CN109774899A - A kind of bionic machine fish with dual drive system - Google Patents
A kind of bionic machine fish with dual drive system Download PDFInfo
- Publication number
- CN109774899A CN109774899A CN201910225242.3A CN201910225242A CN109774899A CN 109774899 A CN109774899 A CN 109774899A CN 201910225242 A CN201910225242 A CN 201910225242A CN 109774899 A CN109774899 A CN 109774899A
- Authority
- CN
- China
- Prior art keywords
- drive system
- machine fish
- bionic machine
- fin
- center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 39
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 38
- 230000009977 dual effect Effects 0.000 title claims abstract description 14
- 230000005484 gravity Effects 0.000 claims abstract description 17
- 239000000463 material Substances 0.000 claims abstract description 14
- 230000001105 regulatory effect Effects 0.000 claims abstract description 14
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 12
- 239000004677 Nylon Substances 0.000 claims abstract description 6
- 239000003365 glass fiber Substances 0.000 claims abstract description 6
- 229920001778 nylon Polymers 0.000 claims abstract description 6
- 230000000630 rising effect Effects 0.000 claims abstract description 3
- 239000011257 shell material Substances 0.000 claims abstract 4
- 238000000034 method Methods 0.000 claims description 7
- 238000010146 3D printing Methods 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 claims 1
- 230000003592 biomimetic effect Effects 0.000 claims 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 abstract description 7
- 229910052744 lithium Inorganic materials 0.000 abstract description 7
- 241000269908 Platichthys flesus Species 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 241001529559 Rhipidura Species 0.000 description 1
- 241000269838 Thunnus thynnus Species 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229920006324 polyoxymethylene Polymers 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 210000003934 vacuole Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The invention discloses a kind of bionic machine fish with dual drive system, belong to submarine navigation device field, and in particular to the bionic machine fish in submarine navigation device.Traditional submarine navigation device is promoted by propeller, the disadvantage is that propulsion mode is single, turning radius is big, low efficiency, mobility are poor.Based on flounder sole biological prototype, devise a kind of structure is simple, movement flexibly, the Dual-drive bionic machine fish with flat figure, three joint drive system of tail portion is main drive system, pectoral fin drive system is assistant drive system, it can realize that no-radius turns to by the rotation of control left and right pectoral fin, rising and dive are realized by the position that center of gravity regulating system controls center of gravity.Construction feature of the present invention includes: the driving for designing a tail fin and two pectoral fins completions to bionic machine fish, quick start may be implemented to stop and no-radius turning, pitch control to bionic machine fish is completed by center of gravity regulating system, it is powered using rechargeable lithium battery, front shell material is that add glass fibre, aft case to be material be software film to nylon.
Description
Technical field
The present invention relates to submarine navigation device fields to be suitable for solution more particularly to the bionic machine fish in submarine navigation device
The certainly efficiency of the design problem of bionic machine fish and propulsion system.
Background technique
To meet exploitation marine resources and the blue economic needs of development, since the nineties in last century, bionic machine fish
The object given priority to as people.Traditional submarine navigation device generates thrust using propeller and advances, the low efficiency of propeller
And it is easy the interference being laterally vortexed, the formation due to vacuole is understood in high-revolving situation and generates noise.
Bionic machine fish has the advantages that stable, efficient, noise is low, flexibility is good compared with traditional submarine navigation device.
Efficient propulsion system helps to save the energy, improves continuation of the journey level, expands job area, and two propulsion systems are used cooperatively
The mobility and flexibility of bionic machine fish can be obviously improved.More driving methods of the researching and designing and bionic machine fish deposited is to underwater
Practical application is of great significance.
MIT successfully develops bluefin tuna within 1994, is swung using the tail fin of crescent and generates thrust.Later, Britain,
Japan expands research to bionic machine fish, and the institution of higher learning in China also study and achieve rich to bionic machine fish
Large achievement.Propulsion system is single and turning radius is the deficiency of current bionic machine fish greatly.
Summary of the invention
In order to make up, the propulsion system mentioned in above-mentioned background technique is single and the big deficiency of turning radius, the present invention use
The main drive system in tail portion, chest assistant drive system and center of gravity regulating system, devise a kind of structure is simple, movement flexibly, tool
There is the Dual-drive bionic machine fish of flat figure, had not only been able to achieve high-speed motion, emergency braking and no-radius turning, but also can adjust at any time
It saves position of centre of gravity and completes to rise and change with the posture of dive.
