Assembly type robotic fish splicing structure

Abstract

The utility model discloses an assembly type robotic fish splicing structure, which belongs to the technical field of robotic fish, and comprises a connecting base, the connecting base is connected to the inner side of a fish body part at a corresponding position, one side of the connecting base is rotatably connected with a rotating seat, the rotating seat is connected with the connecting base in an inserting manner through a first pin joint mechanism, and the rotating seat is connected with the connecting base through a second pin joint mechanism. Rotation of the rotating base is limited through the pin joint position of the first pin joint mechanism, and the side, away from the connecting base, of the rotating base is connected with a deflection base. According to the fish body locking device, through the designed first pin joint mechanism and the designed second pin joint mechanism, when the multiple fish bodies are connected, the first pin joint mechanism and the second pin joint mechanism are pressed and adjusted according to needs to limit relative rotation between the fish bodies, the multiple fish bodies can be locked, the overall profiling effect of the fish bodies can be improved, and the fish body locking device is convenient to use. And only the first pin joint mechanism and the second pin joint mechanism which correspond to each other need to be pressed for locking, so that the adjustment processing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to machine fish technical field, especially relate to a kind of assembled machine fish splicing structure. BACKGROUND

[0002] Machine fish is the appearance like fish made of material machine, generally used as bionic instrument or underwater unmanned vehicle purpose to collect ecological data, provides key support for water environment management.

[0003] The patent of Chinese patent document publication number CN111846164A discloses a kind of bionic machine fish, including machine fish body, drive circuit board, motion driving mechanism and drainage driving mechanism, the machine fish body includes fish head, equipment cabin, drainage storehouse, fish body and fish tail, the fish head and fish body with the equipment cabin can be detached connection, the rear end of the fish body with the fish tail can be detached connection, the fish body is spliced by a plurality of continuous arrangement rib plate, the motion driving mechanism, drainage driving mechanism and drainage storehouse are all fixedly arranged in the inside of the fish body, the drainage driving mechanism is connected with the drainage storehouse and can carry out the water inlet and outlet of drainage storehouse, the motion driving mechanism is connected with the fish tail and can drive the fish tail swing, to realize the motion of bionic machine fish;Drive circuit board is electrically connected with the motion driving mechanism and drainage driving mechanism.This bionic machine fish is more small, motion is more flexible, by fish tail swing realizes advancing function, but in actual use, bionic fish's front and rear section needs to be active link to realize bionic motion when swimming, but if fish body is a plurality of sections, it is easy to cause resistance to increase due to excessive deflection in fish body of rotation connection, and affect the profile effect, there is room for improvement. UTILITY MODEL CONTENTS

[0004] The utility model aims at: in order to solve the problem that fish body is a plurality of sections, it is easy to cause resistance to increase due to excessive deflection in fish body of rotation connection, and affect the profile effect, and a kind of assembled machine fish splicing structure is proposed.

[0005] To achieve the above object, the utility model adopts the following technical scheme: an assembled machine fish splicing structure, including connecting base, the connecting base is connected in the fish body part inside of corresponding position, the connecting base one side is rotatably connected with rotating seat, the rotating seat is connected with connecting base by first pin joint mechanism and is inserted, the rotation of rotating seat is limited by the pin joint position of first pin joint mechanism;

[0006] The side, away from connecting base of rotating seat, is connected with deflection seat, corresponding two rotating seats are connected with rotating block and deflection seat respectively, rotating block and deflection seat are rotatably connected to form rotating pair, a plurality of fish body parts are spliced in turn through a plurality of rotating seats, second pin joint mechanism for limiting relative rotation is provided between rotating block and deflection seat.

[0007] As a further description of the above technical solutions:

[0008] The first pin connection mechanism comprises a first insertion pin rod, which is inserted into the assembly holes provided on the rotating seat and the connecting base, first limiting holes are provided in the two assembly holes, the first limiting holes on the two sides are staggered, a limiting block corresponding to the first limiting hole is connected to the outer periphery of the first insertion pin rod, and the position of the limiting block in the first limiting hole is adjusted by controlling the depth of the first insertion pin rod.

[0009] As a further description of the above technical solutions:

[0010] A first spring is arranged outside the first insertion pin rod, and the two ends of the first spring are connected to the rotating seat and the side of the end of the first insertion pin rod, respectively.

