Bionic machine based on undulating fins

Abstract

The utility model discloses a bionic machine based on undulating fins. The bionic machine comprises a machine body and undulating fin structures arranged on the two sides of the machine body respectively. And each set of fluctuation fin structure comprises a driving assembly and a plurality of bionic fluctuation fin plates assembled with the driving assembly, and when the driving assembly operates, the driving assembly is used for driving the bionic fluctuation fin plates to generate stable fluctuation so that the machine body can walk. Under the action of the driving assembly, the bionic fluctuating fin plate is driven to generate stable fluctuation, so that the bionic fluctuating fin plate has agile movement ability and excellent obstacle climbing ability on land, and has excellent three-dimensional maneuvering ability underwater.

Description

Technical Field

[0001] This utility model relates to the field of bionic machine technology, specifically to a bionic machine based on wave-shaped fins. Background Technology

[0002] Amphibious robots have attracted significant attention from researchers due to their outstanding advantages in unstructured and complex environments. Compared to robots operating in a single environment, either in water or on land, amphibious robots have proven to possess greater flexibility and adaptability. Because of these outstanding advantages, amphibious robots show great potential in scientific, commercial, and military fields. Due to the vast differences between aquatic and terrestrial environments, propulsion systems remain a major challenge in the development of amphibious robots.

[0003] Rays propel themselves by alternating gliding and flapping through the spread and cross-bracing of their pectoral fins, which drives the movement of adjacent fin bones. This mode of locomotion has advantages such as high propulsion efficiency, high maneuverability, high stealth and high adaptability.

[0004] The core of developing a soft-bodied, ray-inspired robotic fish based on a novel wave-like fin is to accurately mimic the movement of a ray and extend this movement into an amphibious propulsion method. Furthermore, a wave-like fin structure is designed. Utility Model Content

[0005] The purpose of this invention is to provide a biomimetic machine based on wave-shaped fins. Under the action of the drive component, the biomimetic wave-shaped fin plate generates stable waves. Underwater, its wave-shaped fins, which mimic the structure of a fish, can perform underwater operations. On land, the wave-shaped pattern of the wave-shaped fins can support and propel the machine. Through the wave-shaped fins, it has agile movement and excellent obstacle-climbing ability on land, while also having excellent three-dimensional maneuverability underwater.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a bionic machine based on wave fins, comprising: a body, and wave fin structures respectively disposed on both sides of the body; each set of wave fin structures includes a drive component, and a plurality of bionic wave fin plates assembled with the drive component, wherein when the drive component is running, it is used to drive the bionic wave fin plates to generate stable waves for the movement of the machine.

[0007] Preferably, the body includes a housing, side plates disposed on both sides of the housing, the side plates being used to mount drive components, and a head disposed at the front end of the housing.

[0008] Preferably, each of the biomimetic wave fins includes a fin strip, the end of which away from the side plate has an opening groove and a through hole penetrating the opening groove.

[0009] Preferably, several biomimetic wave-shaped fin plates are covered with simulated fins, which can be assembled through openings and through holes using bolt assemblies.

[0010] Preferably, the drive assembly includes a first mounting plate and a second mounting plate disposed on the side wall of the side plate, with a mounting rod laterally connected between the first and second mounting plates, a plurality of fins rotatably mounted on the mounting rod, and a second mounting plate rotatably mounted on the inner end of each fin via a pin; it also includes a second bearing and a first bearing respectively disposed on the opposite surfaces of the second and first mounting plates, with a plurality of interconnected transmission assemblies disposed between the second and first bearings; each group of transmission assemblies is arranged in ascending order of circumferential angle along the length direction of the second bearing; each transmission assembly includes two connecting shafts and a transmission plate disposed on the opposite surfaces of the two connecting shafts, with the ends of the two transmission plates away from the connecting shafts rotatably connected to the ends of the second mounting plate away from the fins via pins; and a motor fixedly mounted on the second mounting plate for driving the second bearing to rotate.

[0011] Preferably, the rear of the housing is also symmetrically provided with two tail fins, and the two tail fins are detachably installed to the housing.

