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Multi-joint linkage tail mechanism and bionic robotic fish propelled by it

A multi-joint, connecting-rod technology, applied in the field of bionic robotic fish, can solve problems such as inaccurate description of motion laws and affecting the propulsion efficiency of robotic fish, and achieve the effects of improving propulsion efficiency, increasing quantity, and good flexibility

Active Publication Date: 2020-03-31
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the design scheme of the tail structure of the bionic robot fish still stays in the motion of two joints driven by a single motor or the motion of multiple steering gears to simulate multiple joints. fish propulsion efficiency

Method used

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  • Multi-joint linkage tail mechanism and bionic robotic fish propelled by it
  • Multi-joint linkage tail mechanism and bionic robotic fish propelled by it
  • Multi-joint linkage tail mechanism and bionic robotic fish propelled by it

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037]Such as figure 1 As shown, this embodiment is a two-joint link-type tail mechanism, which includes a vertical chute 1, a horizontal chute 2, an eccentric wheel 3, a driving motor 4, a main gear 5, and a pinion gear 6 , the first joint 9, the second joint 10 and the base 21, the number of pinion gear 6 is 1, and the number of vertical chute 1, horizontal chute 2 and eccentric wheel 3 is 2. The driving motor 4 and the vertical chute 1 are all fixed on the base 21 . Such as figure 2 As shown, the drive motor 4, the main gear 5 and the auxiliary gear 6 are connected in sequence, and the main gear 5 and the auxiliary gear 6 are externally meshed for transmission. The two ends of the output shaft of the pinion gear 6 are respectively connected with an eccentric wheel 3, and the eccentric shaft of the eccentric wheel 3 is inserted into a horizontal chute 2, which can reciprocate horizontally along the horizontal chute 2, and at the same time, the horizontal chute 2 can also ...

Embodiment 2

[0040] Such as Figure 4 As shown, this embodiment is a three-joint link-type tail mechanism, which includes a vertical chute 1, a horizontal chute 2, an eccentric wheel 3, a driving motor 4, a main gear 5, and a pinion 6 , the first joint 9, the second joint 10, the third joint 15 and the base 21, the number of pinions 6 is 2, and the number of vertical chute 1, horizontal chute 2 and eccentric wheel 3 is 3. The driving motor 4 and the vertical chute 1 are all fixed on the base 21 . Such as Figure 5 As shown, the drive motor 4, the main gear 5 and the two auxiliary gears 6 are sequentially connected, and the main gear 5 and the two auxiliary gears 6 are sequentially engaged in external gear transmission. An eccentric wheel 3 is connected to both ends of the output shaft of one secondary gear 6, and an eccentric wheel 3 is connected to one end of the output shaft of the other secondary gear 6. The eccentric shaft of the eccentric wheel 3 is inserted into a horizontal chute ...

Embodiment 3

[0043] Such as Figure 7 As shown, this embodiment is a four-joint linkage tail mechanism, which includes a vertical chute 1, a horizontal chute 2, an eccentric wheel 3, a driving motor 4, a main gear 5, and a pinion gear 6 , the first joint 9, the second joint 10, the third joint 15, the fourth joint 18 and the base 21, the number of pinion gears 6 is 2, the number of vertical chute 1, horizontal chute 2 and eccentric wheel 3 are equal for 4. The driving motor 4 and the vertical chute 1 are all fixed on the base 21 . Such as Figure 8 As shown, the drive motor 4, the main gear 5 and the two auxiliary gears 6 are sequentially connected, and the main gear 5 and the two auxiliary gears 6 are sequentially engaged in external gear transmission. The two ends of the output shaft of one secondary gear 6 are respectively connected with an eccentric wheel 3, and the two ends of the output shaft of the other secondary gear 6 are respectively connected with an eccentric wheel 3, and t...

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Abstract

The invention discloses a multi-joint connecting-rod type tail mechanism and a bionic robot fish propelled by adopting the multi-joint connecting-rod type tail mechanism. The multi-joint connecting-rod type tail mechanism includes two or more joints with phase difference and a driving executing mechanism used for driving each joint to achieve swinging motion, the driving executing mechanism includes vertical sliding grooves, horizontal sliding grooves and eccentric wheels, wherein the horizontal sliding grooves can reciprocate along the vertical sliding grooves, eccentric shafts of the eccentric wheels can reciprocate along the horizontal sliding grooves and rotatably rotate, and the horizontal sliding grooves are connected with the joints through a connecting rod mechanism; and phase difference is between initial positions of the horizontal sliding grooves, the eccentric wheels rotate to make the eccentric shafts reciprocate along the horizontal sliding grooves and drive the horizontal sliding grooves reciprocate along the vertical sliding grooves, and meanwhile, the horizontal sliding grooves drive the joints to swing in a traveling-wave shape through the connecting rod mechanism. According to the multi-joint connecting-rod type tail mechanism and the bionic robot fish propelled by adopting the multi-joint connecting-rod type tail mechanism, traveling-wave swing of a fish body tail can be accurately simulated, and the propulsion effect of the bionic robot fish is improved while swinging inertia is lowered.

Description

technical field [0001] The invention relates to a bionic mechanism, in particular to a multi-joint linkage tail mechanism and a bionic robot fish propelled by the same. Background technique [0002] With the advancement of science and technology, underwater robots with the functions of ocean survey, seabed exploration, ocean salvage, and underwater reconnaissance and tracking have become important tools for exploring and developing the ocean. [0003] Due to their high swimming speed and propulsion efficiency, fishes in the biological kingdom have become the key research objects of underwater robots. Through the research on the swimming mode of fish, it is found that the swing of its flexible tail according to the law of traveling waves is the main source of propulsion. At present, the design scheme of the tail structure of the bionic robot fish still stays in the motion of two joints driven by a single motor or the motion of multiple steering gears to simulate multiple joi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H1/36
CPCB63H1/36
Inventor 夏丹朱阳洋赵意熊雨杉
Owner SOUTHEAST UNIV