CN103979090B - A kind of telescopic machine fish of fish body - Google Patents
A kind of telescopic machine fish of fish body Download PDFInfo
- Publication number
- CN103979090B CN103979090B CN201410222986.7A CN201410222986A CN103979090B CN 103979090 B CN103979090 B CN 103979090B CN 201410222986 A CN201410222986 A CN 201410222986A CN 103979090 B CN103979090 B CN 103979090B
- Authority
- CN
- China
- Prior art keywords
- fish
- fish body
- scalable
- telescoping
- head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The present invention relates to a kind of telescopic machine fish of fish body, including fish head, fish body, fish tail and some for providing the steering wheel of power, fish body includes scalable fish body and non-telescoping fish body, described scalable fish body and fish head connect, non-telescoping fish body is connected with steering wheel, fish head, closed containing cavity is formed between scalable fish body and non-telescoping fish body, in the cavity volume of non-telescoping fish body, linear stepping motor is installed, control circuit plate it is provided with in fish head, the output revolving shaft connection wire rod of linear stepping motor, this screw mandrel forms threaded engagement through the inner chamber of scalable fish body and the cavity volume inwall of fish head, scalable fish body portion is driven to do stretching motion through leading screw rotating.Can pass through step motor control screw turns, thus control the change of scalable fish body volume to realize rising and the dive of machine fish, machine fish is suitable for surveying than narrow region and monitoring.
Description
Technical field
The present invention relates to a kind of telescopic machine fish of fish body.
Background technology
Along with country is to ocean, rivers, harbour continually develop utilization, the functional requirement to machine fish is continuous
Zeng Duo.Traditional machine fish is due to design defect, it is impossible to carry out rising and dive in narrow and small water environment,
Thus affect exploration and detection.
Summary of the invention
The technical problem to be solved in the present invention is: provides a kind of telescopic machine fish of fish body, solves conventional machine
Device fish is not suitable for the defect of exploration in narrow and small environment.
The technical solution adopted for the present invention to solve the technical problems is: a kind of telescopic machine fish of fish body,
Including fish head, fish body, fish tail and some for providing the steering wheel of power, described fish body includes scalable
Fish body and non-telescoping fish body, described scalable fish body and fish head connect, and non-telescoping fish body is with steering wheel even
Connect, between described fish head, scalable fish body and non-telescoping fish body, form closed containing cavity, described non-telescoping
Linear stepping motor is installed in the cavity volume of fish body, in fish head, is provided with control circuit plate, described straight line stepping
The output revolving shaft connection wire rod of motor, this screw mandrel passes the inner chamber of scalable fish body and the cavity volume inwall shape of fish head
Become threaded engagement, drive scalable fish body portion to do stretching motion through leading screw rotating.
Further, the outside of described non-telescoping fish body is provided with wireless communication apparatus, these wireless telecommunications
Device is connected with control circuit plate.Can preferably receive through wireless communication apparatus and send related news, from
And control more preferable to machine fish.
Further, the quantity of described steering wheel is 3, is flexibly connected through frame, front end between adjacent steering wheel
Steering wheel be flexibly connected with non-telescoping fish body, 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 in this wire is bored a hole
Fluid sealant.So can ensure that the sealing of fish intracoelomic cavity.
Further, it is provided with several weight mounting groove and pillars in described fish head, installs at this weight
Being provided with counterweight lead in groove, described control circuit plate is arranged on pillar.
Further, described fish head offers pipelined channel.Be conducive to reducing fish resistance in water.
Whole fish body makes stationarity when rectangular shape is conducive to it travelling in water.
Further, the rubber fixed mount for installing fish tail rubber it is additionally provided with at described fish tail.
The invention has the beneficial effects as follows: screw turns can be controlled by linear stepping motor, thus control can
The change of flexible fish body volume realizes rising and the dive of machine fish, and machine fish is suitable for than narrow ground
Territory surveys and monitors.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of machine fish of the present invention；
Fig. 2 is the partial sectional view of A-A in Fig. 1；
Fig. 3 is side view 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 plate, 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,
The basic structure of the present invention is described the most in a schematic way, and therefore it only shows the composition relevant with the present invention.
