Bionic fish head double-shaft split mechanism

Abstract

The application discloses a bionic robot fish head double-shaft split mechanism, which comprises an upper jaw framework, an upper jaw driving connecting rod, a frame, a V-shaped framework, a lower jaw driving connecting rod, a lower jaw framework, a driving connecting rod, a waterproof motor and a bionic robot fish shape part, power of the waterproof motor is synchronously transmitted to the upper jaw framework and the lower jaw framework through the driving connecting rod, and the mouth opening and closing linkage mechanism function of the bionic robot is realized by using a small number of parts. The part process is improved, and the assembly requirement is greatly reduced. Through reasonable design of lengths of the connecting rods, flexible design of a mouth opening angle is realized, the design flexibility of the mouth opening and closing of the bionic robot is improved, and different viewing effects are realized.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robots, and more particularly to a biomimetic robotic fish head movement mechanism. Background Technology

[0002] With continuous technological advancements, the global bionic robot market is showing a steady growth trend, with its market size continuously expanding. The widespread application of bionic robotic fish in the entertainment and viewing fields has further promoted market development. Currently, the mouth mechanism of bionic robots uses multiple drive modules combined with tracks to achieve joint movement. This type of mouth mechanism is bulky and complex to control, failing to meet the requirements of compact structure and simple control for underwater bionic robots. Summary of the Invention

[0003] The technical problem solved by this invention is to provide a compact and simple-to-control biomimetic robotic fish head dual-axis splitting mechanism.

[0004] The technical solution adopted in this invention is a biomimetic robotic fish head dual-axis split mechanism, including an upper jaw skeleton, an upper jaw drive link, a frame, a V-shaped skeleton, a lower jaw drive link, a lower jaw skeleton, a drive link, a waterproof motor, and biomimetic robotic fish shape parts. The waterproof motor is fixed to the frame by a motor mount; the waterproof motor 8 drives the drive linkage to rotate, and the drive linkage has two arms, one of which has an upper jaw shaft hole at the end and the other arm has a lower jaw shaft hole at the end. The maxillary skeleton includes a maxillary drive rod and a maxillary side plate. One end of the maxillary drive rod is mounted on the frame via a bearing seat, and the maxillary side plate is fixed to the frame via a swivel. The axes of the bearing seat and the swivel coincide. The other end of the maxillary drive rod is hinged to the maxillary drive connecting rod, which is also hinged to the maxillary shaft hole of the drive connecting rod. The maxillary drive rod is fixedly connected to the maxillary side plate via a connecting post. The mandibular skeleton includes a mandibular drive rod and two ribs. The mandibular drive rod is fixedly connected to the ribs on the left and right sides via connecting posts. The roots of both the mandibular drive rod and the ribs are hinged to the frame, and their rotation axes coincide. The mandibular drive rod also has a shaft hole, at which it is hinged to the mandibular shaft hole of the drive connecting rod. Two transition ribs are mounted on each of the two ribs, facing outwards. Adjacent transition ribs are connected by connecting bent plates.

[0005] The maxillary skeleton also includes a maxillary pivot, connectors, support ribs, connecting pivots, a maxillary connecting seat, and a connecting seat. The maxillary pivot passes through the maxillary drive rod and is connected to the bearing housing. The maxillary side plate is fixedly connected to the support ribs through the connectors. The connecting pivot is fixedly connected to the support ribs. The maxillary side plate is fixedly connected to the maxillary connecting seat. The maxillary drive rod is fixedly connected to the maxillary side plate through the connecting column. Two adjacent support ribs are fixedly connected through the connecting column. The connecting seat is fixedly connected to the maxillary side plate, providing an installation interface for the maxillary contouring parts and forming the maxillary skeleton.

[0006] The maxillary drive linkage also includes a set of sleeves, one end of which passes through the maxillary shaft hole and is connected to the drive linkage, and the other end of which passes through the pivot hole in the maxillary drive rod and is connected to the maxillary skeleton 1.

