CN103979090A - Robot fish with telescopic body - Google Patents
Robot fish with telescopic body Download PDFInfo
- Publication number
- CN103979090A CN103979090A CN201410222986.7A CN201410222986A CN103979090A CN 103979090 A CN103979090 A CN 103979090A CN 201410222986 A CN201410222986 A CN 201410222986A CN 103979090 A CN103979090 A CN 103979090A
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- fish
- fish body
- telescopic
- head
- telescoping
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Abstract
The invention relates to a robot fish with a telescopic body. The robot fish comprises a fish head, a fish body, a fish tail and a plurality of steering engines for providing power, wherein the fish body comprises the telescopic fish body and a non-telescopic fish body; the telescopic fish body is connected with the fish head; the non-telescopic fish body is connected with one steering engine; a sealed containing cavity is formed among the fish head, the telescopic fish body and the non-telescopic fish body; a containing cavity of the non-telescopic fish body is internally provided with a linear stepping motor; the fish head is internally provided with a control circuit board; an output rotating shaft of the linear stepping motor is connected with a screw rod; the screw rod penetrates an inner cavity of the telescopic fish body to be in spiral matching with the inner wall of a containing cavity of the fish head; the telescopic fish body does telescopic movement by driving of forward-backward rotation of the screw rod. The robot fish has the advantages that the screw rod can be controlled to rotate by the stepping motor, so that the ascending and descending of the robot fish are realized by controlling the change of the size of the telescopic fish body; the robot fish is suitable for investigation and monitoring at narrower regions.
Description
Technical field
The present invention relates to the telescopic machine fish of a kind of fish body.
Background technology
Along with country is to ocean, rivers, harbour continually develop utilization, constantly once many to the functional requirement of machine fish.Traditional machine fish, due to design defect, can not rise and dive in narrow and small water environment, thus impact exploration and detection.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of fish body telescopic machine fish, solve machine fish in the past and be not suitable for the defect of surveying in narrow and small environment.
The technical solution adopted for the present invention to solve the technical problems is: the telescopic machine fish of a kind of fish body, comprise fish head, fish body, fish tail and some for the steering wheel of power is provided, described fish body comprises scalable fish body and non-telescoping fish body, described scalable fish body is connected with fish head, non-telescoping fish body is connected with steering wheel, described fish head, between scalable fish body and non-telescoping fish body, form closed containing cavity, in the cavity volume of described non-telescoping fish body, linear stepping motor is installed, in fish head, be provided with control circuit board, the output revolving shaft connection wire rod of described linear stepping motor, this screw mandrel coordinates through the inner chamber of scalable fish body and the cavity volume inwall of fish head formation spiral, drive scalable fish body to divide through leading screw rotating and do fore and aft motion.
Further, the outside of described non-telescoping fish body is provided with wireless communication apparatus, and this wireless communication apparatus is connected with control circuit board.Can better receive and send related news through wireless communication apparatus, thereby machine fish is better controlled.
Further, the quantity of described steering wheel is 3, between adjacent steering wheel, is flexibly connected through frame, and the steering wheel of front end is flexibly connected with non-telescoping fish body, and the steering wheel of tail end connects fish tail through fixed mount.
Further, the wire of described steering wheel passes non-telescoping fish body, and is injected with sealant in this wire perforation.Can ensure like this leak tightness of fish intracoelomic cavity.
Further, be provided with several weight mounting groove and pillars in described fish head, in this weight mounting groove, be provided with counterweight lead, described control circuit board is arranged on pillar.
Further, on described fish head, offer pipelined channel.Be conducive to reduce the resistance of fish in water.Stationarity when whole fish body is made rectangular shape and is conducive to it and moves about in water.
Further, described fish tail place is also provided with the rubber fixed mount for fish tail rubber is installed.
The invention has the beneficial effects as follows: can rotate by linear stepping motor control leading screw, thereby the variation of controlling scalable fish body volume realizes rising and the dive of machine fish, machine fish is adapted at narrower and small region and surveys and monitor.
Brief description of the drawings
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the structural representation of machine fish of the present invention;
Fig. 2 is the part sectional view of A-A in Fig. 1;
Fig. 3 is lateral plan in Fig. 1;
Fig. 4 is the structural representation of fish head;
Fig. 5 is the structural representation of B-B in Fig. 4;
Fig. 6 is the structural representation of scalable fish body.
