CN203902829U - Low consumption magnetomotive propulsion mechanism for biomimetic robotic fish - Google Patents
Low consumption magnetomotive propulsion mechanism for biomimetic robotic fish Download PDFInfo
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- CN203902829U CN203902829U CN201420202746.6U CN201420202746U CN203902829U CN 203902829 U CN203902829 U CN 203902829U CN 201420202746 U CN201420202746 U CN 201420202746U CN 203902829 U CN203902829 U CN 203902829U
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 230000003592 biomimetic effect Effects 0.000 title claims 2
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 21
- 238000005265 energy consumption Methods 0.000 claims abstract description 14
- 230000006698 induction Effects 0.000 claims abstract description 13
- 230000005674 electromagnetic induction Effects 0.000 claims abstract description 4
- 239000004816 latex Substances 0.000 claims description 4
- 229920000126 latex Polymers 0.000 claims description 4
- 229910000737 Duralumin Inorganic materials 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims 1
- 238000009413 insulation Methods 0.000 abstract 1
- 230000001141 propulsive effect Effects 0.000 description 19
- 238000000034 method Methods 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 239000000853 adhesive Substances 0.000 description 4
- 230000001070 adhesive effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 210000003298 dental enamel Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000003643 water by type Substances 0.000 description 3
- 238000004078 waterproofing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 241001481833 Coryphaena hippurus Species 0.000 description 1
- 241000252233 Cyprinus carpio Species 0.000 description 1
- 229910002551 Fe-Mn Inorganic materials 0.000 description 1
- 241000238371 Sepiidae Species 0.000 description 1
- 241000269838 Thunnus thynnus Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
本实用新型公开了一种低能耗仿生机器鱼的磁动力推进机构，包括本体即磁动力尾鳍，所述磁动力尾鳍包括U型连接架，磁感应线圈，强磁摆子和新月形柔性尾鳍，所述磁感应线圈由丝包线缠绕在PVC筒管上形成的，所述强磁摆子采用两个圆形的强磁永磁体吸合安装在旋转轴的中心位置上，所述旋转轴的两端安装在两个小轴承上，且所述旋转轴的末端通过卡销把所述小轴承内圈锁住，所述U型连接架将鱼身与所述新月形柔性尾鳍连接，所述新月形柔性尾鳍由尾柄和鳍面组成。本实用新型结构简单，体积轻小，加工方便；有很好的绝缘防水功能；不需任何防水保护，大大降低了机构的复杂度；采用电磁感应原理，实现零噪声驱动；推进效率高，磁动力推进机构的工作电压范围较广。
The utility model discloses a magnetic power propulsion mechanism of a bionic robot fish with low energy consumption. The magnetic induction coil is formed by wrapping wire on a PVC bobbin, and the strong magnetic pendulum adopts two circular strong magnetic permanent magnets to attract and install on the center of the rotating shaft. The end is installed on two small bearings, and the end of the rotating shaft locks the inner ring of the small bearing through a bayonet pin, and the U-shaped connecting frame connects the fish body with the crescent-shaped flexible tail fin. The crescent-shaped flexible caudal fin consists of a caudal peduncle and a fin surface. The utility model has the advantages of simple structure, light and small volume, and convenient processing; it has good insulation and waterproof function; it does not need any waterproof protection, which greatly reduces the complexity of the mechanism; it adopts the principle of electromagnetic induction to realize zero-noise driving; it has high propulsion efficiency and magnetic The working voltage range of the power propulsion mechanism is wide.
Description
Technical field
The utility model relates to a kind of magnetic motive force propulsive mechanism, is specifically related to a kind of magnetic motive force propulsive mechanism of low energy consumption bionic machine fish.
Background technology
Along with the mankind are to the continually developing of marine resources, the Important Platform that autonomous underwater robot has slowly become the mankind carries out ocean exploration and research.And traditional autonomous underwater robot adopts the conventional propeller of the principle such as screw propeller and vane type mostly, these angle of rake propulsion coefficienies are generally hovered at 40%-60%, in addition, huge structure, noise are large, large to environmental perturbation, very flexible and the disguised shortcoming such as poor, have restricted the application of conventional underwater propeller.At present increasing autonomous underwater robot has been abandoned traditional screw propeller propulsion mode, and adopts the mode of moving about of imitating the performance-oriented fluctuation propelling of fish to produce propulsive force.Fish have been gone through the evolution of at least 5 hundred million years in the Nature, form unique pattern of moving about under water, have the advantages that sport efficiency is high, maneuvering performance is high and noise is little.So the mode of moving about of imitating fish not only can improve efficiency of navigation and the maneuvering performance of under-water robot, more the development of under-water robot and application have improved new thinking and direction.