In order to achieve the above objectives, the technical solution adopted in the present invention includes:
A kind of bionic machine fish with dual drive system mainly includes chest drive system (1), tail drive system (2), again
Heart regulating system (3), aft case (4), control panel (5), (6) six part of front shell；It can also be filled in addition to six part
Electric lithium battery, sealing ring, bearing plate, preceding clip and rear clip these components, will be main by function for convenience of the present invention is introduced
Component is specifically divided into six parts.
The above-mentioned bionic machine fish with dual drive system, chest assistant drive system is by micro-step motor and pectoral fin structure
At two pectoral fins are distributed at left and right sides of body；Micro-step motor uses steel alloy The gear deceleration, and reduction ratio 1:63 is micro-
Type stepper motor uses 2 phase, 4 line, rated current 0.3A, voltage rating 6V, and step angle is 18 degree, and phase resistance is 20 Europe, wire length
3cm, output shaft diameter are 3cm, weight 10g, are equipped with flexible glue dust cover；Pectoral fin selection NACA0012 aerofoil profile, chord length 50mm,
Fixation is bolted in material selection polyformaldehyde, pectoral fin and micro-step motor.
The above-mentioned bionic machine fish with dual drive system, the main drive system in tail portion is by three steering engines, a tail fin and one
A tail fin pedestal is constituted, and the driving method that steering engine and tail fin are formed is three joint drives；Steering engine selects the big torsion twin shaft number of 20kg
Word steering engine, voltage rating 6V, controlled range angle are 180 degree, and good linearity precision is high, and steering engine is that metal shell is conducive to radiate,
Steering engine wire length 30cm, weight 65g；Caudal-fin models are designed as the crescent with high aspect ratio, although steel Y-pipe with crescent rib is than fan
The thrust that shape tail fin generates is small, but steel Y-pipe with crescent rib efficiency is higher than counter of fantail fin, under high frequency wobbles mode, high aspect ratio
Rigid tail fin can generate bigger thrust than elastic tail fin, therefore tail fin selects rigid material PLA.
The above-mentioned bionic machine fish with dual drive system, center of gravity regulating system is by motor, screw rod, guide rail, bracket, loading
Platform, lithium battery group are at by motor drives screw mandrel rotation realization driving, before objective table carries lithium battery under the driving of screw rod
After move, make the center of gravity of bionic machine fish be also moved forward and backward to realize bionic machine fish rise and dive change；Guide rail
Diameter is 3mm, and screw rod is the screw thread of M4, and guide rail and screw rod are supported by bracket, and the effect of guide rail is first is that be oriented to, second is that preventing
Objective table rotation；Motor is supported by motor support base, and motor output shaft and screw rod is made to keep coaxial.
The above-mentioned bionic machine fish with dual drive system, aft case use software thin-film material, software film front end
It is wrapped in front shell, rear end is wrapped on tail fin pedestal, and rear and front end passes through clip clamping.
The above-mentioned bionic machine fish with dual drive system, is powered using rechargeable lithium battery, passes through circuit board completion pair
The control of steering engine and motor, starts and stops and is controlled by mobile phone remote, carries out signal biography by bluetooth between mobile phone and circuit board
It is defeated.
The above-mentioned bionic machine fish with dual drive system, front shell are made of 3D printing, and material selection nylon adds glass
Glass fiber, underside of forward housing design seal groove, battery and clump weight are placed on lower side body, and center of gravity is low to increase bionic machine
The stability of fish.
Technical characteristics of the present invention are summarized as follows:
Two kinds of drive systems are designed, the main drive system in three joint of tail portion is made of three steering engines and a steel Y-pipe with crescent rib, is swung
Generate main thrust；Chest assistant drive system is made of micro-step motor and pectoral fin, and rotation generates augmented thrust, and can
It is assisted realizing emergency braking and no-radius turning by pectoral fin；Center of gravity regulating system uses screw rod driving method, passes through center-of-gravity regulating
It is moved forward and backward the rising and dive for realizing bionic machine fish；Aft case uses software thin-film material；Pass through circuit board completion pair
The control of steering engine and motor, circuit board realize long-range control by bluetooth by mobile phone；Front shell is made of 3D printing, material choosing
With nylon plus glass fibre.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing is special to the technology of the present invention in conjunction with specific embodiments hereinafter
Sign has made further explaination.Used specific embodiment attached drawing first is that can help other field personnel understand the present invention, two
It is that can provide visual reference for designer in the art, technical staff.This part is to the brief of used attached drawing
Illustrate:
Fig. 1 is the overall structure figure of bionic machine fish of the present invention；
Fig. 2 is the chest driving system structure figure of bionic machine fish of the present invention；
Fig. 3 is the tail drive system structure chart of bionic machine fish of the present invention；
Fig. 4 is the center of gravity regulating system structure chart of bionic machine fish of the present invention；
In figure: 1. chest drive systems, wherein 1-1 pectoral fin, 1-2 micro-step motor；2. tail drive system, wherein 2-1 mono-
Number steering engine, No. bis- steering engines of 2-2, No. tri- steering engines of 2-3,2-4 tail fin pedestal, 2-5 tail fin；3. center of gravity regulating system, wherein 3-1 lithium is electric
Pond, 3-2 objective table, 3-3 right rail, 3-4 bracket, 3-5 motor, 3-6 motor support base, 3-7 bottom plate, 3-8 screw rod, the left side 3-9
Guide rail；4. aft case；5. circuit board；6. front shell.