[0011] As a further description of the above technical solutions:

[0012] A threaded groove is formed in the end of the first insertion pin rod, and a first limiting bolt is threadedly connected in the threaded groove, and the diameter of the end of the first limiting bolt is greater than the diameter of the assembly hole.

[0013] As a further description of the above technical solutions:

[0014] The second pin connection mechanism comprises a second insertion pin rod, which is inserted into the groove provided on the top of the rotating block and the deflection seat, elastic wedge blocks are connected to the outer periphery of the second insertion pin rod on the two sides, and the elastic wedge blocks are slidingly embedded in the second limiting holes provided on the inner side of the groove on the top of the deflection seat.

[0015] As a further description of the above technical solutions:

[0016] A threaded groove is formed in the end of the second insertion pin rod, and a second limiting bolt is threadedly connected in the threaded groove, and the diameter of the end of the second limiting bolt is greater than the diameter of the assembly hole.

[0017] As a further description of the above technical solutions:

[0018] A second spring is arranged outside the second insertion pin rod, and the two ends of the second spring are connected to the abutting portion and the corresponding position on one side of the deflection seat, respectively.

[0019] As a further description of the above technical solutions:

[0020] A device groove seat is connected to one side of the connecting base, and the cross-sectional shape of the device groove seat is U-shaped.

[0021] As described above, due to the adoption of the above technical solutions, the present application has the following beneficial effects:

[0022] 1. The utility model discloses a first pin joint mechanism and second pin joint mechanism are designed, when the plurality of fish bodies are connected with each other, the relative rotation between the fish bodies is adjusted according to the need and is limited by the first pin joint mechanism and second pin joint mechanism, the plurality of fish bodies can be locked, the overall profiling effect of fish body part is improved, and the locking only needs to press the corresponding first pin joint mechanism and second pin joint mechanism, and the adjustment processing efficiency is improved.

[0023] 2. The utility model discloses when rotating seat and fish body part are connected, the first spring can utilize the self pulling force and drive the first pin rod to move inwards, the first insertion pin rod can push the limiting block into the assembly hole and the first limiting hole of connecting base, the limited first insertion pin rod can limit the relative rotation of rotating seat, thereby completing the locking of rotating seat and connecting base, the second spring can pull the second insertion pin rod and drive the elastic wedge block to move into the rotating block one side groove, limit the relative rotation of rotating block and deflection seat, after pulling the limiting wedge block and moving into the second limiting hole, the rotation of rotating block and deflection seat can be unlocked, the rotation angle of fish body part is controlled through the rotation limitation of rotating block and deflection seat, and the rotation angle between fish body parts is conveniently and quickly limited. ACCURACY OF DRAWINGS

[0024] Figure 1 It is an assembly structure schematic drawing of the assembly type robot fish splicing structure.

[0025] Figure 2 It is a split structure schematic drawing of the assembly type robot fish splicing structure.

[0026] Figure 3 It is a partial split structure schematic drawing of the assembly type robot fish splicing structure.

[0027] Figure 4 It is a second pin joint mechanism structure schematic drawing of the assembly type robot fish splicing structure.

[0028] Figure 5 It is a connecting base assembly structure schematic drawing of the assembly type robot fish splicing structure.

[0029] Figure 6 It is another angle split structure schematic drawing of the assembly type robot fish splicing structure.

[0030] Figure 7 It is a fish body part structure schematic drawing of the assembly type robot fish splicing structure.

[0031] Figure legend: 1, fish body; 2, connecting base; 3, rotating seat; 4, first pin connection mechanism; 401, first inserted pin; 402, limiting block; 403, first spring; 404, first limiting hole; 5, deflection seat; 6, second pin connection mechanism; 601, second inserted pin; 602, second limiting bolt; 603, elastic wedge; 604, abutting portion; 605, second spring; 7, rotating block; 8, second limiting hole; 9, equipment slot base. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0033] Please refer to Figures 1-7 The present application provides a technical solution: a fabricated machine fish splicing structure, comprising a connecting base 2, the connecting base 2 is connected to the inner side of the fish body 1 at the corresponding position, one side of the connecting base 2 is rotatably connected with a rotating seat 3, the rotating seat 3 is connected with the connecting base 2 through a first pin connection mechanism 4, and the rotation of the rotating seat 3 is limited by the pin connection position of the first pin connection mechanism 4;

[0034] The side of the rotating seat 3 away from the connecting base 2 is connected with a deflection seat 5, and the rotating block 7 and the deflection seat 5 are respectively connected between the corresponding two rotating seats 3, the rotating block 7 and the deflection seat 5 are rotatably connected to form a rotating pair, a plurality of fish bodies 1 are spliced in turn through a plurality of rotating seats 3, and the second pin connection mechanism 6 for limiting relative rotation is arranged between the rotating block 7 and the deflection seat 5.

