Robotic fish tail reciprocating swing structure

Abstract

The utility model discloses a fishtail reciprocating swing structure of a robotic fish, which belongs to the technical field of mechanical fishtail swing and comprises a mounting box, a rotating disc is rotatably connected in the mounting box, and a swing rod capable of swinging back and forth is arranged at the top of the rotating disc. According to the utility model, the extension assembly is arranged, the electric push rod drives the extension plate to be relatively unfolded through the movable plate, the fixed plate and the linkage rod, the driving length and the fishtail area are accurately adjusted through the electric push rod, the short driving length is matched with the small-area fishtail to reduce the fluid resistance and improve the vibration adaptability, and the driving power is obviously optimized; the large-area fish tail is combined with the long driving length, larger thrust is generated at the low speed by enhancing the swing amplitude and the water body accumulation effect, the heavy load or starting requirement is met, stepless switching between the high-speed cruise mode and the low-speed high-thrust mode is achieved, and the structure can meet different application requirements.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical fish tail swing technical field especially relates to a machine fish tail reciprocating swing structure. BACKGROUND

[0002] The development of machine fish reflects that human being pays more and more attention to the development of marine resources, and the research of machine fish needs to combine bionics, mechanical design, material science, control science and other technologies. In order to increase the simulation effect of the existing machine fish, the tail swing device is arranged, so that the tail of the machine fish can swing, and the simulation effect of the machine fish is increased.

[0003] The document with the publication number CN201807186U discloses a machine fish composite turning device, a driving system includes a DC motor, a rotating disc, a swing rod, a pin, a tail rotating shaft and a fish tail, the swing rod is provided with a pin slot at the front part, the length of the pin slot is equal to twice the radius of the rotation of the pin on the rotating disc, the pin passes through the pin slot to connect the swing rod and the rotating disc, the rear part of the swing rod is connected with the tail rotating shaft, the tail rotating shaft is the fulcrum of the swing rod, the driving part of the linkage steering system includes a stepping motor, a main gear and a secondary gear, the steering control part is that two steel wires are used to connect the fish head, the fish fin and the main gear from both sides to form a head, fin and tail three-linkage steering mechanism, the fish head, the fish fin and the fish tail are driven by the main gear and the secondary gear under the traction of the steel wire, and the angle is changed together to realize the same direction turning, the secondary gear is a half gear, and the tail rotating shaft is arranged at the eccentric position of the secondary gear. When the machine fish turns, the main gear and the secondary gear are controlled to rotate, so that the tail rotating shaft deviates from the symmetry line of the fish body, the turning function is realized, and the head, fin and tail three-linkage steering mechanism improves the turning efficiency. However, in the actual application process, the commonly used fish tail swing structure has single function, and it is difficult to apply to different application scenes, therefore, improvement is needed. UTILITY MODEL CONTENTS

[0004] The utility model belongs to mechanical fish tail swing technical field especially relates to a machine fish tail reciprocating swing structure.

[0005] In order to realize the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A machine fish tail reciprocating swing structure, including the installation box, the rotating disc is rotatably connected in the installation box, the rotating disc top is provided with the swing rod that can reciprocate, swing rod one end extends to the outside of the installation box and is connected with the connecting column, the connecting column one side is provided with the connecting plate through the installation component, the connecting plate one side is provided with the stretch component;

[0007] The stretching assembly comprises a moving plate, one side of the moving plate is connected with a fixed plate, both sides of the fixed plate are rotationally connected with extension plates, one side of the extension plate is hingedly connected with a connecting rod, the other end of the connecting rod is hingedly connected with one side of a connecting plate.

[0008] As a further description of the above technical solution:

[0009] The connecting plate is provided with a groove, the moving plate is slidingly connected in the groove, two symmetrical electric push rods are connected in the groove, and the other end of the electric push rod is connected with one side of the moving plate.

[0010] As a further description of the above technical solution:

[0011] Both sides of the extension plate are provided with stroke grooves, the cross-sectional shape of the stroke groove is arc-shaped, a stroke block is slidingly connected in the stroke groove, and one end of the stroke block is connected with one side of the fixed plate.

[0012] As a further description of the above technical solution:

[0013] The cross-sectional shape of the extension plate is fan-shaped, and the two extension plates are mirror-symmetrically arranged.

[0014] As a further description of the above technical solution:

[0015] The mounting assembly comprises two symmetrically arranged insertion blocks, the connecting column is provided with two symmetrically arranged insertion grooves on one side, the insertion block is insertionally connected with the insertion groove, a clamping block for limiting the insertion block is slidingly connected on one side of the connecting column, a clamping groove is formed on one side of the insertion block, and the clamping block and the clamping groove are clamped with each other.

