CN1586990A - Flexible propelling mechanism of artificial machine fish - Google Patents
Flexible propelling mechanism of artificial machine fish Download PDFInfo
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- CN1586990A CN1586990A CN 200410053660 CN200410053660A CN1586990A CN 1586990 A CN1586990 A CN 1586990A CN 200410053660 CN200410053660 CN 200410053660 CN 200410053660 A CN200410053660 A CN 200410053660A CN 1586990 A CN1586990 A CN 1586990A
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Abstract
The flexible propelling mechanism of artificial machine fish includes flexible tail, motor driving mechanism inside the fish body and electric control part and can simulates fish's muscle twitch to drive the fish tail to swing harmoniously. The fish tail of stainless steel sheets is connected to the fish support, the tail fin driving steel wire and the tail body driving steel wire are fixed to the fish tail via the limiting guide holes separately, and two driving motors drive the tail fin driving wheel and the tail driving wheel separately. The harmonious tension and release of the steel wires realizes the composite motion of tail fin rotation and tail translation. The present invention can well simulate the motion posture of fish and raise propelling efficiency with eddy flow, and may be used in the hydraulic experiment research and as underwater equipment or miniature underwater detector.
Description
Technical field
The present invention relates to a kind of flexible propulsive mechanism of bionic machine fish, the hydrodynamic force experimental study that can be used for fish tail swing, and can further be applied to small-sized subsea equipment or the unmanned asdic of microminiature, carry out submarine observation, under-water operation, lifesaving under water under the complicated marine environment.Belong to the Robotics field.
Background technology
Traditional underwater exploration device all is the mode that relies on screw propeller to advance.Along with the further requirement of marine resources development, ocean exploration and marine environmental protection, the power that traditional screw propeller and turbine propulsion device are provided can't satisfy the under-water robot requirement of high-efficient homework under water.The progress of bionics, robotics, fluid mechanics, new material and actuating device has in recent years promoted the development of bionic machine fish technology.
At present, the research of machine fish mainly is to imitate the mode of motion of fish, and according to the mode of motion of different fish, the machine fish mainly can be divided into following two kinds.A kind of is according to " swing advances mechanism " design-calculated machine fish, this machine fish mainly imitates the motion that tuna, sailfish, shark equal fish, health is used as propelling unit, and the health sharp water that swings utilizes the antagonistic force of its generation that the fish body is pushed ahead.Another kind is according to " fluctuation advances mechanism " design-calculated, this class machine fish mainly imitates the motion of common eel, loach, yellow eel etc., and their tail fin is degenerated, its swing of health of placing one's entire reliance upon of advancing, the vertebral curve of fish drives his liquid of institute's envelope and sprays backward, produces thrust.
BJ University of Aeronautics ﹠ Astronautics's robot research has been developed an imitative Anguilliforme health fluctuation formula machine fish (Robotfish), and long 0.8 meter of this machine fish has realized advancing without screw propeller by the fluctuation of health and the swing of tail fin.
The fish body is plane 6 articulation mechanisms (6 joint fish bodies), comprises fish head and fish tail part.The fish head is the housing that utilizes shark profile that glass-felt plastic is made, imitative.The electrokinetic cell of whole fish, control receiving unit all are placed on fish in front.6 servomotor torsionoscillations of fish tail are as propelling unit.
