CN105059511A - Underwater high-simulation robotic fish mechanism and system - Google Patents
Underwater high-simulation robotic fish mechanism and system Download PDFInfo
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- CN105059511A CN105059511A CN201510448022.9A CN201510448022A CN105059511A CN 105059511 A CN105059511 A CN 105059511A CN 201510448022 A CN201510448022 A CN 201510448022A CN 105059511 A CN105059511 A CN 105059511A
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- fish
- bevel gear
- control circuit
- control box
- under water
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- 241000251468 Actinopterygii Species 0.000 title abstract description 24
- 238000004088 simulation Methods 0.000 title abstract 3
- 238000004891 communication Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 26
- 210000003038 endothelium Anatomy 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 5
- 210000000988 bone and bone Anatomy 0.000 abstract 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
Abstract
The invention discloses an underwater high-simulation robotic fish mechanism and system. The robotic fish mechanism and system comprise a front shell, a control cabinet, fish skin, a dorsal fin, an anal fin, a power mechanism and a tail swinging mechanism, wherein the power mechanism is positioned in the control cabinet, and comprises a driving motor, a master control circuit, a slave control circuit and a power source; the tail swinging mechanism comprises a crank mechanism, fish bones and a tail fin; the crank mechanism comprises a first bevel gear, a second bevel gear, a bearing pedestal, a magnet and a swing rod; the output end of the power source is electrically connected with the input end of the master control circuit; the output end of the master control circuit is electrically connected with the input end of the driving motor; the slave control circuit is positioned under the crank mechanism and is in communication connection with the master control circuit; the driving motor is fixedly mounted in the control cabinet; a shaft hole is formed in the tail end of the control cabinet. The underwater high-simulation robotic fish mechanism and system disclosed by the invention drive a robotic fish to swim by adopting a single joint, so that the design is artful, and the structure is reasonable.
Description
Technical field
The invention belongs to underwater biomimetic robotic fish technical field, particularly relate to a kind of remote-controlled simple joint highly emulated Qi Yu mechanism and system under water.
Background technology
The development of machine fish embodies the exploitation pay attention to day by day of the mankind to marine resources, and the research of machine fish need in conjunction with bionics, machine design, materialogy, the multiple technologies such as control subject.The complex structure that existing machine fish has, multi-joint, cost is larger; What have only realizes moving under water by swinging tail structure, does not reach bionical effect.
Summary of the invention
For above problem, main purpose of the present invention is to provide a kind of structure simple, monarthric highly emulated Qi Yu mechanism and system under water.
For achieving the above object, the present invention takes following technical scheme:
One is highly emulated Qi Yu mechanism and system under water, comprises fore shell, control box, fish-skin, dorsal fin and anal fin, also comprises actuating unit and mechanism of wagging the tail, within described actuating unit is positioned at control box; Described actuating unit comprise drive motor, main control circuit, from control circuit and power supply; Described mechanism of wagging the tail comprises crank mechanism, fish-bone and tail fin; Described crank mechanism comprises the first bevel gear, the second bevel gear, bearing seat, magnet and fork; The mouth of described power supply is electrically connected with the input end of main control circuit; The mouth of described main control circuit is electrically connected with the input end of drive motor; Describedly to be positioned at below crank mechanism from control circuit and to be connected with main control circuit communication; Described drive motor is fixedly mounted in control box, and control box end has axis hole;
Described bearing seat is fixedly connected with control box end, and lower ending opening; Described second bevel gear is engaged with the first bevel gear being positioned at bearing seat inside by bearing seat lower ending opening; The rotating shaft of described first bevel gear is fixedly connected with the output shaft of drive motor through axis hole; Described fork one end has U-shaped mouth, and the other end is fixed on below bearing seat, and fork bottom offers bar hole; Described magnet passes bar hole and is fixedly connected on below the second bevel gear; Described fish-bone comprises the first support ring, multiple midship mounting ring and end support plate; Be fixedly connected with between each support ring of described fish-bone and the upper and lower two ends of end support plate; Described first support ring offers pin-and-hole, and is fixedly mounted on control box; Offer recess in the middle part of described end support plate, and longitudinally offer supported hole; Pivot shaft is inserted with in described supported hole; One end that described fork has U-shaped mouth is stretched to recess and is buckled on pivot shaft; Described tail fin is fixedly connected with end support plate; Described fish-skin is wrapped in outside mechanism of wagging the tail.