[0016] As a further description of the above technical solution:

[0017] The connecting column is connected with two symmetrically arranged fixing frames on one side, a moving rod is slidingly connected with one side of the fixing frame, one end of the moving rod is connected with the clamping block, a return spring is sleeved on the outer surface of the moving rod, both ends of the return spring are connected with one side of the fixing frame and one side of the clamping block respectively, and the other side of the moving rod extends to the other side of the fixing frame and is connected with a pull rod.

[0018] As a further description of the above technical solution:

[0019] Both sides of the fixing frame are provided with sliding grooves, sliding blocks are slidingly connected in the sliding grooves, and one side of the sliding block is connected with one side of the clamping block.

[0020] As a further description of the above technical solution:

[0021] The driving motor is fixedly installed on the bottom of the inner wall of the mounting box through a mounting plate, one end of an output shaft of the driving motor is connected with the bottom of a rotating disc, a sliding block is connected with one side of the top of the rotating disc, a sliding groove is formed in one side of the swing rod, and the sliding groove is slidably connected with the sliding block.

[0022] In conclusion, due to the adoption of the above technical scheme, the utility model has the beneficial effects that:

[0023] 1、In the utility model, through setting up the stretching assembly, the electric push rod relatively expands the extension plate through the moving plate, the fixed plate and the connecting rod, the driving length and the fish tail area are accurately adjusted through the electric push rod, the short driving length cooperates with the small area fish tail to reduce the fluid resistance and improve the vibration adaptability, the driving power is obviously optimized, and it is more suitable for high speed cruising, the long driving length cooperates with the large area fish tail to produce greater thrust at low speed through enhancing the swing range and the water volume pressure effect, the heavy load or starting demand is met, the stepless switching of high speed cruising and low speed high thrust mode is realized, and the structure can meet different application requirements.

[0024] 2、In the utility model, through setting up the mounting assembly, the staff inserts and connects the insertion block and the insertion slot, when the clamping groove moves to the position directly below the clamping block, the clamping block is driven into the clamping groove through the reset spring and the moving rod, the fixed installation of the connecting plate is completed through the insertion block, the clamping and separation between the clamping block and the clamping groove are realized, the quick disassembly and assembly of the connecting plate are realized, and the replacement and maintenance of the stretching assembly are facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is the whole three-dimensional structure schematic diagram of the utility model;

[0026] Figure 2 It is the three-dimensional sectional structure schematic diagram in the utility model;

[0027] Figure 3 It is the internal three-dimensional structure schematic diagram of the utility model;

[0028] Figure 4 It is the Figure 3 enlarged structure schematic diagram of part A in the utility model;

[0029] Figure 5 It is the three-dimensional sectional structure schematic diagram of the stretching assembly in the utility model;

[0030] Figure 6 It is the Figure 5 enlarged structure schematic diagram of part B in the utility model.

[0031] LEGEND:

[0032] 1, installation box; 2, connecting plate; 3, stretching assembly; 301, extension plate; 302, linkage rod; 303, fixed plate; 304, electric push rod; 305, moving plate; 306, stroke groove; 307, stroke block; 4, connecting column; 5, mounting assembly; 501, insertion block; 502, clamping groove; 503, insertion groove; 504, clamping block; 505, sliding block; 506, sliding groove; 507, reset spring; 508, moving rod; 509, fixing frame; 6, fixed shaft; 7, drive motor; 8, rotating disc; 9, swing rod; 10, sliding block. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0034] Please refer to Figures 1-6 The utility model provides a kind of technical scheme: a machine fish tail reciprocating swing structure, including installation box 1, installation box 1 is rotatably connected with rotating disc 8, rotating disc 8 top is provided with the swing rod 9 that can reciprocate, swing rod 9 one end extends to installation box 1 outside and is connected with connecting column 4, connecting column 4 one side is provided with connecting plate 2 by mounting assembly 5, connecting plate 2 one side is provided with stretching assembly 3, the bottom of the inner wall of installation box 1 is fixedly installed with drive motor 7 by mounting plate, drive motor 7 output shaft one end is connected with the bottom of rotating disc 8, rotating disc 8 top one side is connected with sliding block 10, swing rod 9 one side is provided with sliding groove, and sliding groove is slidably connected with sliding block 10, installation box 1 is connected with fixed shaft 6, and swing rod 9 is rotatably connected with fixed shaft 6;

