The invention provides a mechanical bionic fish multi-joint driving structure which is characterized in that a joint structure unit comprises at least two fish body driving joints and a tail joint, the front end of the first fish body driving joint closest to a fish head is connected with a first joint connecting plate, and the first joint connecting plate is connected with a front body of a mechanical fish through a screw; according to the fish body driving joint, a driving motor is connected with a rotating shaft through double keys, the rotating shaft is connected into a middle sleeve of the next fish body driving joint through a key, an upper supporting plate, the middle sleeves and a lower supporting plate are connected through screws, and the upper end and the lower end of the rotating shaft are connected with bearings respectively. A Hall assembly is arranged on the lower portion of the magnetic ring assembly and installed on the lower bearing cover. The multi-joint driving structure is high in structural strength, joint driving is more flexible and vivid through multiple joints, the transmission precision is high, rapid response of transmission is achieved, the motion response speed is high, and the motion flexibility of the bionic mechanical fish structure can be effectively improved.
本发明提供一种机械仿生鱼多关节驱动结构,关节结构单元包括不少于2个的鱼身驱动关节和尾部关节,最靠近鱼首的第一鱼身驱动关节的前端连接有第一关节连接板,所述第一关节连接板与机械鱼前身通过螺钉连接,所述鱼身驱动关节为驱动电机通过双键与旋转轴连接,旋转轴通过键连接于后一个鱼身驱动关节的中间套筒中,上支撑板、中间套筒、下支撑板通过螺钉连接,旋转轴的上下两端分别连接轴承,磁环组件安装在旋转轴下端,磁环组件的下部设有霍尔组件,霍尔组件安装在下轴承盖上。多关节驱动结构结构强度高,通过多关节使得关节驱动更加灵活逼真,传动精度高,实现传动的快速响应,运动反应速度快,可以有效提高仿生机械鱼结构的运动灵活性。
Multi-joint driving structure of mechanical bionic fish
一种机械仿生鱼多关节驱动结构
2024-01-02
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
Bionic multi-toe joint cooperative mechanical foot and bionic machine
European Patent Office | 2023
|Bionic mechanical fish capable of freely switching multiple driving modes
European Patent Office | 2024
|Driving device of bionic robotic fish tail and bionic robotic fish tail
European Patent Office | 2024
|