CN112407213A

CN112407213A - Three-degree-of-freedom pectoral fin driving bionic robotic fish

Info

Publication number: CN112407213A
Application number: CN202011232525.XA
Authority: CN
Inventors: 李雅静
Original assignee: Huainan Jiufanggao Technology Consulting Co ltd
Current assignee: Huainan Jiufanggao Technology Consulting Co ltd
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2021-02-26

Abstract

The invention discloses a three-degree-of-freedom pectoral fin driving bionic robotic fish, and belongs to the field of bionic equipment. The invention discloses a three-degree-of-freedom pectoral fin driving bionic robot fish, which comprises a bracket part, a driving part and a transmission part, wherein the bracket part comprises a steering engine bracket, a fixed bracket, an outer sleeve, an inner shaft sleeve and an inner shaft; the driving part comprises a steering engine I and a steering engine II; the transmission part comprises a synchronous belt, a rolling bearing, a bevel gear, a gear connecting rod and a fin part. The technical scheme of the invention provides the three-degree-of-freedom bionic autonomous robot fish which is free in action and stable in operation.

Description

Three-degree-of-freedom pectoral fin driving bionic robotic fish

Technical Field

The invention belongs to the field of bionic equipment, and particularly relates to a three-degree-of-freedom pectoral fin driving bionic robot fish.

Background

With the development of society and resource development, people need to explore and develop underwater resources, but because the underwater environment is complex, and people cannot reach some places, people need to explore by using underwater robots, and the traditional underwater robots cannot meet the requirements of people due to the defects of low efficiency, poor maneuverability, high noise and the like. The bionics research shows that the bionic robot fish can realize fin-like propulsion modes such as quick start, forward and backward movement, ascending and diving hovering positioning and maneuvering turning through cooperative driving of the thoracocaudal fin, and has the advantages of high efficiency, high stability, excellent maneuverability, low noise, small disturbance to the environment and the like. However, most of existing bionic robotic fish realize the driving of the robotic fish by using the single swinging of the fin or the tail, and the number of the single-degree-of-freedom or two-degree-of-freedom moving robotic fish is large, and the three-degree-of-freedom moving robotic fish is designed in many places which are not perfect, so that the three-degree-of-freedom bionic autonomous robotic fish which is free in action and stable in operation is needed.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention provides a three-degree-of-freedom pectoral fin driving bionic robot fish, and the technical scheme of the invention provides a three-degree-of-freedom bionic autonomous robot fish which is free in action and stable in operation.

2. Technical scheme

The invention discloses a three-degree-of-freedom pectoral fin driving bionic robot fish, which comprises a bracket part, a driving part and a transmission part, wherein the bracket part comprises a steering engine bracket, a fixed bracket, an outer sleeve, an inner shaft sleeve and an inner shaft; the driving part comprises a steering engine I and a steering engine II; the transmission part comprises a synchronous belt, a rolling bearing, a bevel gear, a gear connecting rod and a fin part.

As a further improvement of the invention, the steering engine I and the steering engine II conduct force transmission through a synchronous belt.

As a further improvement of the invention, an inner shaft is adopted in the middle, the inner shaft is connected with the outer sleeve through a rolling bearing, and the inner shaft is also connected with the inner shaft sleeve through the rolling bearing.

As a further improvement of the invention, the bevel gear is divided into a large size and a small size, wherein the small bevel gear is fixed by a part of one end of the outer sleeve.

As a further improvement of the invention, the steering engine further comprises a storage battery, and the storage battery provides power for the steering engine I and the steering engine II.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:

(1) the three-degree-of-freedom pectoral fin driving bionic robot fish provided by the invention has the advantages that the high maneuverability, high efficiency and high stability are provided for the bionic robot fish, and the complex three-dimensional motion can be realized. The bionic robot fish pectoral fin structure of the work is provided with a pair of pectoral fins, and each fin mechanism comprises a power part, a fin rotating part, a fin front-back swinging part, a fin whole angle rotating part and a steering engine and a transmission part.