In figure 1, fish head, 21, scalable fish body, 22, non-telescoping fish body, 3, steering wheel, 31, frame, 4, fish tail, 5, linear stepping motor, 6, control circuit board, 7, wireless communication apparatus, 8, fixed mount, 9, rubber fixed mount, 10, battery, 11, weight mounting groove, 12, pillar, 13, counterweight lead.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, and basic structure of the present invention is only described in a schematic way, and therefore it only shows the formation relevant with the present invention.
As shown in Fig. 1 Fig. 2 Fig. 3, the telescopic machine fish of a kind of fish body, comprise fish 1, fish body, fish tail 4 and some for the steering wheel 3 of power is provided, fish body comprises scalable fish body 21 and non-telescoping fish body 22, scalable fish body 21 and fish 1 is connected, non-telescoping fish body 22 is connected with steering wheel 3, fish 1, between scalable fish body 21 and non-telescoping fish body 22, form closed containing cavity, linear stepping motor 5 and battery 10 are installed in the cavity volume of non-telescoping fish body 22, a fish 1 interior control circuit board 6 that arranges, control circuit board 6 is connected with linear stepping motor 5 and steering wheel 3, the output revolving shaft connection wire rod of linear stepping motor 5, this screw mandrel coordinates through the cavity volume inwall formation spiral of the inner chamber of scalable fish body 21 and fish 1, drive scalable fish body 21 parts to do fore and aft motion through leading screw rotating, thereby the volume of fish body is changed, realize and rising and dive.
The outside of non-telescoping fish body 22 is provided with wireless communication apparatus 7, and this wireless communication apparatus 7 is connected with control circuit board 6.Can better receive and send related news through wireless communication apparatus 7, thereby machine fish is better controlled.
The quantity of steering wheel 3 is 3, between adjacent steering wheel 3, is flexibly connected through frame 31, and the steering wheel 3 of front end is flexibly connected with non-telescoping fish body 22, and the steering wheel 3 of tail end connects fish tail 4 through fixed mount 8.Three steering wheels 3 form flexible portion in the rear end of machine fish, are conducive to machine fish and advance, and the wire of steering wheel 3 passes non-telescoping fish body 22, and are injected with sealant in this wire perforation.Can ensure like this leak tightness of fish intracoelomic cavity, even if whom has penetrate in machine fish, these water can not enter into by forming in closed containing cavity between fish 1, scalable fish body 21 and non-telescoping fish body 22 yet, and still can drive scalable fish body 21 volumes change and then damaged machine fish is emerged by linear stepping motor 5 work.
As shown in Fig. 4 Fig. 5, in fish 1, be provided with several weight mounting grooves 11 and pillar 12, in this weight mounting groove 11, be provided with counterweight lead 13, control circuit board 6 is arranged on pillar 12.On fish 1, offer pipelined channel.Be conducive to reduce the resistance of machine fish in water.Stationarity when whole fish body is made rectangular shape and is conducive to it and moves about in water.
Fish tail 4 places are also provided with the rubber fixed mount 9 for fish tail rubber is installed; fish tail rubber is arranged on machine fish through rubber fixed mount 9; the outer setting of the flexible portion forming at three steering wheels 3 has sealing shroud; one end sealing of sealing shroud is arranged on rubber fixed mount 9; the other end sealing of sealing shroud is arranged on non-telescoping fish body 22; thereby protection steering wheel 3, avoids it to make moist, and steering wheel 3 can be joined with machine fish flexible portion and move.
Can control leading screw by linear stepping motor 5 rotates, thereby the variation of controlling scalable fish body 21 volumes realizes rising and the dive of machine fish, machine fish is adapted at narrower and small region and surveys and monitor, even if the outer field fish tail rubber of machine fish generation breakage also can realize floating, and then realize and reclaiming.
Taking above-mentioned foundation desirable embodiment of the present invention as enlightenment, by above-mentioned description, relevant staff can, not departing from the scope of this invention technological thought, carry out various change and amendment completely.The technical scope of this invention is not limited to the content on specification sheets, must determine its technical scope according to claim scope.
Claims (7)
1. the telescopic machine fish of fish body, it is characterized in that, comprise fish head (1), fish body, fish tail (4) and some for the steering wheel (3) of power is provided, described fish body comprises scalable fish body (21) and non-telescoping fish body (22), described scalable fish body (21) is connected with fish head (1), non-telescoping fish body (22) is connected with steering wheel (3), described fish head (1), between scalable fish body (21) and non-telescoping fish body (22), form closed containing cavity, linear stepping motor (5) is installed in the cavity volume of described non-telescoping fish body (22), in fish head (1), be provided with control circuit board (6), the output revolving shaft connection wire rod of described linear stepping motor (5), this screw mandrel coordinates through the inner chamber of scalable fish body (21) and the cavity volume inwall of fish head (1) formation spiral, drive scalable fish body (21) part to do fore and aft motion through leading screw rotating.