Bionic machine fish research is at present the focus of domestic and international under-water robot research, and major part all adopts motor-driven pattern, also has some research institutions to adopt the intellectual materials such as marmem, piezoceramic as driver element.As: the RoboTuna of america's MIT development and follow-up fish-swimming imitating propulsor, Japan's transport economizes the PF series machine fish of marine technology Research Institute, the bionic machine carp of Essex university of Britain development, and the fluctuation fin propelling unit of Northwestern Univ USA's development etc.Domestic bionic machine fish mainly contains bionic machine fish and the shape memory alloy bionic fin of SPC series submersible, the bionical bluefin tuna of Harbin Engineering University and the shape memory alloy bionic cuttlefish of Harbin Institute of Technology and the China Science & Technology University of bionic machine fish, the BJ University of Aeronautics & Astronautics of the machine fish of Peking University and bionical dolphin, Institute of Automation, CAS.
The bionic machine fish that above-mentioned motor drives or intellectual material drives, mainly exists volume redundancy, is difficult to waterproof, controls complicated problem, and the particularly waterproof problem of motor rotary drive mechanism brings very large restriction to the application of bionic machine fish.For above problem, the utility model proposes the bionic machine fish propulsive mechanism of a kind of novel employing magnetic motive force as power, energy consumption is low, does not need to consider the waterproof problem of driver train, and controls convenient and simple.
Utility model content
The purpose of this utility model is to overcome the problem that prior art exists, and a kind of magnetic motive force propulsive mechanism of low energy consumption bionic machine fish is provided.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the utility model is achieved through the following technical solutions:
A kind of magnetic motive force propulsive mechanism of low energy consumption bionic machine fish, comprise that body is magnetic motive force tail fin, described magnetic motive force tail fin comprises U-shaped link span, magnetic induction coil, strong magnetic pendulum and crescent flexible caudal fin, described magnetic induction coil is wrapped in and is formed on PVC bobbin by silk-covered wire, described strong magnetic pendulum adopts two circular strong magnetic permanent magnet adhesives to be arranged on the center of S. A., the two ends of described S. A. are arranged on two little bearings, and described rotation the tip of the axis pins described little bearing inner ring by bayonet lock, described U-shaped link span is connected fish body with described crescent flexible caudal fin, described in it, crescent flexible caudal fin is made up of caudal peduncle and fin face.
Further, described U-shaped link span adopts duralumin thin plate to process, and the string diameter of described silk-covered wire is 0.2mm.
Preferably, described mechanism adopts electromagnetic kinetic swing flowing mode to drive, and the mode that adopts coil electromagnetism induction and permanent magnetic strong magnetic body to combine, and has good electric conductivity and surface insulated, does not need to do any water-proofing treatment in water.
Further, the fixed form that described strong magnetic pendulum and described crescent flexible caudal fin employing magnetic field adhesive and silica gel are bonding, described crescent flexible caudal fin is half moon-shaped flexible latex plate, in swing process, has the suitable angle of striking waters by distortion, can obtain larger propelling thrust.
The beneficial effects of the utility model:
Adopt technical solutions of the utility model, simple in structure, volume is gently little, easy to process; Magnetic induction coil is to adopt common enamel wire coiling to form, and has good insulative water-proof function, makes to process simple and convenient; The utility model, without any need for waterproofing protection, is directly placed in water and just can works, and greatly reduces the complexity of mechanism; The utility model is not used motor, adopts electromagnetic induction principle, realizes zero noise and drives; Propulsion coefficient is high; As compared with drive source, energy consumption power of the present utility model is only 1/4 of steering wheel with conventional steering wheel, and in other words, propulsion coefficient is 4 times of steering wheel, and meanwhile, the operating voltage range of magnetic motive force propulsive mechanism is wider, can adapt to from 6V-12V.