Retrieval to existing machine fish and fish-shape robot is found, application number is that 02241163 Chinese invention patent discloses a kind of " remote-controlled multi-articulation driving bionic machine fish ", this machine fish has two to drive the joint, first drives the joint a upper shed U-lag, drive motor is placed in the U groove, second drives the capable groove of U that there is a left opening in the joint, there is one a slot is arranged on the oval-shaped fish body support frame, fish body skeleton is inserted between the U of left-hand opening type groove and upper shed U type groove by described slot.Chinese invention patent " novel remote control multi-joint bionic machine fish " (application number 01219339) is by fish shape shell, some joint skeletons, battery and reception control circuit plate constitute, fish shape shell is by the fish head, constitute with corresponding some joint fish bodies of some joint skeletons and fish tail, some joint fishes and fish tail seal mutually by soft connector and are linked as together, every joint skeleton is by steering wheel, fixed mount and swing link span constitute, the steering wheel that drives the swing link span is fixed in the fixed mount, fixed mount is affixed with the fish body inwall of corresponding fish shape shell, the swing link span is connected with the swing output body of steering wheel, the end that drives the last joint swing link span of back one joint skeleton swing is connected with the steering wheel front end of back one joint skeleton, the swing span of final section bone is connected with the fish tail of fish shape shell, described skeleton, battery and the sealing of reception control circuit plate are arranged in the fish shape shell.
The machine fish of foregoing invention, mainly there is the following problem technically: all be the attitude of moving about that adopts multi-joint rigid body co-operative control to approach fish, though can imitate the attitude of moving about of fish to a certain extent, the afterbody of its rigidity can't be accomplished the flexibility that fish are such all the time; In order to realize the flexible attitude of moving about, just must increase and close joint number, cause mechanism and control all very complicated; And the problem of head swing still can't solve well.In addition, owing to will place motor between the joint, afterbody can't be accomplished very thin.
Therefore, for the flexibility of the better imitation fish more true to nature attitude of moving about, and overcome the problem of fish head swing, need a kind of compliant tail portions of invention, imitation fish muscle is twitched the machine fish that drives the fish tail suitable swing.The retrieval of existing patented technology is not found to overcome as yet the machine fish of the problems referred to above.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, design provides a kind of flexible propulsive mechanism of bionic machine fish, the attitude of moving about of imitation fish more true to nature, the eddy current that utilizes afterbody to produce improves propulsion coefficient, overcome the problem of fish head swing preferably, adapt to various hydrodynamic force experimental studies and practical application request.
For realizing such purpose, in the technical scheme of the present invention, the fish tail that adopts the corrosion-resistant steel elastic steel sheet to make is connected on the fish body support frame, tail fin driving steel wire and afterbody main body driving steel wire pass spacing guide hole respectively and are fixed on the fish tail, two drive motor drive tail fin drive wheel and the rotation of afterbody drive wheel respectively, coordinating tension by the steel wire of two faces of control fish tail symmetric line loosens, realize the rotation of tail fin and the compound motion of whole afterbody translation, it is the propelling pattern of the crescent tail fin of Scad Coega, the degree of tightness that adopts the adjustable limiting wheel to regulate steel wire adopts the fixed limit wheel to make steel wire touch fish tail.
Concrete structure of the present invention is:
The flexible propulsive mechanism of machine fish of the present invention comprises that compliant tail portions, the fish body that can imitate fish muscle twitch driving fish tail suitable swing are interior by the automatically controlled part of motor-driven mechanism partial sum, and mainly fish tail, tail fin drive element, afterbody drive element, adjustable limiting parts and the fixed limit parts of being made by the corrosion-resistant steel elastic steel sheet are formed.Fish tail is fixed by threaded fasteners and fish body support frame, the connecting device of the spacing guide hole of tail fin part and tail fin steel wire and fish tail is set on the symmetric line of fish tail, and the connecting device of the spacing guide hole of afterbody main body and afterbody main body steel wire and fish tail is arranged on the both sides of fish tail symmetric line.The tail fin drive element comprises tail fin live axle and tail fin drive wheel, the tail fin drive wheel fixes by flat key and tail fin live axle, the tail fin live axle links to each other with the fish body support frame by bearing, and it is spacing by nut, tail fin drives steel wire by in the connecting bore of screw retention on the tail fin drive wheel, and the pile warp adjustable limiting is taken turns, fixed limit passes the spacing guide hole of tail fin part after taking turns, and is fixed on the connecting device of tail fin steel wire and fish tail.The afterbody drive element comprises afterbody live axle and afterbody drive wheel, the afterbody live axle is divided into two parts up and down, the centre connects by coupler, the afterbody live axle links to each other with the fish body support frame by bearing, two afterbody main bodys drive steel wires and are separately fixed at up and down in the connecting bore on two afterbody drive wheels up and down, and pile warp is up and down passed the spacing guide hole of afterbody main body behind two adjustable limiting wheels, the fixed limits wheel respectively, links to each other with the connecting device of afterbody main body steel wire and fish tail.Adjustable limiting wheel shaft in the adjustable limiting parts is fixed on the fish body support frame by clamp nut, takes turns at the fish body support frame along adjustable positions in the flat recess of fish tail direction with three adjustable limitings of adjustable limiting wheel shaft flat key bonded assembly.In the fixed limit parts, three fixed limit wheels are connected on the fixed limit wheel shaft by back-up ring, and the fixed limit wheel shaft is connected with the fish body support frame by the fixed limit wheel support.