[0012] Preferably, the head also has a hardware compartment in the middle for loading a hardware control system.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] This invention features a wave-like fin structure that, under the action of a drive component, drives a biomimetic wave-like fin plate to generate stable waves. The shape of these waves propels the robot forward. Underwater, the biomimetic structure of the wave-like fin enables underwater operations. On land, the wave-like shape of the fin allows for propulsion and walking. This ingeniously solves the problems of heavy weight and low utilization rate of the two propulsion systems in traditional amphibious robots. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is a schematic diagram of the assembly structure of the drive component and the biomimetic wave fin plate of this utility model.

[0017] Figure 3 for Figure 1 Another perspective of the three-dimensional structure diagram;

[0018] Figure 4 This is an enlarged schematic diagram of the biomimetic wave fin plate structure of this utility model;

[0019] Figure 5 This is a front view structural diagram of the present utility model;

[0020] Figure 6 This is a top view of the structure of this utility model.

[0021] In the image: 111, chassis; 112, head; 113, side panel; 114, tail fin; 115, hardware compartment;

[0022] 211. First mounting plate; 212. First bearing seat; 213. Motor; 214. Mounting rod; 215. Fin; 2151. Opening slot; 2152. Through hole; 216. Second bearing seat; 2161. Connecting shaft; 2162. Transmission plate; 217. Second mounting plate; 311. Simulated fin. Detailed Implementation

[0023] In the description of this utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. The various embodiments of this utility model are described in detail below with reference to the accompanying drawings. Example 1

[0024] Please see Figures 1 to 6 The present invention preferably provides the following technical solution: a bionic machine based on wave fins, comprising: a body, and wave fin structures respectively disposed on both sides of the body; each wave fin structure includes a drive component and a plurality of bionic wave fin plates assembled with the drive component, which are used to drive the bionic wave fin plates to generate stable waves for the movement of the machine.

[0025] In this application, by mimicking the biomimicry of fish, their movement patterns are extended to a robotic fish amphibious drive mode, such as... Figure 1 , 2 As shown, the wave-like fin structure, under the action of the drive component, drives the bionic wave-like fin plate to generate stable waves. The shape of these waves propels the body forward. Underwater, the bionic fish-like structure of the wave-like fins enables underwater operations. On land, the wave-like shape of the fins allows for propulsion and walking. Through the wave-like movement of the fins, the robot has agile movement and excellent obstacle-climbing ability on land, while also possessing excellent three-dimensional maneuverability underwater. This cleverly solves the problems of heavy weight and low utilization rate of the two propulsion systems in traditional amphibious robots.

[0026] Furthermore, the body includes a housing 111, side plates 113 disposed on both sides of the housing 111, the side plates 113 being used to mount drive components, and a head 112 disposed at the front end of the housing 111.

[0027] like Figure 1 As shown, by designing the shape of the body, the pointed cone of its head 112 and the streamlined curved surface can effectively reduce fluid resistance when moving forward. Example 2

[0028] As another embodiment of the present invention, each biomimetic wave fin plate includes a fin strip 215, and the end of the fin strip 215 away from the side plate 113 is provided with an opening groove 2151 and a through hole 2152 through the opening groove 2151.

[0029] Furthermore, several biomimetic wave fin plates are covered with simulated fins 311, which can be assembled through the opening slots 2151 and through holes 2152 with bolt assemblies.

[0030] like Figure 2 , 4 As shown, through the biomimetic wave-like fin plate structure, it has a rigid support component such as fin strips 215, giving it the support function for land walking. Furthermore, in conjunction with its opening slots 2151 and through holes 2152, after assembling the simulated fin plates 311, as... Figure 6 As shown, it can operate underwater.

[0031] Furthermore, the drive assembly includes a first mounting plate 211 and a second mounting plate 217 disposed on the side wall of the side plate 113. A mounting rod 214 is laterally connected between the first mounting plate 211 and the second mounting plate 217. A plurality of fins 215 are rotatably mounted on the mounting rod 214. The second mounting plate 217 is rotatably mounted on the inner end of each fin 215 via a pin. It also includes a second bearing 216 and a first bearing 212 disposed on the opposite surfaces of the second mounting plate 217 and the first mounting plate 211, respectively. The second bearing 216 and the first bearing 212 are connected to each other. Several sets of transmission components are interconnected between the seats 212; along the length of the second shaft seat 216, each set of transmission components is arranged in progressively increasing circumferential angles; each transmission component includes two connecting shafts 2161 and a transmission plate 2162 disposed on the opposite side of the two connecting shafts 2161, the ends of the two transmission plates 2162 away from the connecting shafts 2161 are rotatably connected to the ends of the second mounting plate 217 away from the fins 215 by a pin; and a motor 213 is fixedly mounted on the second mounting plate 217 for driving the second shaft seat 216 to rotate.

