Robot fish with three-joint structure

A robotic fish and three-joint technology, applied in the field of bionic robotic fish, can solve the problems of easy disjointness, easy breakage, stress concentration at the joints of the joint drive rods, etc., to increase the freedom of movement, increase the compressive strength, and reduce the load. Effect

Active Publication Date: 2017-12-08
HOHAI UNIV
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  • Summary
  • 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 in 5a and 5b, each main driving joint includes a steering gear (4) and a driving rod (3). After many experiments by the applicant, it is concluded that this structure with only three main driving joints limits the The swing degree of freedom of the fish makes it easy to get out of joint when swimming, and the middle part of the drive rod is prone to breakage. According to the research and analysis, it is concluded that the drive rod should not only bear the force in the swing direction (that is, the horizontal direction), but also To 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, so it is easy to cause fracture
In addition, according to the applicant's many experimental experiences, the head of the existing robotic fish is prone to damage

Method used

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  • Robot fish with three-joint structure
  • Robot fish with three-joint structure
  • Robot fish with three-joint structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] Such as Figure 4 As shown, a robotic fish with a three-joint structure includes a fish head 6, a fish body and a fish tail 7. The fish body includes a fixed part 8 and a swing part 9, and the fixed part is installed with a device for controlling the motion posture of the robot fish and wireless charging. The control mechanism, the swinging part includes three main driving joints, the first main driving joint, the second main driving joint and the third main driving joint are arranged in sequence along the length direction of the fish body, one end of the fixed part is fixedly connected with the fish head, and the other end is connected with the second main driving joint. One main driving joint is fixedly connected, each main driving joint includes a steering gear 4 and a driving rod 3, one end of the driving rod is connected to the output shaft 2 of the steering gear, the joint is a sealing structure 5, and the interface is sealed by means of sealant or the like. The o...

Embodiment 2

[0113] Such as Figure 7 , 8 As shown, the difference between this embodiment and Embodiment 1 is that there is a connecting rod inside the support ring near the back of the fish, and the upper and lower end surfaces of the connecting rod 13 are provided with slots for engaging the second connecting part of the vertebral hinge. 14. Inside the support ring connected to the steering gear of the active drive joint, there is a slot 15 for clamping the steering gear near the belly of the fish, and the support ring is fixedly connected to the steering gear by screws.

[0114] 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

[0116] 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 16.

[0117] 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 17 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 robot fish with a three-joint structure. A plurality of driven joints are arranged along the length direction of a fish body and among driving joints. Each of the driven joints comprises a supporting ring, a vertebra hinge and a vertebra hinge connecting rod. The supporting rings are provided with clamping grooves for fixing the vertebra hinges. The vertebra hinges of the plurality of driven joints are in end-to-end connection with each other to form a vertebra of the robot fish. Three load-bearing supporting rods which are 4 mm in diameter are arranged inside a mouth part of a fish head and at the anterior 1 / 3 of the mouth. The robot fish provided by the invention is provided with the driving joints and the driven joints, thereby increasing the freedom of motion of the robot fish, allowing the swimming of the robot fish to be better in accordance with the motion curve of real fishes and more similar to the real fishes, and avoiding the disjunction during the swimming of the robot fish. The driven joints reduce the load of driving rods and avoid the breaking of the driving rods. The load-bearing supporting rods arranged inside the mouth of the fish head increase the compressive strength of the fish head, thereby avoiding the damage of the fish head.

Description

technical field [0001] The invention relates to the technical field of bionic robot fish, in particular to a robot fish with a three-joint structure. 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 in 5a and 5b, each main driving joint includes a steering gear (4) and a driving rod (3). After many experiments by the applicant, it is concluded that this structure with only three main driving joints limits the The swing degree of freedom of the fish makes it easy to get out of joint when swimming, and it is easy to break in the middle part of the drive rod. To bear its own gravity (that is, the vertical direction), the resultant force borne by the driving rod is relatively large, which is likely to cause stress concentration at the ...

Claims

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Application Information

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IPC IPC(8): B63H1/36
CPCB63H1/36
Inventor娄保东倪羽洁王平
OwnerHOHAI UNIV