Flexible fish tail of the present invention mainly contains two bent position, and one is the relative crooked of tail fin and fish tail main body, and another is the relative crooked of fish tail main body and fish body.Stamp some apertures on the position of the symmetric line of corrosion-resistant steel elasticity fish tail, the spacing guide hole of tail fin part is set, an aperture is made a call in the position of tail fin on symmetric line, and the connecting device of tail fin steel wire and fish tail is set.The relative bending position and the degree of crook of tail fin and fish tail main body can be determined in the position of spacing guide hole of tail fin part and connecting device on the fish tail symmetric line.The connecting device of the spacing guide hole of afterbody main body and afterbody main body steel wire and fish tail is arranged on the both sides of fish tail symmetric line, and wherein, the relative bent position with the fish body of fish tail main body has been determined thus near tail fin in the position of the connecting device of afterbody main body steel wire and fish tail.
The spacing guide hole of tail fin part comprises bolt and the clamp nut of being with through hole, bolt passes fish tail and is fixed on the fish tail by clamp nut, two of bolt has through hole, two tail fins drive steel wire and pass these two through holes respectively from the fish tail upper and lower surfaces, are fixed on tail fin and drive on the connecting device of steel wire and fish tail.
The spacing guide hole structure of afterbody main body is identical with the structure of the spacing guide hole of tail fin part, two groups of four afterbody main bodys drive steel wire and pass through hole the spacing guide hole respectively from the upper and lower surfaces of fish tail symmetric line both sides, are fixed on the connecting device of afterbody main body steel wire and fish tail.
The structure of the connecting device of the connecting device of tail fin steel wire and fish tail, afterbody main body steel wire and fish tail is identical with the structure of spacing guide hole, and just after steel wire passed through hole on the connecting device, the outside used a nut with fixation with steel wire again.
The implementation process of the soft drive of the whole afterbody of machine fish is as follows:
For specific implementation process better is described, we are respectively and drive the steel wire numbering: the tail fin of fish tail symmetric line upper and lower surfaces drives steel wire and is respectively A and B, it is C that two afterbodys above the fish tail symmetric line both sides drive steel wires, and it is D that two afterbodys below the fish tail symmetric line both sides drive steel wires.At first, steel wire A tension, the tail fin pendulum of turning left; The back steel wire D tension that puts in place, whole afterbody drive the tail fin pendulum of turning right; The back steel wire A that puts in place loosens, steel wire B tension simultaneously, the tail fin pendulum of turning right; The back steel wire D that puts in place loosens, steel wire C tension, and whole afterbody drives the tail fin pendulum of turning left; After putting in place, steel wire B loosens, steel wire A tension, the tail fin pendulum of turning left.So, finish the motion of one-period.
The motor that moves through of entire machine fish connects the drive wheel rotating, and the steel wire on two faces of driving fish tail alternately tension loosens, and realizes the swing of fish tail.Two motor coordination motions realize that tail fin is swung and the compound motion of translation, the propelling pattern of the crescent tail fin of imitation Scad Coega.