[0035] Specifically, when a plurality of fish bodies are connected to each other, the first pin connection mechanism 4 and the second pin connection mechanism 6 can be pressed to adjust the relative rotation between the fish bodies as needed, the plurality of fish bodies can be locked as needed, which is beneficial to improve the overall profiling effect of the fish body 1 of the machine fish, and the locking only needs to press the corresponding first pin connection mechanism 4 and second pin connection mechanism 6, thereby improving the adjustment and processing efficiency;

[0036] Among them, the rotating direction of the rotating pair of the deflection seat 5 and the rotating block 7 should be perpendicular to the rotating direction of the rotating seat 3, which is beneficial to the independent locking of the angles of the rotating directions of the two sides, and the rotating direction of the fish body 1 is controlled;

[0037] The connecting base can be provided with assembly holes at positions required in production, and the connecting base should match the angle of the inner cavity of the fish body part, and the connecting base can be connected with the inner side of the fish body part by any coupling mode such as injection molding, welding, gluing, bolt, buckle, etc., and is rotatably connected according to the rotating direction angle of the fish body part, so that the connecting effect is improved.

[0038] Please refer to Figures 2-4 The first pin connecting mechanism 4 comprises a first inserted pin rod 401 which is inserted into the assembly holes of the rotating seat 3 and the connecting base 2, and first limiting holes 404 are formed in the assembly holes on both sides, and the first limiting holes 404 on both sides are arranged staggeredly, and the first inserted pin rod 401 is connected with limiting blocks 402 corresponding to the first limiting holes 404 on the outer circumferential side, and the position of the limiting blocks 402 in the first limiting holes 404 is adjusted by controlling the depth of the first inserted pin rod 401.

[0039] The first inserted pin rod 401 is externally sleeved with a first spring 403, and the two ends of the first spring 403 are connected with the rotating seat 3 and the end side of the first inserted pin rod 401 respectively, and a threaded groove is formed in the end of the first inserted pin rod 401, and a first limiting bolt is threadedly connected in the threaded groove, and the diameter of the end of the first limiting bolt is larger than the diameter of the assembly hole.

[0040] The second pin connecting mechanism 6 comprises a second inserted pin rod 601 which is inserted into the groove formed in the top of the rotating block 7 and the deflection seat 5, and elastic wedge blocks 603 are connected on both sides of the outer circumferential side of the second inserted pin rod 601, the elastic wedge blocks 603 are slidingly embedded in the second limiting holes 8 formed in the inner side of the groove in the top of the deflection seat 5, a threaded groove is formed in the end of the second inserted pin rod 601, and a second limiting bolt 602 is threadedly connected in the threaded groove, and the diameter of the end of the second limiting bolt 602 is larger than the diameter of the assembly hole; the second inserted pin rod 601 is externally sleeved with a second spring 605, and the two ends of the second spring 605 are connected with the abutting part 604 and the corresponding position on one side of the deflection seat 5 respectively.

[0041] The connecting base 2 is connected with a device groove seat 9 on one side, and the cross-sectional shape of the device groove seat 9 is U-shaped.

[0042] Specifically: through the designed first pin connection mechanism 4 and the second pin connection mechanism 6, when the rotating seat 3 is connected with the fish body part 1, the first spring 403 can drive the first pin rod to move inward by using the self pulling force, at this time, the first insertion pin rod 401 can push the limiting block 402 into the assembly hole of the connecting base 2 and the first limiting hole 404, at this time, the limited first insertion pin rod 401 can limit the relative rotation of the rotating seat 3, thereby completing the locking of the rotating seat 3 and the connecting base 2, and when the relative rotation of the rotating seat 3 needs to be unlocked, the first insertion rod can be pulled to separate the limiting block 402 from the connecting base 2, at this time, the limiting block 402 can slide into the first limiting hole 404 on one side of the rotating seat 3, after the limiting block 402 is not connected with the connecting base 2, the rotating seat 3 can rotate relative to the connecting base 2, thereby completing the unlocking control.