[0007] The beneficial effect of this invention is that by directly driving the drive shaft with a motor to drive the drive linkage, the motion transmission mechanism is reduced, making the mouth opening and closing linkage mechanism of the bionic robot smaller in size and occupying less space, providing more space for the mouth of the bionic fish, and better adapting to the compact structure requirements of the bionic robot. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the overall structure of the biaxial splitting mechanism for the head of the biomimetic robotic fish of the present invention; Figure 2 Schematic diagram of the maxillary skeleton; Figure 3 Schematic diagram of the maxillary drive linkage structure; Figure 4 Schematic diagram of the frame structure; Figure 5 Schematic diagram of a 3D skeleton structure; Figure 6 Schematic diagram of the jaw drive linkage structure; Figure 7 Schematic diagram of the mandibular skeleton; Figure 8 Schematic diagram of the drive linkage structure; The markings in the diagram are as follows: 1-Upper jaw skeleton, 11-Bearing seat, 12-Upper jaw shaft, 13-Spindle, 14-Connector, 15-Support rib, 16-Upper connecting spindle, 17-Upper jaw connecting seat, 18-Upper jaw drive rod, 19-Connecting column, 111-Upper jaw side plate, 2-Upper jaw drive linkage, 22-Sleeve, 3-Frame, 35-Motor seat, 34-Frame body, 32-Adapter plate, 310-Drive shaft, 37-Bearing seat, 39-Secondary bearing seat, 41-Upper dimension skeleton, 42-Lower dimension skeleton, 5-Lower jaw drive linkage, 52-Shaft pin, 6-Lower jaw skeleton, 61-Shaft, 610-Lower jaw drive rod, 611-Lower jaw shaft, 66-Lower connecting spindle, 7-Drive linkage, 71-Upper jaw shaft hole, 72-Drive shaft hole, 73-Lower jaw shaft hole, 8-Waterproof motor. Detailed Implementation

[0009] The invention will now be further described with reference to the accompanying drawings.

[0010] like Figure 1 As shown, the bionic robotic fish head dual-axis split mechanism of the present invention mainly includes an upper jaw skeleton 1, an upper jaw drive link 2, a frame 3, a three-dimensional skeleton, a lower jaw drive link 5, a lower jaw skeleton 6, a drive link 7, a waterproof motor 8, and bionic robotic fish exterior parts.

[0011] Frame 3 provides an installation interface and reference for connecting the head and body of the bionic robotic fish, and also provides installation interfaces and references for components such as the upper and lower jaw skeletons of the bionic robotic fish. Figure 4 As shown, frame 3 includes a limiting block, adapter plate 32, column, frame 34, motor base 3, coupling, bearing housing 37, auxiliary shaft housing 39, and drive shaft 310. The waterproof motor 8 provides power to the system. The waterproof motor (8) is fixedly connected to the frame (34) on the frame 3 via the motor mount (35). It is made of corrosion-resistant material and meets the requirements for sealing, torque required for structural operation, and assembly.

[0012] The maxillary skeleton 1 supports and assembles the maxillary shape parts to form the maxilla of the bionic robot. It is also driven by the maxillary drive linkage to swing, thus realizing the movement of the maxilla. The structure of the maxillary skeleton 1 is as follows: Figure 2 As shown, it includes a bearing housing 11, a jaw shaft 12, a swivel 13, a connector, a support rib, an upper connecting swivel 16, a jaw connecting seat 17, a jaw drive rod 18, a connecting column, and a jaw side plate 111.

[0013] The maxillary drive linkage 2 is used to drive the maxillary skeleton. For example... Figure 3 As shown, it includes: connecting rod, sleeve 22, and pin.

[0014] The upper dimensional skeleton 41 and the lower dimensional skeleton 42 are structured as follows: Figure 5 As shown, it is used to maintain the external structure of the biomimetic robotic fish, such as its gills.

