CN106218842B - A kind of Biomimetic Fish for detecting river composition - Google Patents
A kind of Biomimetic Fish for detecting river composition Download PDFInfo
- Publication number
- CN106218842B CN106218842B CN201610718523.9A CN201610718523A CN106218842B CN 106218842 B CN106218842 B CN 106218842B CN 201610718523 A CN201610718523 A CN 201610718523A CN 106218842 B CN106218842 B CN 106218842B
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- Prior art keywords
- biomimetic fish
- fish
- connecting rod
- biomimetic
- river
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
- G01N33/1886—Water using probes, e.g. submersible probes, buoys
Abstract
The present invention relates to a kind of Biomimetic Fish, more particularly to a kind of Biomimetic Fish for detecting river composition.The technical problem to be solved in the present invention is to provide a kind of composition for detecting river, the Biomimetic Fish of practical, multi-functional detection river composition.In order to solve the above-mentioned technical problem, the invention provides the Biomimetic Fish of such a detection river composition, include water quality testing meter, rack, gear, the first oscillating rod, first connecting rod, fin, motor, roller, contact roller, second connecting rod, disk, head rod, the second oscillating rod, the first pole, sliding sleeve, elevating lever, the second connecting rod, the first water pipe, water pump, the second water pipe, casing, fish tail, bearing block, Biomimetic Fish and rotating shaft；Rear wall in Biomimetic Fish is connected with motor.Invention achieves the composition of detection river, practical, multi-functional effect, bionical fishing gear sight and it can probe into whether river is contaminated according to result of detection.
Description
Technical field
The present invention relates to a kind of Biomimetic Fish, more particularly to a kind of Biomimetic Fish for detecting river composition.
Background technology
River is the water in river.River contains the dissolved matters such as carbonate, sulfate and calcium, and different from seawater, seawater is main
Contain chloride and sodium.
Water quality testing meter, for analyzing the professional instrument of water-quality constituents content, measure BOD, COD in water, ammonia nitrogen, total phosphorus,
The instrument of the projects such as total nitrogen, turbidity, PH, dissolved oxygen.In order to protect water environment, it is necessary to strengthen the monitoring to sewage discharge, drink
Water deteriorating water quality, very big to human health risk, water quality testing meter rises in environmental protection, the detection of water quality and fwaater resources protection
Important effect is arrived.
Existing Biomimetic Fish presence can not detect the shortcomings that composition of river, practicality be not strong, function is single, therefore need badly
Research and develop a kind of composition that can detect river, the Biomimetic Fish of practical, multi-functional detection river composition.
The content of the invention
(1) technical problems to be solved
In order to overcome existing Biomimetic Fish to detect, the composition of river, practicality be not strong, function is single lacks the present invention
Point, the technical problem to be solved in the present invention is to provide it is a kind of detect river composition, it is practical, it is multi-functional detection river into
The Biomimetic Fish divided.
(2) technical scheme
In order to solve the above-mentioned technical problem, the invention provides the Biomimetic Fish of such a detection river composition, include
Water quality testing meter, rack, gear, the first oscillating rod, first connecting rod, fin, motor, roller, contact roller, second connecting rod, circle
Disk, head rod, the second oscillating rod, the first pole, sliding sleeve, elevating lever, the second connecting rod, the first water pipe, water pump, the second water
Pipe, casing, fish tail, bearing block, Biomimetic Fish and rotating shaft；Rear wall in Biomimetic Fish is connected with motor, and the right-hand member of motor is connected with rolling
Tin, curved slot is provided with roller, contact roller is provided with curved slot, contact roller coordinates with curved slot, contact roller
On be connected with the second connecting rod, be connected with elevating lever on front side of the second connecting rod, the bottom in Biomimetic Fish is provided with sliding sleeve, and sliding sleeve
Positioned at the front of roller, elevating lever passes through sliding sleeve, and the front and back of elevating lever left end is symmetrically connected with rack, in Biomimetic Fish
The antetheca and rear wall symmetrical expression of left are connected with gear, and wheel and rack engages, and the first oscillating rod, the first pendulum are connected with gear
The left end of lever is hingedly connected with first connecting rod, and first connecting rod passes through Biomimetic Fish, is connected with fin on first connecting rod, in Biomimetic Fish
Bottom be provided with bearing block, rotating shaft is connected with bearing block, rotating shaft is provided with disk, and the top bias of disk is hingedly connected with
Two connecting rods and head rod, and second connecting rod is located at the left of head rod, the left end of second connecting rod is connected with elevating lever
Connect, the right-hand member of head rod is hingedly connected with the second oscillating rod, and the second oscillating rod passes through Biomimetic Fish, the right-hand member of the second oscillating rod
It is connected with fish tail, the antetheca in Biomimetic Fish is connected with the first pole, and the first pole is articulated and connected with the second oscillating rod, in Biomimetic Fish
Antetheca be provided with casing, the rear side of casing is provided with water pump, is connected with the second water pipe on the right side of water pump, after the second water pipe and casing
Wall is connected, and the first water pipe is connected with the left of water pump, and the first water pipe is connected with the antetheca of Biomimetic Fish, the high order end of Biomimetic Fish
Provided with water quality testing meter.