Specific embodiment
It is careful below with reference to the preferred embodiment of the invention and attached drawing, be fully described by Design and manufacturing process of the invention.
Firstly, it is necessary to which explanation be institute's preferred embodiment is flounder sole type Dual-drive bionic machine fish, flounder sole body
Flat stationarity when increasing travelling.The purpose of the present invention is improve the mobility of bionic machine fish and promote drive system
Efficiency, used technology are tail drive system and chest drive system combination drive, and center of gravity regulating system completes pitching tune
Section.According to sinusoidal fluctuation theory, three joint drive systems of tail portion steering engine and tail fin composition do sinusoidal fluctuation, and steering engine selects 20kg
Big torsion twin shaft digital rudder controller, voltage rating 6V, controlled range angle are 180 degree, and good linearity precision is high, and steering engine is metal shell
Be conducive to radiate, weight 65g, caudal-fin models are designed as the crescent with high aspect ratio, tail fin material selection PLA；Chest
It is the micro-step motor of 1:63 that drive system, which selects reduction ratio, and pectoral fin section is NACA0012 aerofoil profile, chord length 50mm；Center of gravity tune
Section system is composed of motor, screw rod, guide rail, bracket, objective table, and the effect of guide rail is first is that be oriented to, second is that preventing objective table
Rotation；Front shell is made of 3D printing, and material selection nylon adds glass fibre, and aft case selects software thin-film material, leads to
Clip is crossed to be separately fixed in front shell and tail fin pedestal；It is powered using rechargeable lithium battery, battery is placed in underside of forward
On center of gravity regulating system objective table, design has portable rechargeable socket on the downside of front shell, and circuit board is passed through by mobile phone
Bluetooth realizes long-range control, and clump weight adjustment is added after all hardware carries, is finally debugged under water.
Claims (4)
1. a kind of bionic machine fish with dual drive system, mainly by chest drive system (1), tail drive system (2), again
Heart regulating system (3), aft case (4), control panel (5), (6) six part of front shell composition, it is common using tail fin and pectoral fin
Driving, it is characterized in that: pectoral fin selects NACA0012 aerofoil profile, tail portion driving method is three joint drives, and caudal-fin models are crescent,
Center of gravity regulating system is driven using screw rod, and front shell material is that nylon adds glass fibre, is made of 3D printing, aft case material
Material is software film.
2. a kind of bionic machine fish with dual drive system according to claim 1, it is characterized in that: including that chest drives
(2) two drive systems of system (1) and tail drive system, tail portion driving method are three joint drives, and caudal-fin models are crescent moon
Shape, pectoral fin select NACA0012 aerofoil profile.
3. a kind of bionic machine fish with dual drive system according to claim 1, it is characterized in that: adjusting system by center of gravity
The rising and dive of system (3) control biomimetics machine fish, center of gravity regulating system (3) are driven using screw rod, and the design of screw rod two sides has flat
Capable guide rail.