[0015] The mandibular drive linkage 5 is used to drive the mandibular skeleton. Its structure is as follows: Figure 6 As shown, it includes: a connecting rod and a pivot pin 51, with a shaft hole machined on the connecting rod for mounting.

[0016] The mandibular skeleton 6 supports and assembles the mandibular shape parts to form the mandible of the bionic robot. It is also driven by the mandibular drive linkage to swing, thus realizing the movement of the mandible. Figure 7 As shown, the mandibular skeleton 6 includes: a pivot 61, a rib plate, a transition block, a connector, a transition rib plate, a lower connecting pivot, a connecting bend plate, a mandibular connecting seat, a connecting column, a mandibular drive rod 610, and a mandibular pivot 611.

[0017] The drive link 7 converts the rotational motion of the motor into a composite motion of the various links, which rotate synchronously under the drive of the waterproof motor 3. The drive link 7 includes a drive shaft hole 72 and two support arms. One support arm has an upper jaw shaft hole 71 machined at its end, and the other support arm has a lower jaw shaft hole 73 at its end. The upper jaw shaft hole 71 is hinged to the upper jaw drive link 2, and the upper jaw drive rod 18 is connected to the upper jaw skeleton 1. The root of the upper jaw skeleton 1 is hinged to the frame 3 via a bearing. The rotation of the drive link 7 drives the upper jaw skeleton to rotate within a certain range. The lower jaw shaft hole 73 is connected to the lower jaw drive link 610, and the lower jaw drive link 5 is connected to the lower jaw skeleton 6. The root of the lower jaw skeleton 6 is also hinged to the frame 3. The drive link 7 also synchronously drives the rotation of the lower jaw assembly. The biomimetic fish exhibits different ranges of motion in its upper and lower jaws. Furthermore, the lengths of the two arms of the drive linkage 7 are flexibly designed and adjusted according to the size of the fish's mouth, allowing for adjustments to the lengths of the upper jaw drive linkage 2 and the lower jaw drive linkage 5. The dimensions of the upper jaw skeleton 1 and the lower jaw skeleton 6 can also be adjusted. The shape of the drive linkage 7 can also be designed based on the movement relationships.

[0018] Taking into account the fit, stability, and power transmission effectiveness, the optimal implementation scheme for the connection of each part is as follows: the waterproof motor (8) is fixedly connected to the frame (34) through the motor base (35), the upper jaw skeleton (1) is fixedly connected to the frame (3) through the bearing seat (11), the swivel (13), and the adapter plate (32), and the upper jaw skeleton (1) can rotate around the upper jaw pivot (12). The drive shaft (310) in the frame (3) passes through the drive shaft hole (72) and is connected to the drive connecting rod (7) through a key. The sleeve (22) in the upper jaw drive connecting rod (2) passes through the upper jaw pivot hole (71) and is connected to the drive connecting rod (7), and the sleeve (22) at the other end of the upper jaw drive connecting rod (2) passes through the pivot hole in the upper jaw drive rod (18) and is connected to the upper jaw skeleton (1). The pivot (61) and the mandibular pivot (611) in the mandibular skeleton (6) pass through the pivot seat (37) and the secondary bearing seat (39) respectively, so as to realize the fixed connection between the mandibular skeleton (6) and the frame (3), and the mandibular skeleton (6) can rotate around the mandibular pivot (611). The pivot pin (52) in the mandibular drive link (5) passes through the shaft hole in the mandibular drive rod (610) and is connected to the mandibular drive rod (610), and the mandibular drive link (5) can rotate relative to the mandibular drive rod (610) around the pivot pin (52). The pivot pin (52) at the other end of the mandibular drive link (5) passes through the mandibular shaft hole (73) and is connected to the drive link (7), and the drive link (7) can rotate relative to the mandibular drive link (5). The upper dimensional skeleton (41) and the lower dimensional skeleton (42) are connected by pins through pivot holes. They can rotate relative to each other around the pivot holes. The pivot hole at the other end of the upper dimensional skeleton (41) is connected to the pivot hole on the upper connecting pivot (16) by a pin. The pivot hole at the other end of the lower dimensional skeleton (42) is connected to the pivot hole on the lower connecting pivot (66) by a pin.