The fish that machine fish of the present invention adopts the crescent tail fin pattern of Scad Coega to move about, tail fin is made the compound motion of swing and translation, the track near sinusoidal curve of its swing in the process of moving about.In the process of moving about, preceding 2/3 part of health almost keeps rigidity, and especially significantly side travel only occurs over just tail fin and tail fin in the connecting bridge of health, and this partial cross section is long-pending smaller, can reduce the resistance of body greatly, tail fin produces and surpasses 90% propulsive force.
The present invention is simple in structure, is easy to control, the propelling pattern that flexible machine fish tail crust can better the match fish, can not only farthest imitate the athletic posture of fish, and can better use the mechanics effect of plastic deformation, the eddy current of better utilization afterbody improves propulsion coefficient.The present invention not only can be used for the hydrodynamic force experimental study of fish tail swing, and can promote as small-sized subsea equipment or the unmanned asdic of microminiature, carry out submarine observation, under-water operation, lifesaving under water under the complicated marine environment, and because its good concealment, also can be applicable to multiple military use, actual application value is widely arranged.
Description of drawings
Fig. 1 is the integral structure scheme drawing of machine fish propulsive mechanism of the present invention.
Among Fig. 1, fish tail 1, fish body support frame 2, tail fin drive element 3, afterbody drive element 4, adjustable limiting parts 5, fixed limit parts 6.
Fig. 2 is a fish tail bilge construction scheme drawing of the present invention.
Among Fig. 2, the connecting device 9 of tail fin 7, afterbody main body 8, tail fin steel wire and fish tail, the spacing guide hole 10 of tail fin part, tail fin drives steel wire 11, the connecting device 12 of afterbody main body steel wire and fish tail, the spacing guide hole 13 of afterbody main body, the afterbody main body drives steel wire 14.
Fig. 3 is the structural representation of spacing guide hole.
Among Fig. 3, get through the hole bolt 15, the nut 16 of bolt of rear end plate on fish tail.
Fig. 4 is the structural representation of tail fin drive element 3.
Among Fig. 4, tail fin live axle 17, bearing 18, clamp nut 19, tail fin drive wheel 20, the flat key 21 of adapter shaft and drive wheel, fixedly steel wire and drive wheel bonded assembly hole 22.
Fig. 5 is the structural representation of afterbody drive element 4.
Among Fig. 5, afterbody live axle 23, afterbody drive wheel 24, coupler 25.
Fig. 6 is the structural representation of adjustable limiting parts 5.
Among Fig. 6, adjustable limiting wheel shaft 26, adjustable limiting wheel 27, clamp nut 28.
Fig. 7 is the structural representation of fixed limit parts 6.
Among Fig. 7, fixed limit wheel 29, fixed limit wheel shaft 30, fixed limit wheel support 31.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is further described.
Propulsive mechanism of the present invention comprises that mainly can imitate fish muscle twitches the compliant tail portions that drives the fish tail suitable swing, and the fish body is interior by the automatically controlled part of motor-driven mechanism partial sum, and integral structure as shown in Figure 1.The fish tail 1 that the corrosion-resistant steel elastic steel sheet is made is fixing by threaded fasteners and fish body support frame 2, tail fin drive element 3, afterbody drive element 4 are connected with fish body support frame 2 by bearing, adjustable limiting parts 5 link to each other with fish body support frame 2 by clamp nut, and fixed limit parts 6 are connected with fish body support frame 2 by the fixed limit wheel support of itself.
The embodiment of fish tail structure as shown in Figure 2, adopt the corrosion-resistant steel steel wire of 0.6mm, the spacing guide hole 10 of several tail fin parts is set on the symmetric line position of corrosion-resistant steel elasticity fish tail, and the position of tail fin is provided with the connecting device 9 of tail fin steel wire and fish tail on symmetric line.The connecting device 12 of the spacing guide hole 13 of afterbody main body and afterbody main body steel wire and fish tail is arranged on the both sides of fish tail symmetric line.
