Spreading deformation flapping wing structure for simulating fish based on six-axis connecting rod mechanism

Abstract

The invention discloses a spanwise deformation flapping wing structure for simulating fish based on a six-axis connecting rod mechanism, and relates to the technical field of bionic robots, a flexible skeleton is rotatably connected with a driving rod and a supporting rod, the output end of a driving part is connected with the driving rod, the driving rods of two adjacent flapping wing units are fixedly connected, one end of a third connecting rod is hinged to the supporting rod, and the other end of the third connecting rod is hinged to the supporting rod. One end of the first connecting rod is hinged to the driving rod, the other end of the first connecting rod is hinged to the middle section of the third connecting rod, one end of the second connecting rod is hinged to the middle section of the third connecting rod, and the other end of the second connecting rod is hinged to the middle section of the fourth connecting rod. The spanwise deformation flapping wing structure for simulating the fish based on the six-axis connecting rod mechanism is simple in structure and high in reliability, the three-dimensional swimming posture of the mechanical fish in water can be accurately simulated, the amplitude, frequency and phase of movement can be flexibly adjusted, and therefore the fish can rapidly and greatly swim and also can swim in a winding mode.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and more specifically to a spanwise deformable flapping-wing structure for simulating fish based on a six-axis connecting rod mechanism. Background Art

[0002] With the increasing emphasis on marine development, more new requirements have been put forward for underwater operations. Mechanical fish are usually used in underwater operations, but existing mechanical fish use a large number of parts such as complex connecting rods, hinged chains, rib support seats, etc. to achieve spanwise deformation. Too many parts not only increase the difficulty and cost of manufacturing and assembly, but also reduce the reliability of the mechanism. In the complex underwater environment, more connection parts are prone to loosening, wear and failure. At the same time, the coupling between spanwise deformation and other degrees of freedom of movement is poor. For example, while achieving spanwise deformation, it cannot take into account chordwise deformation and flapping movement well, resulting in insufficient overall movement flexibility and inability to achieve efficient and flexible three-dimensional maneuvers like fish. Summary of the invention

[0003] In order to overcome the defects of the prior art, the present invention proposes a spanwise deformation flapping wing structure for simulating fish based on a six-axis linkage mechanism. The structure is simple and reliable, and can accurately simulate the three-dimensional swimming posture of a mechanical fish in water. The amplitude, frequency and phase of the movement can be flexibly adjusted, so that the mechanical fish can swim quickly and in a large amplitude, or in a winding manner.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] The present invention provides a spanwise deformation flapping-wing structure for simulating fish based on a six-axis linkage mechanism, comprising a driving part and a bionic pectoral fin composed of two or more flapping-wing unit arrays, wherein the flapping-wing unit comprises a flexible skeleton and movable parts symmetrically arranged on both sides of the flexible skeleton, wherein the movable parts comprise an active rod, a support rod, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the active rod and the support rod are rotatably connected to the flexible skeleton, an output end of the driving part is connected to the active rod, and the active rods of two adjacent flapping-wing units are fixedly connected, one end of the third connecting rod is hinged to the support rod, and the other end of the third connecting rod is hinged to one end of the fourth connecting rod, one end of the first connecting rod is hinged to the active rod, and the other end of the first connecting rod is hinged to the middle section of the third connecting rod, one end of the second connecting rod is hinged to the middle section of the third connecting rod, and the other end of the second connecting rod is hinged to the middle section of the fourth connecting rod.

[0006] In a preferred technical solution of the present invention, the driving unit is a power motor.

[0007] In a preferred technical solution of the present invention, both the first connecting rod and the second connecting rod are straight rods.

[0008] In a preferred technical solution of the present invention, the third connecting rod and the fourth connecting rod are both right-angle rods.

[0009] In a preferred technical solution of the present invention, the active rod and the support rod are arranged in parallel, and the active rod is located below the support rod.

[0010] The beneficial effects of the present invention are:

[0011] 1. The six-axis linkage mechanism and the flexible skeleton are used to simulate the contraction of muscles, which can provide sufficient output force and power and produce sufficient deformation, thereby restoring the real span-wise bending and swinging movements of fish, and can better simulate stretching, contraction, bending and other movements. This rigid rod mechanism can enable the robot fish to obtain stable thrust. Compared with the traditional shape memory alloy drive method, it has the advantages of strong anti-disturbance ability, long fatigue life, and large shape recovery stress.