As shown in Fig. 1 Fig. 2 Fig. 3, a kind of telescopic machine fish of fish body, including fish 1, fish body, fish tail
4 and some for providing the steering wheel 3 of power, fish body includes scalable fish body 21 and non-telescoping fish body 22,
Scalable fish body 21 and fish 1 connect, and non-telescoping fish body 22 is connected with steering wheel 3, fish 1, scalable
Install in forming closed containing cavity, the cavity volume of non-telescoping fish body 22 between fish body 21 and non-telescoping fish body 22
Having linear stepping motor 5 and battery 10, arrange control circuit plate 6 in fish 1, control circuit plate 6 is with straight
Line stepper motor 5 and steering wheel 3 connect, the output revolving shaft connection wire rod of linear stepping motor 5, and this screw mandrel is worn
The cavity volume inwall of the inner chamber and fish 1 of crossing scalable fish body 21 forms threaded engagement, drives through leading screw rotating
Scalable fish body 21 part does stretching motion, so that the volume of fish body changes, it is achieved rise and dive.
The outside of non-telescoping fish body 22 is provided with wireless communication apparatus 7, this wireless communication apparatus 7 and control
Circuit board 6 connects.Can preferably receive and send related news through wireless communication apparatus 7, thus to machine
Fish preferably controls device.
The quantity of steering wheel 3 is 3, is flexibly connected through frame 31 between adjacent steering wheel 3, the steering wheel 3 of front end
Being flexibly connected with non-telescoping fish body 22, the steering wheel 3 of tail end connects fish tail 4 through fixed mount 8.Three steering wheels
3 form flexible portion, beneficially machine fish in the rear end of machine fish advances, and the wire of steering wheel 3 is through stretching
Contracting fish body 22, and it is injected with fluid sealant in this wire is bored a hole.So can ensure that the sealing of fish intracoelomic cavity,
Even if whom has penetrate in machine fish, these water also will not enter into by fish 1, scalable fish body 21 and
Formed in closed containing cavity between non-telescoping fish body 22, and still can be worked by linear stepping motor 5
Drive scalable fish body 21 volume to change and then damaged machine fish is emerged.
As shown in Fig. 4 Fig. 5, in fish 1, it is provided with several weight mounting grooves 11 and pillar 12, heavy at this
Being provided with counterweight lead 13 in thing mounting groove 11, control circuit plate 6 is arranged on pillar 12.On fish 1
Offer pipelined channel.Be conducive to reducing machine fish resistance in water.Whole fish body makes rectangular shape
Stationarity when being conducive to it travelling in water.
Being additionally provided with the rubber fixed mount 9 for installing fish tail rubber at fish tail 4, fish tail rubber is fixed through rubber
Frame 9 is arranged on machine fish, and the outside of the flexible portion of three steering wheels 3 formation is provided with sealing shroud, close
One end of big envelope is sealingly mounted on rubber fixed mount 9, and the other end of sealing shroud is sealingly mounted at non-telescoping
On fish body 22, thus protect steering wheel 3, it is to avoid it makes moist, make steering wheel 3 can join and machine fish flexible portion
Motion.
Screw turns can be controlled by linear stepping motor 5, thus control the change of scalable fish body 21 volume
Changing rising and the dive realizing machine fish, machine fish is suitable for surveying than narrow region and monitoring,
Even if the fish tail rubber generation breakage of machine fish outer layer also can realize floating, and then realizes reclaiming.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, related work
Personnel can carry out various change and amendment completely in the range of without departing from this invention technological thought.
The content that the technical scope of this invention is not limited on specification, it is necessary to according to right
Determine its technical scope.
