Three-joint structure of robotic fish

A robotic fish and three-joint technology, which is applied in the field of bionic robotic fish, can solve the problems of stress concentration, easy disjointness, and fracture at the joints of joint drive rods, so as to reduce the load, increase the degree of freedom of movement, and avoid fractures.

Active Publication Date: 2017-11-24
HOHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The joint structure of the existing robot fish, such as the application number is 201510557116X, and the invention name is a patent for the swing mechanism of a bionic intelligent robot fish. The fish body includes three main drive joints, such as Figure 5 As shown, each main drive joint includes a steering gear (4) and a drive rod (3). After many experiments by the applicant, it has been found that this structure with only three main drive joints limits the freedom of swing of the robotic fish. As a result, it is easy to get out of joint when swimming, and it is easy to break in the middle part of the driving rod. According to the research and analysis, it is concluded that the driving rod should not only bear the force in the swing direction (that is, the horizontal direction), but also bear its own gravity. (that is, the vertical direction), the resultant force borne by the drive rod is relatively large, and it is easy to cause stress concentration at the connection of the joint drive rod, because it is easy to cause fracture

Method used

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  • Three-joint structure of robotic fish
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  • Three-joint structure of robotic fish

Examples

Experimental program
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Effect test

Embodiment 1

[0032] Such as Figure 4 As shown, a three-joint structure of a robotic fish includes three main drive joints, namely the first main drive joint, the second main drive joint and the third main drive joint, and each main drive joint includes a steering gear 4 and the drive rod 3, one end of the drive rod is connected to the output shaft 2 of the steering gear, and the joint is a sealing structure 5, which seals the interface by means of sealant to prevent water from entering the steering gear, and the other end of the drive rod is connected to the adjacent drive joint. The steering gear housing 1 is fixedly connected, and the three-joint robot fish motion joints plus the tail appear to be a reciprocating motion as a whole, and each main driving joint is also a reciprocating motion based on the last main driving joint. Between the first main driving joint and the second main driving joint, and between the second main driving joint and the third main driving joint, four slave dri...

Embodiment 2

[0108] Such as Figure 7 , 8 As shown, the difference between this embodiment and Embodiment 1 is that there is a connecting rod 9 inside the support ring near the back of the fish, and the upper and lower end surfaces of the connecting rod are provided with slots for engaging the second connecting part of the vertebral hinge. 10. Inside the support ring connected to the steering gear of the main drive joint, there is a slot 11 for clamping the steering gear near the belly of the fish, and the support ring is fixedly connected with the steering gear by screws.

[0109] In order to increase the buoyancy of the robot fish, foam is arranged between the inside of the support ring, the spine hinge and the steering gear.

Embodiment 3

[0111] Such as Figure 9 As shown, the difference between this embodiment and Embodiment 1 is that the steering gear is arranged in the steering gear housing 1, which is made of waterproof material to protect the steering gear from being immersed in water, and the steering gear housing is provided with an arc track 12.

[0112] The external force on the drive rod mainly comes from the reaction force of the water when the steering gear drives the main drive joint to swing. The applicant used ANSYS Workbench to conduct a static analysis of the drive rod, and concluded that the maximum pressure point and maximum deformation are in the middle part of the drive rod, so a support rod 13 is vertically connected downwards in the middle part of the drive rod, and the support rod A rolling ball is connected to the bottom end of the steering wheel, the steering gear drives the driving rod to rotate, and the driving rod drives the support rod and the rolling ball to roll back and forth in...

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Abstract

The invention discloses a three-joint structure of a robotic fish. A plurality of slave driving joints are arranged between a first main driving joint and a second main driving joint and between the second main driving joint and a third main driving joint in a length direction of a fish body; each slave driving joint comprises a supporting ring, a vertebra hinge and a vertebra hinge connecting rod; and the vertebra hinges of the plurality of slave driving joints are end to end to form a vertebral column of the robotic fish. The three-joint structure of the robotic fish has the advantages that the freedom degree of motion of the robotic fish is increased, the robotic fish swims to fit the fish motion curve, the robotic fish swims like a real fish and the robotic fish swims without joint disconnection phenomenon; the burden of a driving rod is reduced by using the slave driving joints so that the breakage of the driving rod is avoided.

Description

technical field [0001] The invention relates to the technical field of bionic robot fish, in particular to a three-joint structure of a robot fish. Background technique [0002] The joint structure of the existing robot fish, such as the application number is 201510557116X, and the invention name is a patent for the swing mechanism of a bionic intelligent robot fish. The fish body includes three main drive joints, such as Figure 5 As shown, each main drive joint includes a steering gear (4) and a drive rod (3). After many experiments by the applicant, it has been found that this structure with only three main drive joints limits the freedom of swing of the robotic fish. As a result, it is easy to get out of joint when swimming, and it is easy to break in the middle part of the driving rod. According to the research analysis, it is concluded that the driving rod should not only bear the force in the swing direction (that is, the horizontal direction), but also bear its own gr...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): B63H1/36
CPCB63H1/36Y02A40/81
Inventor娄保东倪羽洁王平
OwnerHOHAI UNIV