[0032] By configuring the driver components, such as Figure 1 , 3As shown in Figures 4 and 6, when the motor 213 is working, it can drive the second shaft seat 216 to rotate, thereby driving several transmission components on it to rotate. Since each group of transmission components is arranged with a progressively increasing circumferential angle along the length of the second shaft seat 216, that is, the initial angle of the corresponding transmission plate 2162 increases sequentially, under the transmission connection of the second mounting plate 217, the corresponding fins 215 can be driven to deflect and undulate sequentially, thereby driving the simulated fins 311 to have a undulating forward state.

[0033] Furthermore, the rear of the housing 111 is symmetrically provided with two tail fins 114, which are detachably installed from the housing 111.

[0034] Furthermore, a hardware compartment 115 is also provided in the middle of the head 112 for loading the hardware control system.

[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "connection", "fixation" and other terms should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral part. There are various ways to install detachably, such as by using a plug-in and snap-fit ​​method, or by using a bolt connection, etc.

[0036] The above description of the specific embodiments of this utility model is only used to further illustrate this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-essential improvements and adjustments made to this utility model by technical engineers based on the above description of the utility model shall fall within the scope of protection of this utility model.

Claims

1. A biomimetic machine based on wave-shaped fins, characterized in that, include: The main body, and the wave-shaped fin structures respectively disposed on both sides of the main body; Each set of the wave fin structure includes a drive component and several biomimetic wave fin plates assembled with the drive component. When the drive component is running, it is used to drive the biomimetic wave fin plates to generate stable waves for the movement of the machine. Each of the biomimetic wave fins includes a fin strip (215), and the end of the fin strip (215) away from the side plate (113) is provided with an opening groove (2151) and a through hole (2152) through the opening groove (2151). The drive assembly includes a first mounting plate (211) and a second mounting plate (217) disposed on the side wall of the side plate (113). A mounting rod (214) is laterally connected between the first mounting plate (211) and the second mounting plate (217). A plurality of fins (215) are rotatably mounted on the mounting rod (214), and a second mounting plate (217) is rotatably mounted on the inner end of each fin (215) via a pin. It also includes a second bearing seat (216) and a first bearing seat (212) respectively disposed on the opposite sides of the second mounting plate (217) and the first mounting plate (211), and a number of transmission components connected to each other are disposed between the second bearing seat (216) and the first bearing seat (212); Along the length of the second shaft seat (216), each group of transmission components is arranged in progressively increasing circumferential angles; each transmission component includes two connecting shafts (2161) and a transmission plate (2162) disposed on the opposite side of the two connecting shafts (2161), and the ends of the two transmission plates (2162) away from the connecting shafts (2161) are rotatably connected to the ends of the second mounting plate (217) away from the fins (215) by pins; And a motor (213) fixedly mounted on the second mounting plate (217) for driving the second shaft seat (216) to rotate.

2. The biomimetic machine based on wave-shaped fins according to claim 1, characterized in that: The body includes a housing (111), side plates (113) disposed on both sides of the housing (111), the side plates (113) being used to assemble drive components, and a head (112) disposed at the front end of the housing (111).

3. The biomimetic machine based on wave-shaped fins according to claim 1, characterized in that: Several biomimetic wave plates are covered with simulated fins (311), which can be assembled with bolt assemblies through opening slots (2151) and through holes (2152).

4. The biomimetic machine based on wave-shaped fins according to claim 2, characterized in that: The tail of the housing (111) is also symmetrically provided with two tail fins (114), and the two tail fins (114) are detachably installed with the housing (111).

5. The biomimetic machine based on wave-shaped fins according to claim 2, characterized in that: The head (112) also has a hardware compartment (115) in the middle for loading the hardware control system.

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