4. a kind of bionic machine fish with dual drive system according to claim 1, it is characterized in that: aft case (4)
Material is software film, and front shell (6) material is that nylon adds glass fibre, is made of 3D printing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910225242.3A CN109774899A (en) | 2019-03-25 | 2019-03-25 | A kind of bionic machine fish with dual drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910225242.3A CN109774899A (en) | 2019-03-25 | 2019-03-25 | A kind of bionic machine fish with dual drive system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109774899A true CN109774899A (en) | 2019-05-21 |
Family
ID=66490300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910225242.3A Pending CN109774899A (en) | 2019-03-25 | 2019-03-25 | A kind of bionic machine fish with dual drive system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109774899A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114132466A (en) * | 2021-12-09 | 2022-03-04 | 中国农业大学 | Dual-drive bionic robotic fish system and multi-mode redundancy control method |
| CN116853465A (en) * | 2023-08-24 | 2023-10-10 | 先锋导电材料工业（苏州）有限公司 | Robot fish |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1962358A (en) * | 2006-12-11 | 2007-05-16 | 北京大学 | Modularized bionic robot fish |
| JP2013095411A (en) * | 2011-10-28 | 2013-05-20 | Noritoshi Yomoda | Tail fin type vibration propulsion apparatus |
| CN106005336A (en) * | 2016-07-11 | 2016-10-12 | 大连海事大学 | Bionic robot fish |
| CN106741774A (en) * | 2016-12-27 | 2017-05-31 | 中电科海洋信息技术研究院有限公司 | A kind of bionic machine fish |
| CN107161305A (en) * | 2017-06-14 | 2017-09-15 | 兰州交通大学 | A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish |
| CN108839783A (en) * | 2018-06-04 | 2018-11-20 | 吕梁学院 | A kind of flexibility submerged floating bionic machine fish and its control method |
-
2019
- 2019-03-25 CN CN201910225242.3A patent/CN109774899A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1962358A (en) * | 2006-12-11 | 2007-05-16 | 北京大学 | Modularized bionic robot fish |
| JP2013095411A (en) * | 2011-10-28 | 2013-05-20 | Noritoshi Yomoda | Tail fin type vibration propulsion apparatus |
| CN106005336A (en) * | 2016-07-11 | 2016-10-12 | 大连海事大学 | Bionic robot fish |
| CN106741774A (en) * | 2016-12-27 | 2017-05-31 | 中电科海洋信息技术研究院有限公司 | A kind of bionic machine fish |
| CN107161305A (en) * | 2017-06-14 | 2017-09-15 | 兰州交通大学 | A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish |
| CN108839783A (en) * | 2018-06-04 | 2018-11-20 | 吕梁学院 | A kind of flexibility submerged floating bionic machine fish and its control method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114132466A (en) * | 2021-12-09 | 2022-03-04 | 中国农业大学 | Dual-drive bionic robotic fish system and multi-mode redundancy control method |
| CN114132466B (en) * | 2021-12-09 | 2022-11-15 | 中国农业大学 | Dual-drive bionic robotic fish system and multi-mode redundancy control method |
| CN116853465A (en) * | 2023-08-24 | 2023-10-10 | 先锋导电材料工业（苏州）有限公司 | Robot fish |
| CN116853465B (en) * | 2023-08-24 | 2023-12-22 | 先锋导电材料工业（苏州）有限公司 | Robot fish |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100506639C (en) | Turning, rotating propeller of underwater robot with six degrees of freedom | |
| CN205819522U (en) | Staggered form Grazing condition bionic fish tail propulsive mechanism based on linkage | |
| CN212637870U (en) | Ray-imitating robotic fish with single main shaft and single motor and by taking fluctuating pectoral fins as power | |
| CN105437247A (en) | Expression robot | |
| CN108408010A (en) | A kind of underwater glider wing and its control and working method | |
| CN109774899A (en) | A kind of bionic machine fish with dual drive system | |
| CN206841691U (en) | A kind of machine fish two degrees of freedom pectoral fin propulsive mechanism | |
| CN102180249B (en) | Intelligent biomimetic robotic dolphin | |
| CN202574602U (en) | Electromagnetic power bionic robotic fish | |
| CN102632980A (en) | Underwater glider utilizing ocean wave energy and charging method | |
| CN110127015A (en) | It is a kind of singly to drive fluctuation fin propulsion device and bionic underwater vehicle | |
| CN113320665B (en) | Bionic underwater robot propelled by long fin fluctuation | |
| CN108058799B (en) | Novel bionic mechanical fish | |
| CN109665079A (en) | A kind of underwater robot of jet pump and steering engine combination drive | |
| CN110304222A (en) | A kind of bionical devil ray of self generation type based on IPMC driving | |
| CN108974287A (en) | A kind of fluctuation wing combination drive underwater glider | |
| CN206502014U (en) | A kind of single duct engine | |
| CN108839783A (en) | A kind of flexibility submerged floating bionic machine fish and its control method | |
| CN110775233B (en) | Bionic flexible diving device with gliding and flapping wing movement | |
| CN106585935B (en) | A kind of sail device of bio-mechanism driving | |
| CN1785747A (en) | Pectoral fin structure of bionic mechanical fish | |
| CN207000790U (en) | A kind of bionic coatings underwater glider | |
| CN114475986B (en) | Deep-sea soft robotic fish propelled by tail fin | |
| CN106516059B (en) | A kind of more fin propulsion devices based on reciprocal screw mechanism | |
| CN113998083A (en) | Two-degree-of-freedom wing changing device based on wave self-energy supply and underwater glider |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190521 |