Preferably, controller and range sensor are also included, the front side of Biomimetic Fish is provided with range sensor, in Biomimetic Fish
Front side wall be provided with controller, range sensor, motor and water pump are respectively connected with controller.
Preferably, filter screen is also included, the front side of the first water pipe is provided with filter screen.
Preferably, motor is servomotor.
Preferably, the material of Biomimetic Fish is stainless steel.
Preferably, fin is shaped as half arc.
Preferably, the ratio of casing and Biomimetic Fish is 1：8.
Operation principle：When needing to detect river composition, Biomimetic Fish is placed in river by researcher, manually
Startup motor is constantly clockwise and inverts, and drives roller constantly clockwise and inverts, makes contact roller constantly to right and left
It is mobile so that elevating lever is constantly moved left and right, and band carry-over bar constantly to the right and is moved to the left, and makes gear constantly clockwise
Rotate and rotate counterclockwise, make the first oscillating rod swing, drive fin to swing；Driven and justified by second connecting rod simultaneously
Disk constantly rotates clockwise and anticlockwise, moves left and right head rod, drives the second oscillating rod swing, so as to band
Dynamic fish tail swing, Biomimetic Fish move about in river.Composition in water quality testing meter detection river, passes data to research
Personnel, researcher compare the difference of the composition of bank and middle reaches river with mutually existing together.When needing to detect different depth to river
Whether the composition of water has an impact, and starts water pump and is pumped into river, river is drawn into case by water pump by the first water pipe and the second water pipe
In vivo, the gravity of Biomimetic Fish increases at leisure, when the gravity of Biomimetic Fish is more than its buoyancy in river, Biomimetic Fish at leisure under
Drop, when Biomimetic Fish moves to certain height, records the result of water quality testing meter.When Biomimetic Fish will emerge, open
Dynamic water pump extracts river out, and water pump is extracted out the river in casing by the first water pipe and the second water pipe, and the gravity of Biomimetic Fish is slowly
Ground reduces, and after the river in casing all suctions out, water pump is stopped.Biomimetic Fish emerges again, when Biomimetic Fish pulls in shore
Afterwards, Biomimetic Fish is picked up.Then after fish tail resets, motor is stopped.
Because also including controller and range sensor, the front side of Biomimetic Fish is provided with range sensor, in Biomimetic Fish
Front side wall is provided with controller, and range sensor, motor and water pump are respectively connected with controller, thus when need to river into
When point being detected, Biomimetic Fish is placed in river by researcher, and controller controlled motor is constantly clockwise and reversion, drives
Roller is constantly clockwise and reversion, contact roller constantly to the right and is moved to the left so that and elevating lever constantly moves left and right,
Band carry-over bar constantly to the right and is moved to the left, and gear is constantly rotated clockwise and is rotated counterclockwise, is made the first oscillating rod
Swing, fin is driven to swing；Drive disk constantly to rotate clockwise and anticlockwise by second connecting rod simultaneously, make
Head rod moves left and right, and drives the second oscillating rod swing, so as to drive fish tail swing, Biomimetic Fish is in river
It is travelling.Composition in water quality testing meter detection river, passes data to researcher, researcher compares bank and middle reaches river
The difference of the composition of water is with mutually existing together.When needing to detect whether different depth has an impact to the composition of river, controller controls
Water pump is pumped into river, and river is drawn into casing by water pump by the first water pipe and the second water pipe, and the gravity of Biomimetic Fish is at leisure
Increase, when the gravity of Biomimetic Fish is more than its buoyancy in river, Biomimetic Fish declines at leisure, when Biomimetic Fish move to it is certain
During height, the result of water quality testing meter is recorded.When range sensor detects lower section and the barrier of Biomimetic Fish, controller
Water pump is controlled to extract the river in casing out, when the gravity of Biomimetic Fish is identical with buoyancy, controller control water pump is stopped,
Biomimetic Fish no longer declines, and prevents Biomimetic Fish from breaking.When Biomimetic Fish will emerge, controller control water pump extracts river, water out
Pump is extracted out the river in casing by the first water pipe and the second water pipe, and the gravity of Biomimetic Fish reduces at leisure, when in casing
After river all suctions out, controller control water pump is stopped.Biomimetic Fish emerges again, will be imitative after Biomimetic Fish pulls in shore
Raw fish is picked up.Then after fish tail resets, controller controlled motor is stopped.