After tail fin driving steel wire 11 passes the spacing guide hole 10 of several tail fin parts, be fixed on the connecting device 9 of tail fin steel wire and fish tail, drive steel wire 11 by the tail fin of straining or loosen on the fish tail symmetric line, between connecting device 9 and spacing guide hole 10, can produce bigger bending at fish tail, tail fin 7 can produce swing, the fish phosphor bodies can produce fainter bending, and it is well crooked that like this and tail fin forms continuity, the swing of imitation fish tail that can be true to nature; Can regulate the degree of crook of fish tail main body by density and the position thereof of regulating spacing guide hole 10.Be determined by experiment the length that steel wire need be strained, according to hydrodynamic test and theoretical analysis, as can be known, when the tail fin pendulum angle was 25 ° of left and right sides, its propulsion coefficient was the highest, so, by experimental measurement, can determine the optimum length strained, realize efficiently advancing.Steel wire on two faces of control adjustment fish tail symmetric line loosens or strains respectively, and the swing that can make tail fin produce positive and negative both direction realizes the relative crooked of tail fin and fish tail main body.In like manner, the swing of fish tail main body is similar with the swing of tail fin, and the afterbody main body drives steel wire 14 and passes the spacing guide hole 13 of afterbody main body, links to each other with the connecting device 12 of afterbody main body steel wire and fish tail.Steel wire on two faces in control adjustment fish tail symmetric line both sides loosens or strains respectively, and the swing that can make fish tail produce positive and negative both direction realizes the relative crooked of fish tail main body and fish body.
The length of fish tail is 200mm in the embodiment of the invention, and the thickness of corrosion-resistant steel steel disc is 0.2mm.
Wherein tail fin adopts crescent tail fin, and 30 ° at angle, aspect ratio 6.3 are omited in the back.The trailing edge that crescent tail fin is sharp-pointed helps coming off of wake flow collar vortex, and the curved leading edge of crescent tail fin can produce leading-edge suction greatly, all helps to improve fltting speed.
The tension tail fin drives steel wire 11 and the afterbody main body drives steel wire 14 by coordinating, and can make fish tail realize the propelling pattern of the crescent tail fin of Scad Coega.
Wherein, spacing guide hole 10 of tail fin part and the spacing guide hole 13 of afterbody main body have identical structure, as shown in Figure 3, spacing guide hole comprises bolt 15 and the clamp nut 16 of being with through hole, bolt 15 passes fish tail, its two has through hole, and steel wire passes this two holes, by clamp nut 16 bolt 15 is fixed on the fish tail.On the bolt 15 position of through hole away from or near fish tail, the moment when directly influencing the steel wire tension has certain influence to propulsion coefficient.
The structure of the connecting device 12 of the connecting device 9 of tail fin part steel wire and fish tail, afterbody main body steel wire and fish tail is identical with the structure of above-mentioned spacing guide hole, and after steel wire passed guide hole, the outside got final product with a nut is fixing again.
The structure of tail fin drive element 3 comprises tail fin live axle 17 and tail fin drive wheel 20 as shown in Figure 4.Tail fin drive wheel 20 fixes by flat key 21 and tail fin live axle 17, and tail fin live axle 17 links to each other with support by bearing 18, and spacing by nut 19, and tail fin drives steel wire 11 by in the connecting bore 22 of screw retention on tail fin drive wheel 20.Driven by motor tail fin live axle 17 rotates, and tail fin live axle 17 drives tail fin drive wheel 20 by flat key 21 and rotates, and makes the steel wire 11 of the both sides of the driving tail fin that links to each other with drive wheel 20, and alternately tension is loosened, and realizes the swing of tail fin.The diameter of tail fin drive wheel 20 is 20mm, in conjunction with the length that above-mentioned definite steel wire need be strained, can determine the angle that motor need turn over.