[0012] 2. The six-axis linkage mechanism and the flexible skeleton are used as the basic unit structure of the robot fish. It can adapt to a variety of different underwater terrains, greatly improve its flexibility, and can cope with complex underwater environments to a high degree. It also establishes a special swimming mode through the concept of bionics without disturbing the fish. While observing the behavior and physiological characteristics of fish at close range, it collects the ocean big data information that humans need to collect.

[0013] 3. The disassembly and installation of the flexible frame of the device is more convenient, and will not affect the mechanical structure outside the flexible frame. Even if the joints are damaged, it is more convenient to replace parts and perform maintenance separately, which effectively reduces the time cost of assembly and disassembly.

[0014] 4. The six-axis linkage mechanism can provide multiple independent degrees of freedom of movement, allowing the robot fish to achieve highly flexible movement when deforming in the span direction.

[0015] 5. The structural characteristics of the six-axis linkage mechanism give it higher rigidity, and it can maintain a stable structural form when subjected to large external forces. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of a flapping wing structure for simulating the spanwise deformation of fish based on a six-axis linkage mechanism provided by a specific embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of the structure of a flapping-wing unit;

[0018] Figure 3 It is a partial structural diagram of the active part.

[0019] In the figure:

[0020] 1. Driving part; 2. Flapping-wing unit; 21. Flexible skeleton; 22. Active part; 221. Active rod; 222. Support rod; 223. First connecting rod; 224. Second connecting rod; 225. Third connecting rod; 226. Fourth connecting rod. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0022] like Figure 1-3As shown, the embodiment provides a spanwise deformation flapping wing structure for simulating fish based on a six-axis linkage mechanism, including a driving part 1 and a bionic pectoral fin composed of an array of more than two flapping wing units 2, the flapping wing unit 2 includes a flexible skeleton 21 and an active part 22 symmetrically arranged on both sides of the flexible skeleton 21, the active part 22 includes an active rod 221, a support rod 222, a first connecting rod 223, a second connecting rod 224, a third connecting rod 225 and a fourth connecting rod 226, and the active rod 221 and the support rod 222 are rotatably connected to the flexible skeleton 21. , the output end of the driving unit 1 is connected to the active rod 221, and the active rods 221 of two adjacent flapping-wing units 2 are fixedly connected, one end of the third connecting rod 225 is hinged to the support rod 222, the other end of the third connecting rod 225 is hinged to one end of the fourth connecting rod 226, one end of the first connecting rod 223 is hinged to the active rod 221, the other end of the first connecting rod 223 is hinged to the middle section of the third connecting rod 225, one end of the second connecting rod 224 is hinged to the middle section of the third connecting rod 225, and the other end of the second connecting rod 224 is hinged to the middle section of the fourth connecting rod 226. In this embodiment, more than two flapping-wing units 2 are arranged in an axial array along the power shaft of the driving unit 1, and two adjacent flapping-wing units 2 are detachably connected, so that the parameters of each flapping-wing unit 2 (such as the length of the rod, the size of the flexible skeleton, etc.) can be modified according to the characteristics of the bionic object, thereby realizing the design from local to overall motion. The driving part 1 is used to drive the flapping unit 2 to swing. When the flapping units 2 on both sides of the flexible skeleton 21 swing at the same rate, a backward thrust will be generated to make the mechanical fish swim forward as a whole. It can also realize upward and downward bending and swinging movements to well simulate the contraction movement of muscles. When the flapping units 2 on both sides of the flexible skeleton 21 swing at different rates, the overall turning movement of the mechanical fish can be realized, which is close to the real movement state of the fish. Among them, the flexible skeleton 21 is made of flexible material and is suitable for the class of cartilaginous fish. The movable part 22 is a six-axis connecting rod mechanism. The driving part 1 can drive the active rod 221 to rotate. The rotation of the active rod 221 drives the first connecting rod 223 to move, and then drives the six-axis connecting rod mechanism to swing. The structural characteristics of the six-axis connecting rod mechanism give it higher rigidity, and it can still maintain a stable structural form when subjected to a large external force. The six-axis linkage mechanism also has multiple degrees of freedom. Compared with simple single-axis or dual-axis mechanisms, it can more accurately simulate the three-dimensional swimming posture of fish in water, and the robot fish can flexibly adjust the amplitude, frequency and phase of the movement during the movement. By controlling the motion parameters of each axis of the six-axis linkage mechanism, it can swim fast and large, or meander. Therefore, this device can well imitate the movement of fish along the spanwise wave and efficient propulsion.In addition, when the robotic fish swims in the water, during each spanwise fluctuation interval, the flapping wings maintain a certain position and can use the flow energy of the water to convert it into kinetic energy of the robotic fish, allowing the robotic fish to glide. In this way, the swimming distance and speed can be increased while using the same energy, thereby improving the energy utilization efficiency of the system. At the same time, 3D printing technology is used to manufacture the above-mentioned integrated structural components to reduce assembly links, thereby reducing the risk of failure caused by too many parts. Without losing the bearing strength of the mechanism, the lightweight design is conducive to reducing fluid resistance and increasing movement speed.

