 | 2023-05-02 | 安徽华信电动科技股份有限公司 | River course floats garbage collection device |
| CN113734397B (en) * | 2021-08-30 | 2022-07-12 | 中国科学院自动化研究所 | Rope-traction bionic robot fish driving device and rope-traction bionic robot fish |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5951474B2 (en) * | 1979-12-18 | 1984-12-14 | 永井 實 | Fish fin type underwater propulsion device |
| JP3416522B2 (en) * | 1997-09-18 | 2003-06-16 | 三菱重工業株式会社 | Underwater vehicle with vibrating wings |
| RU2142387C1 (en) * | 1998-11-24 | 1999-12-10 | Сенькин Юрий Федорович | Wave propulsor |
| JP2008044545A (en) * | 2006-08-18 | 2008-02-28 | Mhi Solution Technologies Co Ltd | Fish-shaped robot |
| CN101301926B (en) * | 2008-04-18 | 2010-10-06 | 哈尔滨工业大学 | Bionic robot fish having up-down movement module and tail module |
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2014
- 2014-12-12 CN CN201410768766.4A patent/CN104443332B/en not_active Expired - Fee Related
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