[0035] Stretching assembly 3 includes moving plate 305, moving plate 305 one side is connected with fixed plate 303, and fixed plate 303 upper and lower sides are rotatably connected with extension plate 301, and extension plate 301 one side is hinged with linkage rod 302, and linkage rod 302 other end is hinged with connecting plate 2 one side, and connecting plate 2 is provided with recess, and moving plate 305 is slidably connected in recess, and two symmetrical electric push rods 304 are connected in recess, and electric push rod 304 other end is connected with moving plate 305 one side, and extension plate 301 both sides are provided with stroke groove 306, and the shape of the cross section of stroke groove 306 is arc, and stroke block 307 is slidably connected in stroke groove 306, and stroke block 307 one end is connected with fixed plate 303 one side, and the shape of the cross section of extension plate 301 is fan-shaped, and two extension plates 301 are mirror-symmetrically arranged.

[0036] The embodiment is specific: by setting the stretching assembly 3, the electric push rod 304 drives the extension plate 301 to relatively expand through the moving plate 305, the fixed plate 303 and the connecting rod 302, the driving length and the fish tail area are accurately adjusted through the electric push rod 304, the short driving length cooperates with the small area fish tail to reduce the fluid resistance and improve the vibration adaptability, significantly optimize the driving power, and be more suitable for high-speed cruising, the long driving length combines with the large area fish tail to generate greater thrust at low speed through enhancing the swing amplitude and water volume compression effect, meet the heavy load or starting demand, realize stepless switching of high-speed cruising and low-speed high-thrust mode, so that the structure can meet different application requirements.

[0037] The mounting assembly 5 comprises two symmetrically arranged insertion blocks 501, two symmetrically arranged insertion grooves 503 are formed on one side of the connecting column 4, the insertion block 501 is connected with the insertion groove 503, a clamping block 504 for limiting the insertion block 501 is slidably connected on one side of the connecting column 4, a clamping groove 502 is formed on one side of the insertion block 501, the clamping block 504 and the clamping groove 502 are clamped with each other, two symmetrically arranged fixing frames 509 are connected on one side of the connecting column 4, a moving rod 508 is slidably connected on one side of the fixing frame 509, one end of the moving rod 508 is connected with the clamping block 504, a reset spring 507 is sleeved on the outer surface of the moving rod 508, and the two ends of the reset spring 507 are respectively connected with one side of the fixing frame 509 and one side of the clamping block 504. The other side of the moving rod 508 extends to the other side of the fixing frame 509 and is connected with a pull rod, a sliding groove 506 is formed on both sides of the fixing frame 509, a sliding block 505 is slidably connected in the sliding groove 506, and one side of the sliding block 505 is connected with one side of the clamping block 504.

[0038] The embodiment is specific: by setting the mounting assembly 5, the worker inserts the insertion block 501 and the insertion groove 503, when the clamping groove 502 moves to the position directly below the clamping block 504, the reset spring 507 drives the clamping block 504 to enter the clamping groove 502 through the cooperation of the moving rod 508, the insertion block 501 is fixedly installed on the connecting plate 2, and the clamping and separation between the clamping block 504 and the clamping groove 502 realize quick disassembly and assembly of the connecting plate 2, facilitating replacement and maintenance of the stretching assembly 3.

[0039] Working principle: in use, the worker fixes and installs the mounting box 1 in the bionic machine and the inside, then the worker fixes and installs the stretching assembly 3 and the connecting column 4, and the worker drives the insertion block 501 and the insertion groove 503 to be inserted by the connecting plate 2, in the process, the insertion block 501 drives the clamping block 504 to move to one side, when the clamping groove 502 moves to the position directly below the clamping block 504, the reset spring 507 drives the clamping block 504 to make a reset movement through the cooperation of the moving rod 508, so that the clamping block 504 enters the clamping groove 502, and the connecting plate 2 is fixedly installed through the insertion block 501.

[0040] Afterwards, the driving motor 7 starts, the driving motor 7 drives the rotating disc 8 to rotate, the rotating disc 8 drives the sliding block 10 to rotate, the sliding block 10 moves in the sliding groove, so that the sliding block 10 drives the swing rod 9 to reciprocate around the fixed shaft 6, the swing rod 9 drives the connecting column 4 and the connecting plate 2 to reciprocate, the connecting plate 2 drives the extension plate 301 and the fixed plate 303 to reciprocate, and the driving of the bionic machine is realized.