(2) The three-degree-of-freedom pectoral fin driving bionic robot fish adopts an inner shaft in the middle, the inner shaft is connected with an outer sleeve through a rolling bearing, and the sleeve is connected with an outer sleeve through the rolling bearing. Due to the action of the rolling bearing, one shaft can be used for three purposes, and the three shafts do not interfere with each other in motion, so that the rotation, the swing and the angular rotation of the fish fin can be better realized.

(3) According to the three-degree-of-freedom pectoral fin driving bionic robot fish, the transmission mechanisms of the fish fins are mutually separated and do not interfere with each other, the fish fins can move independently and in a coupling mode, propelling force in any direction can be achieved, and the three-degree-of-freedom pectoral fin driving bionic robot fish is safe and reliable, so that the robot fish can move in a complex three-dimensional mode in space, and can move freely and stably.

(4) The three-degree-of-freedom pectoral fin driving bionic robot fish has the advantages of good swimming performance, large appearance volume, compact internal structure, excellent maneuvering performance and the like, and the bionic robot fish can flexibly move in water and conveniently carry more application sensors and other mechanisms, such as a gravity center adjusting mechanism, a mechanical arm mechanism, a complex single-joint tail fin mechanism, a high energy storage power supply and the like.

(5) Compared with most of the conventional robotic fish, the fin structure of the three-degree-of-freedom bionic robotic fish has the advantages of being compared with the fin structure of the three-degree-of-freedom bionic robotic fish in terms of diversity of driving modes or degrees of freedom, so that the robotic fish can swim more freely and stably. The bionic robot fish is beneficial to the research of a chest and tail fin combined propulsion technology, improves the motion performance of the robot fish, is also the development and research trend of the bionic robot fish in the future, and has profound significance for the research of the bionic fish.

Drawings

FIG. 1 is a schematic structural diagram of a three-degree-of-freedom pectoral fin-driven bionic robotic fish of the present invention;

FIG. 2 is a schematic structural diagram of fin flapping wings of a three-degree-of-freedom pectoral fin driven bionic robotic fish according to the present invention;

FIG. 3 is a top view of a support part of a three-degree-of-freedom pectoral fin-driven biomimetic robotic fish in accordance with the present invention;

fig. 4 is a schematic structural diagram of fin side swing wings of a three-degree-of-freedom pectoral fin driven bionic robot fish.

The reference numerals in the schematic drawings illustrate:

1. a steering engine I; 1', a steering engine bracket; 2. a synchronous belt; 2', fixing a bracket; 3. an outer sleeve; 3', an inner shaft sleeve; 4. an inner shaft; 45. a rolling bearing; 5. a bevel gear; 6. a gear connecting rod; 7. a fin portion; 8. and a steering engine II.

Detailed Description

The three-degree-of-freedom pectoral fin driving bionic robot fish shown in the figures 1-4 comprises a bracket part, a driving part and a transmission part, wherein the bracket part comprises a steering engine bracket 1 ', a fixed bracket 2 ', an outer sleeve 3, an inner shaft sleeve 3 ' and an inner shaft 4; the driving part comprises a steering engine I1 and a steering engine II 8; the transmission part comprises a synchronous belt 2, a rolling bearing 45, a bevel gear 5, a gear connecting rod 6 and a fin part 7. The steering gear I1 and the steering gear II8 conduct force through the synchronous belt 2. An inner shaft 4 is adopted in the middle, the inner shaft 4 is connected with the outer sleeve 3 through a rolling bearing 45, and the inner shaft 4 is also connected with the inner shaft sleeve 3' through the rolling bearing 45. The bevel gear 5 is divided into a large specification and a small specification, wherein the small bevel gear 5 is fixed by one end part of the outer sleeve 3. The steering engine further comprises a storage battery, and the storage battery provides power for the steering engine I1 and the steering engine II 8.

As shown in figure 3, the whole mechanism of the half fins of the robot fish is shown, 1 'in the figure is a fixed part of a steering engine, and 2' in the figure is a fixed bracket of the mechanism, and the mechanism is kept stable through connection of a bolt and a bottom plate.