The structure of afterbody drive element 4 comprises afterbody live axle 23 and afterbody drive wheel 24 as shown in Figure 5.Connection between afterbody drive wheel 24, afterbody live axle 23 and fish body and the support 2 and tail fin drive wheel identical.Because the requirement of assembling, afterbody live axle 23 are divided into two parts up and down, the middle coupler 25 that passes through connects.Afterbody live axle 23 links to each other with fish body support frame 2 by bearing, and two afterbody main bodys drive steel wires 14 and are separately fixed at up and down in the connecting bore on two afterbody drive wheels 24 up and down.
Afterbody drive wheel 24 and afterbody main body drive the connection of steel wire 14, and also the tail fin drive wheel 20 with above-mentioned is identical.The size of afterbody drive wheel 24 is identical with tail fin drive wheel 20.Afterbody drive wheel 24 loosens afterbody main body driving steel wire 14 by tension makes tail swing.
The structure of adjustable limiting parts 5 as shown in Figure 6, adjustable limiting wheel shaft 26 is fixed on the fish body support frame 2 by clamp nut 28, support upper edge fish tail direction is milled flat recess, with three adjustable limiting wheels 27 of adjustable limiting wheel shaft 26 flat key bonded assemblys adjustable positions in the flat recess of fish body support frame 2, the degree of tightness of steel wire can be adjusted in the position of regulating adjustable limiting wheel 27.
The structure of fixed limit parts 6 as shown in Figure 7, three fixed limits wheel 29 is connected on the fixed limit wheel shaft 30 by back-up ring.The spacing wheel shaft 30 of fixed limit wheel support 31 support fixation, fixed limit wheel support 31 is connected to fish body support frame 2 by threaded fasteners.
Machine fish of the present invention is driven by DC machine, and motor torque is 16.2*10
-3N.m, the reduction ratio of drop-gear box are 218.4: 1.
The flexible propulsive mechanism of whole bionic machine fish of the present invention, link to each other with the fish body support frame of machine fish, be placed in the fish-skin overcoat that the flexible material of an imitative fish-skin makes, profile presents a complete bionic machine fish, only an opening is arranged at fish-skin overcoat downside, after in the fish-skin that the machine fish is packed into, again opening is sealed.
The present invention adopts the afterbody of elastic steel sheet as the machine fish, adopt the steel wire pulling to make tail swing, and make the propelling pattern of the crescent tail fin of realization Scad Coega of afterbody by the control of two motor coordinations, imitation that can be true to nature the motion of fish, more improved the propulsion coefficient of machine fish.
Claims (5)
1, a kind of flexible propulsive mechanism of bionic machine fish, it is characterized in that the fish tail (1) that comprises that the corrosion-resistant steel elastic steel sheet is made, tail fin drive element (3), afterbody drive element (4), adjustable limiting parts (5) and fixed limit parts (6), fish tail (1) is fixing by threaded fasteners and fish body support frame (2), the connecting device (9) of the spacing guide hole of tail fin part (10) and tail fin steel wire and fish tail is set on the symmetric line of fish tail (1), the connecting device (12) of the spacing guide hole of afterbody main body (13) and afterbody main body steel wire and fish tail is arranged on the both sides of fish tail symmetric line, tail fin drive element (3) comprises tail fin live axle (17) and tail fin drive wheel (20), tail fin drive wheel (20) fixes by flat key (21) and tail fin live axle (17), tail fin live axle (17) links to each other with fish body support frame (2) by bearing (18), and it is spacing by nut (19), tail fin drives steel wire (11) by in the connecting bore (22) of screw retention on tail fin drive wheel (20), and pile warp adjustable limiting wheel (27), pass the spacing guide hole of tail fin part (10) behind the fixed limit wheel (29), be fixed on the connecting device (9) of tail fin steel wire and fish tail; Afterbody drive element (4) comprises afterbody live axle (23) and afterbody drive wheel (24), afterbody live axle (23) is divided into two parts up and down, middle by coupler (25) connection, afterbody live axle (23) links to each other with fish body support frame (2) by bearing, in the connecting bore about two afterbody main body driving steel wires (14) are separately fixed at up and down on two afterbody drive wheels (24), and two adjustable limitings of pile warp are taken turns (27) respectively, pass the spacing guide hole of afterbody main body (13) behind the fixed limit wheel (29), link to each other with the connecting device (12) of afterbody main body steel wire and fish tail; Adjustable limiting wheel shaft (26) in the adjustable limiting parts (5) is fixed on the fish body support frame (2) by clamp nut (28), with three adjustable limitings of adjustable limiting wheel shaft (26) flat key bonded assembly wheels (27) at fish body support frame (2) along adjustable positions in the flat recess of fish tail direction; In the fixed limit parts (6), three fixed limit wheels (29) are connected on the fixed limit wheel shaft (30) by back-up ring, and fixed limit wheel shaft (30) is connected with fish body support frame (2) by fixed limit wheel support (31).