[0041] In the process, if the driving effect needs to be adjusted, the electric push rod 304 is started, the electric push rod 304 drives the moving plate 305 to move, the moving plate 305 drives the fixed plate 303 to move, the fixed plate 303 cooperates with the connecting rod 302 to drive the extension plate 301 to relatively expand, so that the overall area of the extension plate 301 and the fixed plate 303 is increased, the driving length is adjusted by changing the position of the connecting plate 2 and the moving plate 305, and the width of the fishtail formed by the extension plate 301 and the fixed plate 303 is changed, the shorter driving length cooperates with the smaller fishtail area, the shorter driving length can be suitable for high-frequency vibration, the smaller fishtail can reduce fluid resistance, so that the mechanism is more suitable for high-speed cruising, the longer driving length cooperates with the larger fishtail area, the swing amplitude can be enlarged, the larger fishtail area pushes more water, and it is suitable for low-speed high-thrust scenes.

[0042] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person 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 in the protection scope of the present application.

Claims

1. A reciprocating tail swinging structure for a robotic fish, comprising a mounting box (1), characterized in that: The mounting box (1) is rotatably connected to a rotating disc (8). The top of the rotating disc (8) is provided with a swing rod (9) that can swing back and forth. One end of the swing rod (9) extends to the outside of the mounting box (1) and is connected to a connecting column (4). A connecting plate (2) is provided on one side of the connecting column (4) through a mounting component (5). An extension component (3) is provided on one side of the connecting plate (2). The extension assembly (3) includes a movable plate (305), a fixed plate (303) is connected to one side of the movable plate (305), and extension plates (301) are rotatably connected to both the upper and lower sides of the fixed plate (303). A connecting rod (302) is hinged to one side of the extension plate (301), and the other end of the connecting rod (302) is hinged to one side of the connecting plate (2).

2. The reciprocating swing structure of the tail of a robotic fish according to claim 1, characterized in that: The connecting plate (2) has a groove, and the moving plate (305) is slidably connected in the groove. Two symmetrically arranged electric push rods (304) are connected in the groove, and the other end of the electric push rods (304) is connected to one side of the moving plate (305).

3. The reciprocating swing structure of the tail of a robotic fish according to claim 2, characterized in that: Both sides of the extension plate (301) are provided with travel grooves (306), the cross-sectional shape of the travel grooves (306) is arc-shaped, and a travel block (307) is slidably connected in the travel grooves (306), one end of the travel block (307) is connected to one side of the fixed plate (303).

4. The reciprocating swing structure of the tail of a robotic fish according to claim 3, characterized in that: The extension plate (301) has a fan-shaped cross-section, and the two extension plates (301) are arranged in a mirror symmetrical manner.

5. The reciprocating swing structure of the tail of a robotic fish according to claim 4, characterized in that: The installation component (5) includes two symmetrically arranged insertion blocks (501). Two symmetrically arranged insertion slots (503) are opened on one side of the connecting post (4). The insertion blocks (501) are inserted into the insertion slots (503). A snap-fit ​​block (504) for limiting the insertion blocks (501) is slidably connected on one side of the connecting post (4). A snap-fit ​​slot (502) is opened on one side of the insertion blocks (501). The snap-fit ​​block (504) and the snap-fit ​​slot (502) snap-fit ​​each other.

6. The reciprocating swing structure of the tail of a robotic fish according to claim 5, characterized in that: Two symmetrically arranged fixing frames (509) are connected to one side of the connecting column (4). A movable rod (508) is slidably connected to one side of the fixing frame (509). One end of the movable rod (508) is connected to the snap-fit ​​block (504). A return spring (507) is sleeved on the outer surface of the movable rod (508). The two ends of the return spring (507) are respectively connected to one side of the fixing frame (509) and one side of the snap-fit ​​block (504). The other side of the movable rod (508) extends to the other side of the fixing frame (509) and is connected to a pull rod.

7. The reciprocating swing structure of the tail of a robotic fish according to claim 6, characterized in that: The fixing frame (509) has sliding grooves (506) on both sides, and a slider (505) is slidably connected in the sliding groove (506). One side of the slider (505) is connected to one side of the snap-fit ​​block (504).

8. The reciprocating swing structure of the tail of a robotic fish according to claim 7, characterized in that: The bottom of the inner wall of the mounting box (1) is fixedly mounted with a drive motor (7) by a mounting plate. One end of the output shaft of the drive motor (7) is connected to the bottom of the rotating disk (8). A sliding block (10) is connected to one side of the top of the rotating disk (8). A sliding groove is opened on one side of the swing rod (9). The sliding groove is slidably connected to the sliding block (10). A fixed shaft (6) is connected inside the mounting box (1). The swing rod (9) is rotatably connected to the fixed shaft (6).

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