Because also including filter screen, the front side of the first water pipe is provided with filter screen, so preventing from weeds and stone etc. being drawn into
In first water pipe, and block the first water pipe.
Because motor is servomotor, it is possible to accurately adjusts rotating speed.
Because the material of Biomimetic Fish is stainless steel, Biomimetic Fish is not perishable, service life length.
Controller selection Xiamen sea is S24S0T type PLCs for the sea that Science and Technology Ltd. produces, outside main frame
24VDC powers, the input of 16 tunnels, the output of 8 tunnels.The definition of input/output port is：X0 is starts, and for X1 to stop, X2 is that distance passes
Sensor；Y0 is motor, and Y1 is water pump.Electric control theory figure according to Fig. 4, those skilled in the art need not create
The work for the property made, controller can be achieved by programming and control each part to be acted by above-mentioned operation principle, the correlation of programming
Instruction is all prior art, be will not be repeated here.
(3) beneficial effect
Invention achieves the composition of detection river, practical, multi-functional effect, bionical fishing gear sight and can be with
Probe into whether river is contaminated according to result of detection.
Brief description of the drawings
Fig. 1 is the overlooking the structure diagram of the first of the invention.
Fig. 2 is overlooking the structure diagram of the invention second.
Fig. 3 is the third overlooking the structure diagram of the invention.
Fig. 4 is the electric control theory figure of the present invention.
Mark in accompanying drawing for：1- water quality testing meters, 2- racks, 3- gears, the oscillating rods of 4- first, 5- first connecting rods, 6-
Fin, 7- motors, 8- rollers, 9- curved slots, 10- contact rollers, 11- second connecting rods, 12- disks, 13- head rods,
The oscillating rods of 14- second, the poles of 15- first, 16- sliding sleeves, 17- elevating levers, the connecting rods of 18- second, the water pipes of 19- first, 20- water
Pump, the water pipes of 21- second, 22- casings, 23- fish tails, 24- bearing blocks, 25- Biomimetic Fishs, 26- rotating shafts, 27- controllers, 28- distances
Sensor, 29- filter screens.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
Embodiment 1
A kind of Biomimetic Fish for detecting river composition, as Figure 1-4, include water quality testing meter 1, rack 2, gear 3, the
One oscillating rod 4, first connecting rod 5, fin 6, motor 7, roller 8, contact roller 10, second connecting rod 11, disk 12, head rod
13rd, the second oscillating rod 14, the first pole 15, sliding sleeve 16, elevating lever 17, the second connecting rod 18, the first water pipe 19, water pump 20,
Two water pipes 21, casing 22, fish tail 23, bearing block 24, Biomimetic Fish 25 and rotating shaft 26；Rear wall in Biomimetic Fish 25 is connected with motor 7,
The right-hand member of motor 7 is connected with roller 8, and curved slot 9 is provided with roller 8, and contact roller 10, contact rolling are provided with curved slot 9
Wheel 10 coordinates with curved slot 9, the second connecting rod 18 is connected with contact roller 10, the front side of the second connecting rod 18 is connected with liter
Bar 17 drops, and the bottom in Biomimetic Fish 25 is provided with sliding sleeve 16, and sliding sleeve 16 is located at the front of roller 8, and elevating lever 17 passes through sliding sleeve 16,
The front and back of the left end of elevating lever 17 is symmetrically connected with rack 2, and the antetheca and rear wall symmetrical expression of the left in Biomimetic Fish 25 connect
Gear 3 is connected to, gear 3 is engaged with rack 2, and the first oscillating rod 4 is connected with gear 3, and the left end of the first oscillating rod 4 is articulated and connected
There is first connecting rod 5, first connecting rod 5 passes through Biomimetic Fish 25, is connected with fin 6 on first connecting rod 5, and the bottom in Biomimetic Fish 25 is provided with