[0023] Specifically, the driving part 1 is a power motor. In this embodiment, two power motors are provided, and the power shaft of each power motor is connected to the active rod 221 of one of the flapping-wing units 2 respectively.

[0024] Specifically, the first connecting rod 223 and the second connecting rod 224 are both straight rods. In this embodiment, both ends of the first connecting rod 223 and the second connecting rod 224 are provided with through holes for hinge connection.

[0025] Specifically, the third connecting rod 225 and the fourth connecting rod 226 are both right-angle rods. In this embodiment, three ends of the third connecting rod 225 are provided with through holes for hinge connection, and two ends of the fourth connecting rod 226 are provided with through holes for hinge connection.

[0026] Specifically, the active rod 221 and the support rod 222 are arranged in parallel, and the active rod 221 is located below the support rod 222 .

[0027] The present invention is described by preferred embodiments, and those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. The present invention is not limited to the specific embodiments disclosed herein, and other embodiments falling within the claims of this application are within the scope of protection of the present invention.

Claims

1. A flapping wing structure simulating the spanwise deformation of fish based on a six-axis linkage mechanism, characterized in that: The invention comprises a driving part (1) and a bionic pectoral fin composed of an array of more than two flapping wing units (2), wherein the flapping wing unit (2) comprises a flexible skeleton (21) and movable parts (22) symmetrically arranged on both sides of the flexible skeleton (21), the movable parts (22) comprising an active rod (221), a support rod (222), a first connecting rod (223), a second connecting rod (224), a third connecting rod (225) and a fourth connecting rod (226), the active rod (221) and the support rod (222) are rotatably connected to the flexible skeleton (21), and the output end of the driving part (1) is connected to the active rod (221). 21), and the active rods (221) of two adjacent flapping-wing units (2) are fixedly connected, one end of the third connecting rod (225) is hinged to the support rod (222), the other end of the third connecting rod (225) is hinged to one end of the fourth connecting rod (226), one end of the first connecting rod (223) is hinged to the active rod (221), the other end of the first connecting rod (223) is hinged to the middle section of the third connecting rod (225), one end of the second connecting rod (224) is hinged to the middle section of the third connecting rod (225), and the other end of the second connecting rod (224) is hinged to the middle section of the fourth connecting rod (226).

2. The flapping wing structure for simulating the spanwise deformation of fish based on a six-axis linkage mechanism according to claim 1, characterized in that: The driving part (1) is a power motor.

3. The flapping wing structure for simulating the spanwise deformation of fish based on a six-axis linkage mechanism according to claim 1, characterized in that: The first connecting rod (223) and the second connecting rod (224) are both straight rods.

4. The flapping-wing structure for simulating the spanwise deformation of fish based on a six-axis linkage mechanism according to claim 1, characterized in that: The third connecting rod (225) and the fourth connecting rod (226) are both right-angle rods.

5. The flapping-wing structure for simulating the spanwise deformation of fish based on a six-axis linkage mechanism according to claim 1, characterized in that: The active rod (221) and the support rod (222) are arranged in parallel, and the active rod (221) is located below the support rod (222).

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