Brief description of the drawings
Fig. 1 is the constructional drawing of the magnetic motive force propulsive mechanism of a kind of low energy consumption bionic machine fish of the utility model;
Fig. 2 is the structure cutaway view of the magnetic motive force propulsive mechanism of a kind of low energy consumption bionic machine fish of the utility model;
Fig. 3 is the motion control schematic diagram that the utility model provides the propulsive force of advancing;
Fig. 4 is the motion control schematic diagram that the utility model provides right-hand corner power;
Fig. 5 is the motion control schematic diagram that the utility model provides turnon left power.
Number in the figure explanation: 1, fish body, 2, magnetic motive force tail fin, 3, U-shaped link span, 4, enamel wire, 5, PVC bobbin, 6, little bearing, 7, bayonet lock, 8, S. A., 9, strong magnetic permanent magnet, 10, crescent tail fin.
Detailed description of the invention
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the utility model in detail.
Shown in seeing figures.1.and.2, a kind of magnetic motive force propulsive mechanism of low energy consumption bionic machine fish, comprise that body is magnetic motive force tail fin 2, described magnetic motive force tail fin 2 comprises U-shaped link span 3, magnetic induction coil, strong magnetic pendulum and crescent flexible caudal fin 10, described magnetic induction coil is wrapped in and is formed on PVC bobbin 5 by silk-covered wire 4, described strong magnetic pendulum adopts two circular strong magnetic permanent magnet 9 adhesives to be arranged on the center of S. A. 8, the two ends of described S. A. 8 are arranged on two little bearings 6, and the end of described S. A. 8 pins described little bearing 6 inner rings by bayonet lock 7, described U-shaped link span 3 is connected fish body with described crescent flexible caudal fin 10, described in it, crescent flexible caudal fin 10 is made up of caudal peduncle and fin face.
Further, described U-shaped link span 3 adopts duralumin thin plate to process, and the string diameter of described silk-covered wire 4 is 0.2mm.
Preferably, described mechanism adopts electromagnetic kinetic swing flowing mode to drive, and the mode that adopts coil electromagnetism induction and permanent magnetic strong magnetic body to combine, and has good electric conductivity and surface insulated, does not need to do any water-proofing treatment in water.
Further, described strong magnetic pendulum and described crescent flexible caudal fin 10 adopt magnetic field adhesive and the bonding fixed form of silica gel, described crescent flexible caudal fin 10 is half moon-shaped flexible latex plates, in swing process, has the suitable angle of striking waters by distortion, can obtain larger propelling thrust.
Principle of the present utility model:
The utility model is developed based on electromagnetic induction principle, mainly comprises magnetic induction coil, strong magnetic pendulum and crescent tail fin 10.Described magnetic induction coil is to adopt the enamel wire 4 of string diameter 0.2mm to be closely entwined on PVC bobbin 5; Described strong magnetic pendulum is to adopt circular Ru-Fe-Mn strong magnet, is installed on the turning cylinder of the strength of a certain pole field of magnetic induction coil, changes polarity of the magnetic field by alternately changing the direction of current of coil, freely swings thereby realize left and right; Described crescent tail fin 10, caudal peduncle part adopts harder PVC thin plate to make, fin face adopts latex material to make, be connected on described strong magnetic pendulum, in the time replacing by direction the electric current changing in coil, strong magnetic pendulum will swing and strike waters with flexible caudal fin, produces the propulsive force of moving about forward.
As shown in Figure 3, the utility model provides the motion control of the propulsive force of advancing to be mainly divided into four beats, and 3.A is right quiescence (, upwards for right, being downwards left in figure), and 3.B is that left swing drives, and 3.C is left quiescence, and 3.D is that right pendulum drives.The direction of current of coil
ias shown in 3.E control signal figure, when in 3.A state, now in coil, do not access electric current, in the time swinging left, now coil access+
ielectric current, tail fin motion arrives Far Left, the left quiescence of propulsive mechanism in 3.C, in the time swinging to the right, now coil access-
ielectric current, tail fin motion arrives rightmost.So repeatedly, magnetic motive force propulsive mechanism just can be realized left and right and swing back and forth, and the power of pushing ahead is provided, simultaneously by changing coil current
isize and frequency, just can change the quick and amplitude swinging, thus the size of change propulsive force.