Bearing block 24, rotating shaft 26 is connected with bearing block 24, rotating shaft 26 is provided with disk 12, and the top bias of disk 12 is hingedly connected with
Second connecting rod 11 and head rod 13, and second connecting rod 11 is located at the left of head rod 13, the left end of second connecting rod 11
It is connected with elevating lever 17, the right-hand member of head rod 13 is hingedly connected with the second oscillating rod 14, and the second oscillating rod 14 passes through imitative
Raw fish 25, the right-hand member of the second oscillating rod 14 are connected with fish tail 23, and the antetheca in Biomimetic Fish 25 is connected with the first pole 15, first
Bar 15 is articulated and connected with the second oscillating rod 14, and the antetheca in Biomimetic Fish 25 is provided with casing 22, and the rear side of casing 22 is provided with water pump 20,
The right side of water pump 20 is connected with the second water pipe 21, and the second water pipe 21 is connected with the rear wall of casing 22, the left side connection of water pump 20
There is the first water pipe 19, the first water pipe 19 is connected with the antetheca of Biomimetic Fish 25, and the high order end of Biomimetic Fish 25 is provided with water quality testing meter
1。
Also include controller 27 and range sensor 28, the front side of Biomimetic Fish 25 is provided with range sensor 28, Biomimetic Fish
Front side wall in 25 is provided with controller 27, and range sensor 28, motor 7 and water pump 20 are respectively connected with controller 27.
Also include filter screen 29, the front side of the first water pipe 19 is provided with filter screen 29.
Motor 7 is servomotor.
The material of Biomimetic Fish 25 is stainless steel.
Fin 6 is shaped as half arc.
The ratio of casing 22 and Biomimetic Fish 25 is 1：8.
Operation principle：When needing to detect river composition, Biomimetic Fish 25 is placed in river by researcher, hand
It is dynamic to start that motor 7 is constantly clockwise and reversion, drive roller 8 constantly clockwise and reversion, make contact roller 10 constantly to the right
Be moved to the left so that elevating lever 17 is constantly moved left and right, and band carry-over bar 2 constantly to the right and is moved to the left, and makes gear 3 not
Rotate clockwise and rotate counterclockwise disconnectedly, make the swing of the first oscillating rod 4, drive fin 6 to swing；Simultaneously by the
Two connecting rods 11 drive disk 12 constantly to rotate clockwise and anticlockwise, move left and right head rod 13, drive the second pendulum
The swing of lever 14, so as to drive the swing of fish tail 23, Biomimetic Fish 25 moves about in river.Water quality testing meter 1 detects river
Composition in water, passes data to researcher, researcher compare the difference of the composition of bank and middle reaches river with it is identical
Place.When needing to detect whether different depth has an impact to the composition of river, start water pump 20 and be pumped into river, water pump 20 passes through the
River is drawn into casing 22 by one water pipe 19 and the second water pipe 21, and the gravity of Biomimetic Fish 25 increases at leisure, when Biomimetic Fish 25
Gravity be more than its buoyancy in river, Biomimetic Fish 25 declines at leisure, when Biomimetic Fish 25 moves to certain height, note
The result of the lower water quality testing meter 1 of record.When Biomimetic Fish 25 will emerge, start water pump 20 and extract river out, water pump 20 passes through the
One water pipe 19 and the second water pipe 21 extract the river in casing 22 out, and the gravity of Biomimetic Fish 25 reduces at leisure, when in casing 22
River all suction out after, water pump 20 is stopped.Biomimetic Fish 25 emerges again, will be bionical after Biomimetic Fish 25 pulls in shore
Fish 25 is picked up.Then after fish tail 23 resets, motor 7 is stopped.