[0019] The maxillary pivot (12) passes through the maxillary drive rod (18) and is connected to the bearing seat (11). The maxillary side plate (111) is connected to the rotating seat (13) by a pin. The maxillary side plate (111) rotates flexibly relative to the rotating seat (13). The maxillary side plate (111) is fixedly connected to the support rib plate (15) by a connector (14). The upper connecting rotating seat (16) is fixedly connected to the support rib plate (15). The maxillary side plate (111) is fixedly connected to the maxillary connecting seat (17). The maxillary drive rod (18) is fixedly connected to the maxillary side plate (111) by a connecting post (19). Two adjacent support rib plates (15) are fixedly connected by a connecting post (19). The connecting seat (110) is fixedly connected to the maxillary side plate (111), providing an installation interface for the maxillary contouring parts and forming the maxillary skeleton (1).

[0020] Rib plate (62) is fixedly connected to jaw connector (68) and pivot (61). Adapter block (63) is fixedly connected to rib plate (62). Jaw connector (68) and adapter block (63) provide installation interface for jaw contouring parts. Rib plate (62) is fixedly connected to adapter rib plate (65) through connector (64). Two adjacent adapter rib plates (65) are fixedly connected to connecting bend plate (67). Lower connecting pivot (66) is fixedly connected to adapter rib plate (65). Jaw pivot (611) passes through the shaft hole of jaw drive rod (610) and is connected to it. Jaw drive rod (610) is fixedly connected to rib plate (62) through connecting post (69) to form jaw skeleton (6).

[0021] When mouth movement is required, the waterproof motor 8 rotates clockwise, driving the coupling and drive shaft 310 to rotate clockwise. The drive shaft 310 drives the drive connecting rod 7 to rotate clockwise through the drive shaft hole 72 and keyway on the drive connecting rod 7. The drive connecting rod 7 drives the upper jaw drive connecting rod 2 and the lower jaw drive connecting rod 5 to rotate through the upper jaw shaft hole 71 and the lower jaw shaft hole 73. At the same time, the upper jaw drive connecting rod 2 pushes the upper jaw drive rod 18 to rotate counterclockwise around the upper jaw pivot 12, and the lower jaw drive connecting rod 5 pushes the lower jaw drive rod 610 to rotate clockwise around the lower jaw pivot 611. Simultaneously, the upper jaw skeleton 1 rotates counterclockwise, and the lower jaw skeleton 6 rotates clockwise, thus opening the mouth of the bionic robotic fish. At the same time, the upper jaw skeleton 1 drives the upper three-dimensional skeleton 41 to move around the pivot through the connecting rotating seat, and the lower jaw skeleton 6 drives the lower jaw three-dimensional skeleton 42 to rotate around the pivot through the connecting rotating seat, thus maintaining the gill shape of the bionic robotic fish. The reverse movement of the above process closes the mouth. By rationally designing the lengths of the upper jaw drive link 2, lower jaw drive link 5, drive link 7, upper jaw drive rod 18, and lower jaw drive rod 610, the opening and closing angles of the upper and lower jaws can be flexibly designed, thereby achieving different viewing effects.

[0022] This invention, while fully considering structural manufacturability and assemblability, achieves the mouth-opening and closing linkage mechanism function of a bionic robot using a small number of parts. It improves the manufacturability of the parts while significantly reducing assembly requirements, increasing production efficiency and lowering costs. By rationally designing the lengths of each link, the mouth opening angle can be flexibly designed, thus achieving different visual effects. This enhances the design flexibility of the mouth-opening and closing mechanism of the bionic robot and improves design efficiency.