2. the telescopic machine fish of a kind of fish body according to claim 1, it is characterized in that, the outside of described non-telescoping fish body (22) is provided with wireless communication apparatus (7), and this wireless communication apparatus (7) is connected with control circuit board (6).
3. the telescopic machine fish of a kind of fish body according to claim 1, it is characterized in that, the quantity of described steering wheel (3) is 3, between adjacent steering wheel (3), be flexibly connected through frame (31), the steering wheel (3) of front end is flexibly connected with non-telescoping fish body (22), and the steering wheel (3) of tail end connects fish tail (4) through fixed mount (8).
4. the telescopic machine fish of a kind of fish body according to claim 1, is characterized in that, the wire of described steering wheel (3) passes non-telescoping fish body (22), and is injected with sealant in this wire perforation.
5. the telescopic machine fish of a kind of fish body according to claim 1, it is characterized in that, in described fish head (1), be provided with several weight mounting grooves (11) and pillar (12), in this weight mounting groove (11), be provided with counterweight lead (13), described control circuit board (6) is arranged on pillar (12).
6. the telescopic machine fish of a kind of fish body according to claim 1, is characterized in that, on described fish head (1), offers pipelined channel.
7. the telescopic machine fish of a kind of fish body according to claim 1, is characterized in that, described fish tail (4) locates to be also provided with the rubber fixed mount (9) for fish tail rubber is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410222986.7A CN103979090B (en) | 2014-05-23 | 2014-05-23 | A kind of telescopic machine fish of fish body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410222986.7A CN103979090B (en) | 2014-05-23 | 2014-05-23 | A kind of telescopic machine fish of fish body |
Publications (2)
| Publication Number | Publication Date |
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| CN103979090A true CN103979090A (en) | 2014-08-13 |
| CN103979090B CN103979090B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410222986.7A Expired - Fee Related CN103979090B (en) | 2014-05-23 | 2014-05-23 | A kind of telescopic machine fish of fish body |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107380386A (en) * | 2017-07-12 | 2017-11-24 | 河海大学 | A kind of three articulation structures of machine fish |
| CN107444597A (en) * | 2017-07-12 | 2017-12-08 | 河海大学 | A kind of machine fish with three articulation structures |
| CN108438182A (en) * | 2018-02-26 | 2018-08-24 | 南京航空航天大学 | Variable-volume Biomimetic Fish agent structure and Biomimetic Fish and locomotive regulation method |
| CN108945363A (en) * | 2018-08-10 | 2018-12-07 | 江阴航源航空科技有限公司 | A kind of more piece unmanned submarines of flexible connection |
| CN114654476A (en) * | 2022-03-11 | 2022-06-24 | 华南理工大学 | Multi-section under-actuated bionic eel robot |
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| CN107380386A (en) * | 2017-07-12 | 2017-11-24 | 河海大学 | A kind of three articulation structures of machine fish |
| CN107444597A (en) * | 2017-07-12 | 2017-12-08 | 河海大学 | A kind of machine fish with three articulation structures |
| CN108438182A (en) * | 2018-02-26 | 2018-08-24 | 南京航空航天大学 | Variable-volume Biomimetic Fish agent structure and Biomimetic Fish and locomotive regulation method |
| CN108438182B (en) * | 2018-02-26 | 2019-10-25 | 南京航空航天大学 | Variable-volume Biomimetic Fish main structure and Biomimetic Fish and locomotive regulation method |
| CN108945363A (en) * | 2018-08-10 | 2018-12-07 | 江阴航源航空科技有限公司 | A kind of more piece unmanned submarines of flexible connection |
| CN108945363B (en) * | 2018-08-10 | 2020-07-10 | 江阴航源航空科技有限公司 | Flexible connection's unmanned submarine of multisection |
| CN114654476A (en) * | 2022-03-11 | 2022-06-24 | 华南理工大学 | Multi-section under-actuated bionic eel robot |
| CN114654476B (en) * | 2022-03-11 | 2023-09-26 | 华南理工大学 | Multi-section underactuated bionic eel robot |
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| CN103979090B (en) | 2016-08-24 |
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Granted publication date: 20160824 Termination date: 20200523 |
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| CF01 | Termination of patent right due to non-payment of annual fee |