2, the flexible propulsive mechanism of bionic machine fish as claimed in claim 1, it is characterized in that the spacing guide hole of described tail fin part (10) is identical with the spacing guide hole of afterbody main body (13) structure, comprise bolt (15) and the clamp nut (16) of being with through hole, bolt (15) passes fish tail and is fixed on the fish tail by clamp nut (16), two of bolt (15) has through hole, and tail fin drives steel wire (11) or afterbody main body driving steel wire (14) passes from these two through holes.
3, the flexible propulsive mechanism of bionic machine fish as claimed in claim 1, the structure of connecting device (12) of connecting device (9), afterbody main body steel wire and fish tail that it is characterized in that described tail fin steel wire and fish tail is identical, comprise bolt (15) and the clamp nut (16) of being with through hole, bolt (15) passes fish tail and is fixed on the fish tail by clamp nut (16), two of bolt (15) has through hole, tail fin drives steel wire (11) or afterbody main body driving steel wire (14) passes from these two through holes, and the outside uses a nut with fixation with steel wire again.
4, the flexible propulsive mechanism of bionic machine fish as claimed in claim 1 is characterized in that the length of the fish tail (1) that described corrosion-resistant steel elastic steel sheet is made is 200mm, and the thickness of corrosion-resistant steel steel disc is 0.2mm.
5, the flexible propulsive mechanism of bionic machine fish as claimed in claim 1 is characterized in that the diameter of described tail fin drive wheel (20) and afterbody drive wheel (24) is 20mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410053660 CN1256259C (en) | 2004-08-12 | 2004-08-12 | Flexible propelling mechanism of artificial machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410053660 CN1256259C (en) | 2004-08-12 | 2004-08-12 | Flexible propelling mechanism of artificial machine fish |
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| CN1586990A true CN1586990A (en) | 2005-03-02 |
| CN1256259C CN1256259C (en) | 2006-05-17 |
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| CN 200410053660 Expired - Fee Related CN1256259C (en) | 2004-08-12 | 2004-08-12 | Flexible propelling mechanism of artificial machine fish |
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Cited By (15)
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| CN101659319B (en) * | 2009-09-30 | 2012-05-23 | 北京航空航天大学 | Single freedom degree flapping mechanism applicable to robotic fish |
| CN102556311A (en) * | 2012-02-21 | 2012-07-11 | 金东� | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
| CN102616357A (en) * | 2012-03-08 | 2012-08-01 | 郑志刚 | 360-degree biomimetic fluctuation propulsion device |
| CN102815388A (en) * | 2012-08-27 | 2012-12-12 | 百力科技有限公司 | Line-drive polyarticular fishtail underwater propulsion device and bionic mechanism thereof |
| CN102963515A (en) * | 2012-12-03 | 2013-03-13 | 深圳市中科莲花净水科技有限公司 | Line drive flexible fishtail-like underwater propulsion unit and bionic mechanism thereof |
| CN104002947A (en) * | 2014-04-28 | 2014-08-27 | 南京航空航天大学 | Ionic artificial muscle drive based small robot fish and moving method thereof |