As shown in Figure 4, the utility model provides the motion control of right-hand rotation power to be mainly divided into four beats, and 4.A is right quiescence, and 4.B is that left swing drives, and 4.C is middle quiescence, and 4.D is that right pendulum drives.The direction of current of coil
ias shown in 4.E control signal figure, when in 4.A state, now in coil, do not access electric current, in the time swinging left, now coil access+
ielectric current, tail fin motion swings left and arrives midway location, the middle quiescence of propulsive mechanism in 4.C, in the time swinging to the right, now coil access-
ielectric current, tail fin motion arrives rightmost.So repeatedly, magnetic motive force propulsive mechanism just can be realized in right flank region and swinging back and forth, and the power bending to right is provided, simultaneously by changing coil current
isize and frequency, just can change the quick and amplitude swinging, thus the size of change angle of turn.This kind of situation is just that the time swinging to from left to right while advancing propelling is the same from the different of control signal of the above-mentioned situation of advancing, and the half that the time swinging left when right-hand corner just swings to the right, so flexible caudal fin just only swings back and forth in right flank region, thereby has realized right-hand corner.
As shown in Figure 5, the utility model provides the motion control of left-hand rotation power to be mainly divided into four beats, and 5.A is right quiescence, and 5.B is that left swing drives, and 5.C is middle quiescence, and 5.D is that right pendulum drives.This kind of situation is the same with the situation principle of above-mentioned right-hand corner, and just the direction of control signal is just the opposite.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (4)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420202746.6U CN203902829U (en) | 2014-04-24 | 2014-04-24 | Low consumption magnetomotive propulsion mechanism for biomimetic robotic fish |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420202746.6U CN203902829U (en) | 2014-04-24 | 2014-04-24 | Low consumption magnetomotive propulsion mechanism for biomimetic robotic fish |
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| CN203902829U true CN203902829U (en) | 2014-10-29 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950525A (en) * | 2014-04-24 | 2014-07-30 | 苏州科技学院 | Low-energy-consumption magnetomotive propelling mechanism of bionic robot fish |
| CN105015702A (en) * | 2015-07-22 | 2015-11-04 | 成都信息工程大学 | Statistical method of energy consumption of robotic fish with push type tail fin |
| CN106428492A (en) * | 2016-11-09 | 2017-02-22 | 西北大学 | Bionic robotic fish |
| CN107458565A (en) * | 2017-07-19 | 2017-12-12 | 河南大学 | A kind of flexible body Biomimetic Fish and its drive control method |
| CN111319741A (en) * | 2020-03-31 | 2020-06-23 | 东华大学 | A bionic robotic fish drive device |
| CN113104184A (en) * | 2021-04-24 | 2021-07-13 | 上海海洋大学 | A pump-shot exploration trolley |
-
2014
- 2014-04-24 CN CN201420202746.6U patent/CN203902829U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950525A (en) * | 2014-04-24 | 2014-07-30 | 苏州科技学院 | Low-energy-consumption magnetomotive propelling mechanism of bionic robot fish |
| CN105015702A (en) * | 2015-07-22 | 2015-11-04 | 成都信息工程大学 | Statistical method of energy consumption of robotic fish with push type tail fin |
| CN105015702B (en) * | 2015-07-22 | 2017-04-12 | 成都信息工程大学 | Statistical method of energy consumption of robotic fish with push type tail fin |
| CN106428492A (en) * | 2016-11-09 | 2017-02-22 | 西北大学 | Bionic robotic fish |
| CN107458565A (en) * | 2017-07-19 | 2017-12-12 | 河南大学 | A kind of flexible body Biomimetic Fish and its drive control method |
| CN107458565B (en) * | 2017-07-19 | 2018-11-23 | 河南大学 | A kind of flexible body Biomimetic Fish and its drive control method |
| CN111319741A (en) * | 2020-03-31 | 2020-06-23 | 东华大学 | A bionic robotic fish drive device |
| CN113104184A (en) * | 2021-04-24 | 2021-07-13 | 上海海洋大学 | A pump-shot exploration trolley |
| CN113104184B (en) * | 2021-04-24 | 2024-04-19 | 上海海洋大学 | Pump-jet type exploration trolley |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141029 Termination date: 20150424 |
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| EXPY | Termination of patent right or utility model |