As preferably, described actuating unit also comprises speed reduction gearing; Described speed reduction gearing is between drive motor and the first bevel gear.
As preferably, described speed reduction gearing comprises the motor gear be set on drive motor output shaft and the multiple planetary wheels engaged with motor gear; Described speed reduction gearing and the first bevel gear transmission link.
As preferably, also comprise and be set in seal ring pressing plate in the first bevel gear rotating shaft and O RunddichtringO; Described seal ring pressing plate is positioned at control box and is close to the output shaft of speed reduction gearing; Described O RunddichtringO is positioned at bearing seat and is close to the axis hole of control box end.
As preferably, the girth of each support ring of described fish-bone is less than the girth of its previous support ring.
As preferably, between described tail fin and end support plate, also comprise attaching parts; Described attaching parts front end is fixedly connected with end support plate; Described attaching parts comprises multiple connecting panel; A connecting strap is fixedly connected with between each connecting panel and tail fin.
As preferably, also comprise the first clump weight and the second clump weight; Described first clump weight is positioned at below power supply; Described second clump weight is positioned on the support ring adjacent with end support plate.
As preferably, also comprise antenna, built-in antenna is in control box upper end.
As preferably, also comprise charging inlet, charging inlet is positioned at control box front end.
As preferably, described fish-skin is endothelium, also comprises crust; Described crust is wrapped in outside endothelium.
The present invention has the following advantages: single motor single joint drive robot fish movement, and structure is simple, reasonable in design; Speed reduction gearing is set, and two bevel gears and fork are used as crank, make machine fish travelling more graceful; Crank center is furnished with magnet, realizes magnetic control and turns to; Fish-bone comprises multiple support ring, and the girth of each support ring is all less than the girth of its previous support ring, makes machine fish can have the authenticity of fish; Also be designed with attaching parts before tail fin, make fish tail swing more flexible; Is furnished with charging inlet, the chargeable lasting use of dead battery; Fish-skin divides two-layer formation double cavity structure, and endothelium seals, outer skin decorating.
Accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram of highly emulated Qi Yu mechanism and system under water of the present invention;
Fig. 2 is the perspective view of highly emulated Qi Yu mechanism and system under water of the present invention;
Fig. 3 is the positive direction view of the fish-bone of highly emulated Qi Yu mechanism and system under water of the present invention;
Fig. 4 is the frontal view of the fish-bone of highly emulated Qi Yu mechanism and system under water of the present invention;
Fig. 5 is the birds-eye view of the fish-bone of highly emulated Qi Yu mechanism and system under water of the present invention;
Fig. 6 is the perspective view of the fish-bone of highly emulated Qi Yu mechanism and system under water of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
As depicted in figs. 1 and 2, one is highly emulated Qi Yu mechanism and system under water, comprises fore shell 1, control box 2, fish-skin 3, dorsal fin 4 and anal fin 5, also comprises actuating unit and mechanism of wagging the tail, within actuating unit is positioned at control box 2; Actuating unit comprises drive motor 6, main control circuit 7, from control circuit 8 and power supply 9, main control circuit 7 is master board, is from control desk from control circuit 8; Mechanism of wagging the tail comprises crank mechanism, fish-bone 10 and tail fin 11; Crank mechanism comprises the first bevel gear 12, second bevel gear 13, bearing seat 14, magnet 15 and fork 16, and wherein the first bevel gear 12 is bevel pinion, the second bevel gear 13 is large bevel gear; Power supply 9 is chargeable battery, and the mouth of power supply 9 is electrically connected with the input end of main control circuit 7; The mouth of main control circuit 7 is electrically connected with the input end of drive motor 6; To be positioned at below crank mechanism from control circuit 8 and to be connected with main control circuit 7 communication; Drive motor 6 is fixedly mounted in control box 2, and control box 2 end offers axis hole.
Bearing seat 14 is infundibulate and lower ending opening, and bearing seat 14 is fixedly connected with control box 2 end; Second bevel gear 13 is engaged with the first bevel gear 12 being positioned at bearing seat 14 inside by bearing seat 14 lower ending opening; The rotating shaft of the first bevel gear 12 is fixedly connected with the output shaft of drive motor 6 through control box 2 end axis hole; Fork 16 one end has U-shaped mouth, and the other end is fixed on below bearing seat 14, and fork 16 bottom offers bar hole; Magnet 15 passes bar hole and is fixedly connected on below the second bevel gear 13.
As shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the fish-bone 10 of wagging the tail in mechanism comprises the first support ring 17, multiple midship mounting ring 18 and end support plate 19, wherein the girth of each support ring is all less than the girth of its previous support ring, makes fish-bone 10 keep fish shape outward appearance; All be fixedly connected with between each support ring of fish-bone 10 and end support plate about 19 two ends; First support ring 17 offers pin-and-hole, and is fixedly connected on control box 2; Offer recess in the middle part of end support plate 19, and longitudinally offer supported hole, be inserted with pivot shaft 20 in supported hole, pivot shaft 20 is stainless steel shaft; One end that fork 16 has U-shaped mouth is stretched to recess and is buckled on pivot shaft 20, makes fork 16 can only left and right teeter.
For making the present invention travelling more graceful in water, actuating unit is also provided with double reduction mechanism 21, transmission link between double reduction mechanism 21.Speed reduction gearing 21 is between drive motor 6 and the first bevel gear 12, and speed reduction gearing 21 comprises the motor gear be set on drive motor 6 output shaft and three planetary wheels engaged with motor gear, and three planetary wheels are evenly engaged on around motor gear; The output shaft of speed reduction gearing 21 and the first bevel gear 12 transmission link.Seal ring pressing plate 22 and O RunddichtringO 23 is provided with between speed reduction gearing 21 and the first bevel gear 12, seal ring pressing plate 22 and O RunddichtringO 23 are all set in the first bevel gear 12 rotating shaft, seal ring pressing plate 22 is positioned at control box 2 inside and is close to the output shaft of speed reduction gearing 21 simultaneously, O RunddichtringO 23 is positioned at bearing seat 14 and is close to the axis hole of control box 2 end, prevents into water.
Tail fin 11 is fixedly connected with end support plate 19; For making fish body more flexible, between tail fin 11 and end support plate 19, be also provided with attaching parts 24, tail fin 11 and attaching parts 24 form fish tail; Attaching parts 24 front end is fixedly connected with end support plate 19, and attaching parts 24 comprises multiple connecting panel, is all fixedly connected with a connecting strap between each connecting panel and tail fin 11, connecting panel is less, and connecting strap is thinner, play the effect of spring, make the more graceful of fish tail swing.
The first clump weight 25 is also furnished with below power supply 9, first clump weight 25 is cylindrical iron prop, and the second clump weight 26 is furnished with on the support ring adjacent with end support plate 19, second clump weight 26 is corrosion-resistant steel iron plate, one in front and one in back two clump weights play the effect of stable machine fish center of gravity, and what machine fish was swum is more stable.
The present invention also comprises charging inlet 27, and charging inlet 27 is positioned at control box 2 front end, when dead battery time, opens fore shell 1, can see charging inlet 27, and charging can continue to use; Fish-skin 3 is endothelium, also comprises crust 28, and endothelium is wrapped in outside mechanism of wagging the tail, and seals, and crust 28 wraps endothelium, and endothelium and crust 28 form double cavity structure, and make sealing property better, crust 28 also plays decoration function simultaneously.Also be built-in with antenna 29 in control box 2 upper end, antenna 29 receives the signal that operator sends, and operator's Remote machine fish can be made to move about.