[0043] And through the designed second pin connection mechanism 6, the second spring 605 can pull the second insertion pin rod 601 to drive the elastic wedge block 603 to move into the groove on one side of the rotating block 7, thereby limiting the relative rotation of the rotating block 7 and the deflection seat 5, and after the limiting wedge block is pulled to move into the second limiting hole 8, the rotation of the rotating block 7 and the deflection seat 5 can be unlocked, which is beneficial to control the rotation angle of the fish body part 1 by limiting the rotation of the rotating block 7 and the deflection seat 5.

[0044] Further, through the designed first insertion pin rod 401 and the second insertion pin rod 601, the corresponding first limiting bolt and the second limiting bolt 602 at the tail end can be quickly connected and assembled with the connecting base 2, which is convenient for connecting and expanding the fish body part 1, and the equipment groove 9 on one side of the connecting base 2 can conveniently install corresponding drives for power simulation and component installation.

[0045] In the present application, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; the term "a plurality of" refers to two or more, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, "connecting" can be fixed connection, or detachable connection, or integrally connected; "connected" can be directly connected, or indirectly connected through an intermediate medium. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances;

[0046] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An assembled machine fish splicing structure, comprising a connecting base (2) connected to the inner side of the fish body part (1) in the corresponding position, characterized in that, The connecting base (2) is rotatably connected with a rotating seat (3) on one side, the rotating seat (3) is connected with the connecting base (2) through a first pin joint mechanism (4), and the rotation of the rotating seat (3) is limited through the pin joint position of the first pin joint mechanism (4); The rotating seat (3) is connected with a deflection seat (5) away from the connecting base (2) on one side, the rotating block (7) and the deflection seat (5) are connected between the corresponding two rotating seats (3) respectively, the rotating block (7) and the deflection seat (5) are rotatably connected to form a rotating pair, a plurality of fish bodies (1) are sequentially spliced through a plurality of rotating seats (3) between them, and the second pin joint mechanism (6) for limiting relative rotation is arranged between the rotating block (7) and the deflection seat (5).

2. The assembled robotic fish splicing structure according to claim 1, characterized in that, The first pin joint mechanism (4) comprises a first interposed pin rod (401), the first interposed pin rod (401) is interposed in the assembly holes penetratingly formed in the rotating seat (3) and the connecting base (2), first limiting holes (404) are formed in the assembly holes on both sides, the first limiting holes (404) on both sides are arranged in a staggered manner, a limiting block (402) corresponding to the first limiting hole (404) is connected to the outer circumferential side of the first interposed pin rod (401), and the position of the limiting block (402) in the first limiting hole (404) is adjusted by controlling the depth of the first interposed pin rod (401).

3. The assembled robotic fish splicing structure according to claim 2, characterized in that, The first interposed pin rod (401) is externally sleeved with a first spring (403), and the two ends of the first spring (403) are respectively connected with the rotating seat (3) and the end side of the first interposed pin rod (401).

4. The assembled robotic fish splicing structure according to claim 2, characterized in that, A threaded groove is formed in the end of the first interposed pin rod (401), and a first limiting bolt is threadedly connected in the threaded groove, and the diameter of the threaded groove is greater than that of the assembly hole.

5. The assembled robotic fish structure of claim 1, wherein, The second pin joint mechanism (6) comprises a second interposed pin rod (601), the second interposed pin rod (601) is penetratingly and interposedly connected in the groove formed in the top of the rotating block (7) and the deflection seat (5), elastic wedge blocks (603) are connected to the outer circumferential sides of the second interposed pin rod (601), and the elastic wedge blocks (603) are slidingly embedded in the second limiting holes (8) formed in the inner side of the top groove of the deflection seat (5).

6. The assembled robotic fish splicing structure according to claim 5, characterized in that, A threaded groove is formed in the end of the second interposed pin rod (601), and a second limiting bolt (602) is threadedly connected in the threaded groove, and the diameter of the threaded groove is greater than that of the assembly hole.

7. The assembled robotic fish structure of claim 5, wherein, The second interposed pin rod (601) is externally sleeved with a second spring (605), and the two ends of the second spring (605) are respectively connected with the abutting portion (604) and the corresponding position on one side of the deflection seat (5).

8. The assembled robotic fish structure of claim 1, wherein, The connecting base (2) is connected with an equipment groove seat (9) on one side, and the cross-sectional shape of the equipment groove seat (9) is U-shaped.

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