Claims (7)
1. the telescopic machine fish of fish body, is characterized in that, including fish head (1), fish body, fish tail (4)
And some for providing the steering wheel (3) of power, described fish body includes scalable fish body (21) and can not
Flexible fish body (22), described scalable fish body (21) and fish head (1) connect, non-telescoping fish body (22)
Be connected with steering wheel (3), described fish head (1), scalable fish body (21) and non-telescoping fish body (22) it
Between formed closed containing cavity, in the cavity volume of described non-telescoping fish body (22), linear stepping motor (5) is installed,
Being provided with control circuit plate (6) in fish head (1), the output revolving shaft of described linear stepping motor (5) connects
Screw mandrel, this screw mandrel forms spiral through the inner chamber of scalable fish body (21) and the cavity volume inwall of fish head (1) and joins
Close, drive scalable fish body (21) part to do stretching motion through leading screw rotating.
A kind of telescopic machine fish of fish body the most according to claim 1, is characterized in that, described not
The outside of scalable fish body (22) is provided with wireless communication apparatus (7), this wireless communication apparatus (7) and control
Circuit board processed (6) connects.
A kind of telescopic machine fish of fish body the most according to claim 1, is characterized in that, described steering wheel
(3) quantity is 3, is flexibly connected through frame (31), the steering wheel of front end between adjacent steering wheel (3)
(3) being flexibly connected with non-telescoping fish body (22), the steering wheel (3) of tail end connects fish through fixed mount (8)
Tail (4).
A kind of telescopic machine fish of fish body the most according to claim 1, is characterized in that, described steering wheel
(3) wire passes non-telescoping fish body (22), and is injected with fluid sealant in this wire is bored a hole.
A kind of telescopic machine fish of fish body the most according to claim 1, is characterized in that, described fish
It is provided with several weight mounting grooves (11) and pillar (12), at this weight mounting groove (11) in head (1)
Inside being provided with counterweight lead (13), described control circuit plate (6) is arranged on pillar (12).
A kind of telescopic machine fish of fish body the most according to claim 1, is characterized in that, described fish
Pipelined channel is offered on head (1).
A kind of telescopic machine fish of fish body the most according to claim 1, is characterized in that, described fish tail
(4) place is additionally provided with the rubber fixed mount (9) for installing fish tail rubber.
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 |
|---|---|
| CN103979090A CN103979090A (en) | 2014-08-13 |
| CN103979090B true CN103979090B (en) | 2016-08-24 |
Family
ID=51271324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410222986.7A Expired - Fee Related CN103979090B (en) | 2014-05-23 | 2014-05-23 | A kind of telescopic machine fish of fish body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103979090B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444597B (en) * | 2017-07-12 | 2023-05-16 | 河海大学 | Robot fish with three-joint structure |
| CN107380386B (en) * | 2017-07-12 | 2023-05-16 | 河海大学 | Three-joint structure of robot fish |
| 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 |
| 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 |
| CN114654476B (en) * | 2022-03-11 | 2023-09-26 | 华南理工大学 | Multi-section underactuated bionic eel robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101020498A (en) * | 2007-03-06 | 2007-08-22 | 哈尔滨工程大学 | Bionic mechanical jellyfish |
| JP2008044545A (en) * | 2006-08-18 | 2008-02-28 | Mhi Solution Technologies Co Ltd | Fish-shaped robot |
| CN201132604Y (en) * | 2007-12-13 | 2008-10-15 | 郑忠悦 | Fish-driving and bleeding submarines for aquiculture |