Claims

1. A biomimetic robotic fish head dual-axis splitting mechanism, characterized in that: It includes an upper jaw skeleton (1), an upper jaw drive link (2), a frame (3), a lower jaw drive link (5), a lower jaw skeleton (6), a drive link (7), a waterproof motor (8), and biomimetic robotic fish-shaped parts. The waterproof motor (8) is fixed to the frame (34) via the motor base (35); the waterproof motor (8) drives the drive linkage (7) to rotate. The drive linkage (7) has two arms, one of which has an upper jaw shaft hole (71) at the end and the other arm has a lower jaw shaft hole (73) at the end. The maxillary skeleton (1) includes a maxillary drive rod (18) and a maxillary side plate (111). One end of the maxillary drive rod (18) is mounted on the frame (3) through a bearing seat (11). The maxillary side plate (111) is fixed to the frame (3) through a swivel (13). The axes of the bearing seat (11) and the swivel (13) coincide. The other end of the maxillary drive rod (18) is hinged to the maxillary drive connecting rod (2). The maxillary drive connecting rod (2) is also hinged to the maxillary shaft hole (71) of the drive connecting rod (7). The maxillary drive rod (18) is fixedly connected to the maxillary side plate (111) through a first connecting post (19). The mandibular skeleton (6) includes a mandibular drive rod (610) and two ribs (62). The mandibular drive rod (610) is fixedly connected to the ribs (62) on the left and right sides through a second connecting post (69). The roots of the mandibular drive rod (610) and the ribs (62) are both hinged to the frame (3) and their rotation axes coincide. The mandibular drive rod (610) is also provided with a shaft hole. The mandibular drive rod (610) is hinged to the mandibular shaft hole (73) of the drive link (7) at the shaft hole. Two transition ribs (65) are installed on each rib (62). The transition ribs (65) face outwards. The two adjacent transition ribs are connected by a connecting bent plate (67).

2. The biomimetic robotic fish head dual-axis splitting mechanism as described in claim 1, characterized in that: The maxillary skeleton also includes a maxillary pivot (12), a connector (14), a support rib (15), a connecting pivot (16), a maxillary connecting seat (17), and a connecting seat (110). The maxillary pivot (12) passes through the maxillary drive rod (18) and is connected to the bearing seat (11). The maxillary side plate (111) is fixedly connected to the support rib (15) through the connector (14). The connecting pivot (16) is fixedly connected to the support rib (15). The maxillary side plate (111) is fixedly connected to the maxillary connecting seat (17). The maxillary drive rod (18) is fixedly connected to the maxillary side plate (111) through the first connecting post (19). Two adjacent support ribs (15) are fixedly connected through the first connecting post (19). The connecting seat (110) is fixedly connected to the maxillary side plate (111), providing an installation interface for the maxillary contouring parts and forming the maxillary skeleton (1).

3. The biomimetic robotic fish head dual-axis splitting mechanism as described in claim 1, characterized in that: The maxillary drive link (2) also includes a set of sleeves (22), one end of which passes through the maxillary shaft hole (71) and is connected to the drive link (7), and the other end of which passes through the pivot hole in the maxillary drive rod (18) and is connected to the maxillary skeleton (1).

4. The biomimetic robotic fish head dual-axis splitting mechanism as described in claim 1, characterized in that: The mandibular skeleton (6) also includes a pivot (61) and a mandibular pivot (611). The mandibular drive rod (610) has a mandibular pivot (611) at its root. Both ribs (62) have pivots (61) facing inward at their roots. The pivot (61) and the mandibular pivot (611) pass through the pivot seat (37) and the secondary bearing seat (39) respectively, so as to realize the fixed connection between the mandibular skeleton (6) and the frame (3). The mandibular skeleton (6) can rotate around the mandibular pivot (611).

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