Motion principle of the present invention is, when do not fix up an aerial wire 29, after battery 9 installs by operator, and battery 9 has electricity, and machine fish can swing back and forth in water.Further, operator's remote control sends movement instruction to master board 7, master board 7 makes it rotate to drive motor 6 power transmission, slow down through double reduction mechanism, the output shaft of speed reduction gearing drives bevel pinion 12 to rotate, and bevel pinion 12 drives the fork 16 under large bevel gear 13 to do crank motion, and fork 16 drives fish-bone 10 and fish tail reciprocally swinging back and forth, under the application force of water, move about forward; When needs are turned, operator sends instruction to master board 7, from control desk 8 after the order receiving master board 7, under the effect of magnet 15, can control fork 16 toward a side oscillation, realize turning motion.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. highly emulated Qi Yu mechanism and a system under water, comprises fore shell, control box, fish-skin, dorsal fin and anal fin, it is characterized in that: also comprise actuating unit and mechanism of wagging the tail, within described actuating unit is positioned at control box; Described actuating unit comprise drive motor, main control circuit, from control circuit and power supply; Described mechanism of wagging the tail comprises crank mechanism, fish-bone and tail fin; Described crank mechanism comprises the first bevel gear, the second bevel gear, bearing seat, magnet and fork; The mouth of described power supply is electrically connected with the input end of main control circuit; The mouth of described main control circuit is electrically connected with the input end of drive motor; Describedly to be positioned at below crank mechanism from control circuit and to be connected with main control circuit communication; Described drive motor is fixedly mounted in control box, and control box end has axis hole; Described bearing seat is fixedly connected with control box end, and lower ending opening; Described second bevel gear is engaged with the first bevel gear being positioned at bearing seat inside by bearing seat lower ending opening; The rotating shaft of described first bevel gear is fixedly connected with the output shaft of drive motor through axis hole; Described fork one end has U-shaped mouth, and the other end is fixed on below bearing seat, and fork bottom offers bar hole; Described magnet passes bar hole and is fixedly connected on below the second bevel gear; Described fish-bone comprises the first support ring, multiple midship mounting ring and end support plate; Be fixedly connected with between each support ring of described fish-bone and the upper and lower two ends of end support plate; Described first support ring offers pin-and-hole, and is fixedly mounted on control box; Offer recess in the middle part of described end support plate, and longitudinally offer supported hole; Pivot shaft is inserted with in described supported hole; One end that described fork has U-shaped mouth is stretched to recess and is buckled on pivot shaft; Described tail fin is fixedly connected with end support plate; Described fish-skin is wrapped in outside mechanism of wagging the tail.
2. highly emulated Qi Yu mechanism and system under water according to claim 1, is characterized in that: described actuating unit also comprises speed reduction gearing; Described speed reduction gearing is between drive motor and the first bevel gear.
3. highly emulated Qi Yu mechanism and system under water according to claim 2, is characterized in that: described speed reduction gearing comprises the motor gear be set on drive motor output shaft and the multiple planetary wheels engaged with motor gear; Described speed reduction gearing and the first bevel gear transmission link.
4. highly emulated Qi Yu mechanism and system under water according to claim 3, is characterized in that: also comprise and be set in seal ring pressing plate in the first bevel gear rotating shaft and O RunddichtringO; Described seal ring pressing plate is positioned at control box and is close to the output shaft of speed reduction gearing; Described O RunddichtringO is positioned at bearing seat and is close to the axis hole of control box end.
5. highly emulated Qi Yu mechanism and system under water according to claim 4, is characterized in that: the girth of each support ring of described fish-bone is less than the girth of its previous support ring.
6. highly emulated Qi Yu mechanism and system under water according to claim 5, is characterized in that: also comprise attaching parts between described tail fin and end support plate; Described attaching parts front end is fixedly connected with end support plate; Described attaching parts comprises multiple connecting panel; A connecting strap is fixedly connected with between each connecting panel and tail fin.
7. highly emulated Qi Yu mechanism and system under water according to claim 6, is characterized in that: also comprise the first clump weight and the second clump weight; Described first clump weight is positioned at below power supply; Described second clump weight is positioned on the support ring adjacent with end support plate.
8. highly emulated Qi Yu mechanism and system under water according to claim 7, it is characterized in that: also comprise antenna, built-in antenna is in control box upper end.
9., according to arbitrary highly emulated Qi Yu mechanism and the system under water described in claim 1 to 8, it is characterized in that: also comprise charging inlet, charging inlet is positioned at control box front end.