| CN101293565A (en) * | 2008-04-23 | 2008-10-29 | 哈尔滨工程大学 | Underwater miniature bionic machinery fish |
| CN101348165A (en) * | 2007-07-18 | 2009-01-21 | 中国科学院自动化研究所 | Three-dimensional motion bionic machine fish |
| CN102700695A (en) * | 2012-07-09 | 2012-10-03 | 长沙理工大学 | Riverway illegal sewage drain detection robot fish |
| CN202686732U (en) * | 2012-04-20 | 2013-01-23 | 合肥凌翔信息科技有限公司 | Multifunctional bionic robotic fish |
| CN203186566U (en) * | 2013-01-28 | 2013-09-11 | 兰州交通大学 | Mechanical pectoral fin biomimetic robot fish |
| CN103640680A (en) * | 2013-12-12 | 2014-03-19 | 哈尔滨工业大学 | Manufacturing method of flexible bionic fish with variable-rigidity swinging propulsion |
| CN203864967U (en) * | 2014-05-23 | 2014-10-08 | 河海大学常州校区 | Robot fish |
-
2014
- 2014-05-23 CN CN201410222986.7A patent/CN103979090B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008044545A (en) * | 2006-08-18 | 2008-02-28 | Mhi Solution Technologies Co Ltd | Fish-shaped robot |
| CN101020498A (en) * | 2007-03-06 | 2007-08-22 | 哈尔滨工程大学 | Bionic mechanical jellyfish |
| CN101348165A (en) * | 2007-07-18 | 2009-01-21 | 中国科学院自动化研究所 | Three-dimensional motion bionic machine fish |
| CN201132604Y (en) * | 2007-12-13 | 2008-10-15 | 郑忠悦 | Fish-driving and bleeding submarines for aquiculture |
| CN101293565A (en) * | 2008-04-23 | 2008-10-29 | 哈尔滨工程大学 | Underwater miniature bionic machinery fish |
| CN202686732U (en) * | 2012-04-20 | 2013-01-23 | 合肥凌翔信息科技有限公司 | Multifunctional bionic robotic fish |
| CN102700695A (en) * | 2012-07-09 | 2012-10-03 | 长沙理工大学 | Riverway illegal sewage drain detection robot fish |
| CN203186566U (en) * | 2013-01-28 | 2013-09-11 | 兰州交通大学 | Mechanical pectoral fin biomimetic robot fish |
| CN103640680A (en) * | 2013-12-12 | 2014-03-19 | 哈尔滨工业大学 | Manufacturing method of flexible bionic fish with variable-rigidity swinging propulsion |
| CN203864967U (en) * | 2014-05-23 | 2014-10-08 | 河海大学常州校区 | Robot fish |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103979090A (en) | 2014-08-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103979090B (en) | A kind of telescopic machine fish of fish body | |
| CN203864967U (en) | Robot fish | |
| CN205389399U (en) | It is adjustable dark in tree well excavating gear that is unearthed | |
| CN102132682B (en) | Aerator | |
| CN106834103A (en) | A kind of Bacteria Detection multi-point sampling device | |
| CN206111594U (en) | Perpendicular mounting structure of dive axial -flow pump | |
| CN206278250U (en) | A kind of integrated underwater propeller | |
| CN204920925U (en) | Accurate eccentric water filling tool of oil -field flooding well | |
| CN104535050A (en) | Deep sea multi-parameter measurement device controlled by two hydraulic cylinders | |
| CN114313177B (en) | Underwater autonomous robot | |
| CN113671150B (en) | Combined loess stratum shield tunnel construction full-stage test device capable of uniformly humidifying | |
| CN203735089U (en) | Automatic lotus root digging powerboat | |
| CN207774361U (en) | A kind of feeding equipment of filter | |
| CN104792577A (en) | Sampling pump with automatic angle change | |
| CN204373652U (en) | The deep-sea multiparameter measuring device that a kind of double hydraulic cylinder controls | |
| CN105064956A (en) | Screw type efficient oil pumping device | |
| CN205587798U (en) | Electric discharge machining unit electrode drive shaft structure under water | |
| CN104196722B (en) | A kind of screw pump of motor high position driven by quill shaft | |
| CN219691741U (en) | Mud pump piston pull rod structure | |
| CN210284565U (en) | Deep sea lamp device of underwater robot | |
| CN203285568U (en) | Carburetor and gasoline drainage structure thereof | |
| CN107775911A (en) | A kind of Novel injection mold | |
| CN203593153U (en) | Scrubbing cylinder of submarine scrubbing robot | |
| CN210859695U (en) | Rotary tooth box for tea set water outlet head | |
| CN211620338U (en) | Sludge solid-liquid separation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 Termination date: 20200523 |