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| CN112498638A (en) * | 2020-12-15 | 2021-03-16 | 哈尔滨工程大学 | High-speed swing two-joint bionic fishtail device |
| CN113104188A (en) * | 2021-03-15 | 2021-07-13 | 江苏科技大学 | Bionic fish propulsion device and control method thereof |
| CN113184153A (en) * | 2021-05-28 | 2021-07-30 | 西安交通大学 | Soft mechanical fish capable of being bent and moving quickly |
| CN113415402A (en) * | 2021-06-18 | 2021-09-21 | 中国科学院自动化研究所 | Bionic fishtail underwater propeller |
| CN113998085A (en) * | 2021-11-26 | 2022-02-01 | 杭州电子科技大学 | Bionic robot fish |
| CN115195978A (en) * | 2022-07-06 | 2022-10-18 | 深圳职业技术学院 | Intelligent bionic robot fish |
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- 2004-08-12 CN CN 200410053660 patent/CN1256259C/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101659319B (en) * | 2009-09-30 | 2012-05-23 | 北京航空航天大学 | Single freedom degree flapping mechanism applicable to robotic fish |
| CN102556311A (en) * | 2012-02-21 | 2012-07-11 | 金东� | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
| CN102556311B (en) * | 2012-02-21 | 2015-02-18 | 金东� | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
| CN102616357A (en) * | 2012-03-08 | 2012-08-01 | 郑志刚 | 360-degree biomimetic fluctuation propulsion device |
| CN102815388A (en) * | 2012-08-27 | 2012-12-12 | 百力科技有限公司 | Line-drive polyarticular fishtail underwater propulsion device and bionic mechanism thereof |
| CN102963515A (en) * | 2012-12-03 | 2013-03-13 | 深圳市中科莲花净水科技有限公司 | Line drive flexible fishtail-like underwater propulsion unit and bionic mechanism thereof |
| CN102963515B (en) * | 2012-12-03 | 2014-12-10 | 深圳市中科莲花净水科技有限公司 | Line drive flexible fishtail-like underwater propulsion unit and bionic mechanism thereof |
| CN104002947A (en) * | 2014-04-28 | 2014-08-27 | 南京航空航天大学 | Ionic artificial muscle drive based small robot fish and moving method thereof |
| CN108408006B (en) * | 2018-04-26 | 2024-03-19 | 华中科技大学 | Underwater bionic robot fish driven by flow conveying pipe |
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| CN109036031A (en) * | 2018-09-11 | 2018-12-18 | 浙江工业大学 | A kind of deformable fluctuation wall surface device |
| CN109572969A (en) * | 2018-12-10 | 2019-04-05 | 叶青 | A kind of fish-tail propeller |
| CN112498638A (en) * | 2020-12-15 | 2021-03-16 | 哈尔滨工程大学 | High-speed swing two-joint bionic fishtail device |
| CN113104188A (en) * | 2021-03-15 | 2021-07-13 | 江苏科技大学 | Bionic fish propulsion device and control method thereof |
| CN113104188B (en) * | 2021-03-15 | 2022-04-15 | 江苏科技大学 | Bionic fish propulsion device and control method thereof |
| WO2022194148A1 (en) * | 2021-03-15 | 2022-09-22 | 江苏科技大学 | Bionic fish propelling device and control method therefor |
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| CN113415402A (en) * | 2021-06-18 | 2021-09-21 | 中国科学院自动化研究所 | Bionic fishtail underwater propeller |
| CN113415402B (en) * | 2021-06-18 | 2022-07-12 | 中国科学院自动化研究所 | Bionic fishtail underwater propeller |
| CN113998085A (en) * | 2021-11-26 | 2022-02-01 | 杭州电子科技大学 | Bionic robot fish |
| CN113998085B (en) * | 2021-11-26 | 2022-09-20 | 杭州电子科技大学 | Bionic robot fish |
| CN115195978A (en) * | 2022-07-06 | 2022-10-18 | 深圳职业技术学院 | Intelligent bionic robot fish |
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