10. highly emulated Qi Yu mechanism and system under water according to claim 9, is characterized in that: described fish-skin is endothelium, also comprises crust; Described crust is wrapped in outside endothelium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510448022.9A CN105059511B (en) | 2015-07-28 | 2015-07-28 | A kind of underwater highly emulated device fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510448022.9A CN105059511B (en) | 2015-07-28 | 2015-07-28 | A kind of underwater highly emulated device fish |
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| Publication Number | Publication Date |
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| CN105059511A true CN105059511A (en) | 2015-11-18 |
| CN105059511B CN105059511B (en) | 2018-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510448022.9A Expired - Fee Related CN105059511B (en) | 2015-07-28 | 2015-07-28 | A kind of underwater highly emulated device fish |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106081034A (en) * | 2016-06-28 | 2016-11-09 | 河北工业大学 | A kind of bionic machine fish afterbody actuating device |
| CN106240776A (en) * | 2016-08-24 | 2016-12-21 | 合肥凌翔信息科技有限公司 | Take pictures and use Biomimetic Fish in a kind of bottom |
| CN107792322A (en) * | 2017-10-24 | 2018-03-13 | 深圳乐智机器人有限公司 | Magnetic coupling bionic coatings device and underwater robot |
| CN110626482A (en) * | 2019-09-29 | 2019-12-31 | 河南大学 | Two-degree-of-freedom flexible bionic fish driving device and driving method |
| CN116754313A (en) * | 2023-06-16 | 2023-09-15 | 西藏瑞创环保科技有限公司 | Water quality detection device for multi-azimuth sampling of water source |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100423987C (en) * | 2005-09-26 | 2008-10-08 | 中国科学院自动化研究所 | Bionic robot fish |
| JP4255477B2 (en) * | 2006-02-07 | 2009-04-15 | Ｍｈｉソリューションテクノロジーズ株式会社 | Fish robot |
| CN102267552A (en) * | 2011-07-11 | 2011-12-07 | 卢小平 | Drive and control method for bionic fish and bionic fish |
| CN103879535B (en) * | 2014-03-12 | 2016-04-06 | 浙江大学 | There is the machine fish of independent chain tail support and the method that snorkels thereof |
| CN203996849U (en) * | 2014-08-11 | 2014-12-10 | 金陵科技学院 | A kind of underwater camera Biomimetic Fish |
| CN204937443U (en) * | 2015-07-28 | 2016-01-06 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | One is highly emulated Qi Yu mechanism and system under water |
-
2015
- 2015-07-28 CN CN201510448022.9A patent/CN105059511B/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081034A (en) * | 2016-06-28 | 2016-11-09 | 河北工业大学 | A kind of bionic machine fish afterbody actuating device |
| CN106240776A (en) * | 2016-08-24 | 2016-12-21 | 合肥凌翔信息科技有限公司 | Take pictures and use Biomimetic Fish in a kind of bottom |
| CN106240776B (en) * | 2016-08-24 | 2018-03-06 | 合肥凌翔信息科技有限公司 | A kind of bottom, which is taken pictures, uses Biomimetic Fish |
| CN107792322A (en) * | 2017-10-24 | 2018-03-13 | 深圳乐智机器人有限公司 | Magnetic coupling bionic coatings device and underwater robot |
| CN110626482A (en) * | 2019-09-29 | 2019-12-31 | 河南大学 | Two-degree-of-freedom flexible bionic fish driving device and driving method |
| CN110626482B (en) * | 2019-09-29 | 2021-03-16 | 河南大学 | Two-degree-of-freedom flexible bionic fish driving device and driving method |
| CN116754313A (en) * | 2023-06-16 | 2023-09-15 | 西藏瑞创环保科技有限公司 | Water quality detection device for multi-azimuth sampling of water source |
| CN116754313B (en) * | 2023-06-16 | 2024-01-02 | 西藏瑞创环保科技有限公司 | Water quality detection device for multi-azimuth sampling of water source |
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|---|---|
| CN105059511B (en) | 2018-02-23 |
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Inventor after: Wang Yu Inventor after: Wang Shuo Inventor after: Zhou Chao Inventor after: Tan Min Inventor before: Wang Shuo Inventor before: Zhou Chao Inventor before: Tan Min |
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Effective date of registration: 20171226 Address after: Luoyang District of Jianxi Dragon Yu Lu National University Science and Technology Park in Henan province Luoyang city 471000 Building No. 1 Room 201 Applicant after: INNOVATION INSTITUTE FOR ROBOT AND INTELLIGENT EQUIPMENT (LUOYANG), CASIA Applicant after: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Address before: Luoyang District of Jianxi Dragon Yu Lu National University Science and Technology Park in Henan province Luoyang city 471000 Building No. 1 Room 201 Applicant before: INNOVATION INSTITUTE FOR ROBOT AND INTELLIGENT EQUIPMENT (LUOYANG), CASIA |
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Effective date of registration: 20180726 Address after: 471000 Room 204, block B, building 3, National Science and Technology Park, Jianxi District, Luoyang, Henan, China Patentee after: ZHONGKE BUSIDE (LUOYANG) INTELLIGENT CONTROL TECHNOLOGY CO.,LTD. Address before: 471000 Room 201, building 1, science and Technology Park, Luoyang National University, Longyu Road, Jianxi District, Luoyang, Henan Co-patentee before: Institute of Automation, Chinese Academy of Sciences Patentee before: INNOVATION INSTITUTE FOR ROBOT AND INTELLIGENT EQUIPMENT (LUOYANG), CASIA |
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