For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings.

The present invention will be further described with reference to the following examples.

Example 1

The pectoral fin mechanism of the robot fish can realize three-degree-of-freedom movement, namely rotation of the fish fin, swing of the fish fin and angle swing of the fish fin, and the specific movement mode is as follows:

1) the rotating part of the fish fin is shown in figure 2, power is transmitted to the innermost inner shaft 4 from a synchronous belt 2 through a steering engine I1, one end of the inner shaft is connected with the power part, the other end of the inner shaft is in rigid connection with a bevel gear 5, and the middle of the inner shaft is sleeved in an inner ring of a rolling bearing 45 for supporting and fixing; the movement is finally transmitted by the gears to the fins, which rotate.

2) The swinging part of the fin is shown in figure 1, power is transmitted to a sleeve 3 sleeved on an inner shaft from a synchronous belt 2 through a steering engine I1, the sleeve is connected with the inner shaft through 2 rolling bearings, the inner ring of each rolling bearing is matched with the inner shaft, the outer ring of each rolling bearing is matched with the inner ring of the sleeve, and the inner ring and the sleeve are formed to rotate without interference. The sleeve is rigidly connected with a large bevel gear 5, the large bevel gear 5 is meshed with a small bevel gear 5, the small bevel gear 5 is rigidly connected with a gear connecting rod 6, and the rotation of the gear is converted into the swing of the connecting rod, so that the fin part 7 is driven to swing together. If only depend on steering wheel I1 to carry out the swing of fin, the fin still can carry out certain angle's rotation when the swing, so still need steering wheel II8 to cooperate, just can realize the swing that the fin non-rotation is.

3) The angle rotation part of the fin is shown in figure 4, power is transmitted to an outer sleeve 3 through a steering engine I1 in a transmission mode through a synchronous belt 2, the outer sleeve is connected with an inner sleeve through a rolling bearing, an inner ring of the rolling bearing is connected with an outer ring of the inner sleeve, and an outer ring of the rolling bearing is connected with an inner ring of the outer sleeve, so that one shaft three-purpose is achieved, and three shaft motions are not interfered with each other. The support at the other end of the outer sleeve and the sleeve are integrated and are used for supporting and fixing the three bevel gears 5, so that the sleeve drives the three bevel gears 5 to rotate together when rotating, the purpose of rotating the fins at a certain angle is achieved, and then the fins can swing or rotate at a certain angle through the previous 2 steps.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. The utility model provides a three degree of freedom pectoral fin drive bionical machine fish, includes support part, drive part and transmission part, its characterized in that:

the support part comprises a steering engine support (1 '), a fixed support (2 '), an outer sleeve (3), an inner shaft sleeve (3 ') and an inner shaft (4);

the driving part comprises a steering engine I (1) and a steering engine II (8);

the transmission part comprises a synchronous belt (2), a rolling bearing (45), a bevel gear (5), a gear connecting rod (6) and a fin part (7).

2. The three-degree-of-freedom pectoral fin drive bionic robotic fish of claim 1, wherein: the steering engine I (1) and the steering engine II (8) conduct force through the synchronous belt (2).

3. The three-degree-of-freedom pectoral fin drive bionic robotic fish of claim 2, wherein: an inner shaft (4) is adopted in the middle, the inner shaft (4) is connected with the outer sleeve (3) through a rolling bearing (45), and the inner shaft (4) is also connected with an inner shaft sleeve (3') through the rolling bearing (45).

4. The three-degree-of-freedom pectoral fin drive bionic robotic fish of claim 3, wherein: the bevel gear (5) is divided into a big specification and a small specification, wherein the small bevel gear (5) is fixed by one end part of the outer sleeve (3).

5. The three-degree-of-freedom pectoral fin drive bionic robotic fish of claim 3, wherein: the steering engine further comprises a storage battery, and the storage battery provides power for the steering engine I (1) and the steering engine II (8).