Because also including controller 27 and range sensor 28, the front side of Biomimetic Fish 25 is provided with range sensor 28, imitates
Front side wall in raw fish 25 is provided with controller 27, and range sensor 28, motor 7 and water pump 20 are respectively connected with controller 27
Connect, so when needing to detect river composition, Biomimetic Fish 25 is placed in river by researcher, and controller 27 controls
Motor 7 is constantly clockwise and inverts, and drives roller 8 constantly clockwise and inverts, makes contact roller 10 constantly to right and left
It is mobile so that elevating lever 17 is constantly moved left and right, and band carry-over bar 2 constantly to the right and is moved to the left, and makes gear 3 constantly suitable
Hour hands are rotated and rotated counterclockwise, and make the swing of the first oscillating rod 4, drive fin 6 to swing；Pass through second connecting rod simultaneously
11 drive disks 12 constantly rotate clockwise and anticlockwise, move left and right head rod 13, drive the second oscillating rod 14
Swing, so as to drive the swing of fish tail 23, Biomimetic Fish 25 moves about in river.Water quality testing meter 1 is detected in river
Composition, passes data to researcher, and researcher compares the difference of the composition of bank and middle reaches river with mutually existing together.When need
Detect whether different depth has an impact to the composition of river, controller 27 controls water pump 20 to be pumped into river, and water pump 20 passes through
River is drawn into casing 22 by the first water pipe 19 and the second water pipe 21, and the gravity of Biomimetic Fish 25 increases at leisure, works as Biomimetic Fish
25 gravity is more than its buoyancy in river, and Biomimetic Fish 25 declines at leisure, when Biomimetic Fish 25 moves to certain height,
Record the result of water quality testing meter 1.When range sensor 28 detects lower section and the barrier of Biomimetic Fish 25, controller 27
Water pump 20 is controlled to extract the river in casing 22 out, when the gravity of Biomimetic Fish 25 is identical with buoyancy, controller 27 controls water pump
20 are stopped, and Biomimetic Fish 25 no longer declines, and prevent Biomimetic Fish 25 from breaking.When Biomimetic Fish 25 will emerge, controller 27
Water pump 20 is controlled to extract river out, water pump 20 is extracted out the river in casing 22 by the first water pipe 19 and the second water pipe 21, bionical
The gravity of fish 25 reduces at leisure, and after the river in casing 22 all suctions out, controller 27 controls water pump 20 to be stopped.It is imitative
Raw fish 25 is emerged again, and after Biomimetic Fish 25 pulls in shore, Biomimetic Fish 25 is picked up.Then after fish tail 23 resets, controller
27 controlled motors 7 are stopped.
Because also including filter screen 29, the front side of the first water pipe 19 is provided with filter screen 29, so preventing weeds and stone etc.
It is drawn into the first water pipe 19, and blocks the first water pipe 19.
Because motor 7 is servomotor, it is possible to accurately adjusts rotating speed.
Because the material of Biomimetic Fish 25 is stainless steel, Biomimetic Fish 25 is not perishable, service life length.Controller 27 selects
It is S24S0T types PLC 27 to select the sea that Xiamen sea is Science and Technology Ltd.'s production, and main frame outside 24VDC powers, and 16 roads are defeated
Enter, the output of 8 tunnels.The definition of input/output port is：X0 is starts, and for X1 to stop, X2 is range sensor 28；Y0 is motor 7,
Y1 is water pump 20.Electric control theory figure according to Fig. 4, those skilled in the art do not need performing creative labour,
Controller 27 can be achieved by programming controls each part to be acted by above-mentioned operation principle, and the dependent instruction of programming is all existing
There is technology, will not be repeated here.
Embodiment described above only expresses the preferred embodiment of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations can also be made, improves and substitutes, these belong to this hair
Bright protection domain.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (7)
1. a kind of Biomimetic Fish for detecting river composition, includes water quality testing meter (1), fin (6), motor (7), fish tail (23),
Characterized in that, also include rack (2), gear (3), the first oscillating rod (4), first connecting rod (5), roller (8), contact roller
(10), second connecting rod (11), disk (12), head rod (13), the second oscillating rod (14), the first pole (15), sliding sleeve
(16), elevating lever (17), the second connecting rod (18), the first water pipe (19), water pump (20), the second water pipe (21), casing (22), axle
Bearing (24), Biomimetic Fish (25) and rotating shaft (26)；Rear wall in Biomimetic Fish (25) is connected with motor (7), and the right-hand member of motor (7) connects
Roller (8) is connected to, curved slot (9) is provided with roller (8), contact roller (10), contact roller are provided with curved slot (9)
(10) coordinate with curved slot (9), the second connecting rod (18), the front side of the second connecting rod (18) are connected with contact roller (10)
It is connected with elevating lever (17), the bottom in Biomimetic Fish (25) is provided with sliding sleeve (16), and sliding sleeve (16) is located at the front of roller (8),
Elevating lever (17) passes through sliding sleeve (16), and the front and back of elevating lever (17) left end is symmetrically connected with rack (2), Biomimetic Fish (25)
The antetheca and rear wall symmetrical expression of interior left are connected with gear (3), and gear (3) is engaged with rack (2), and gear is connected with (3)
First oscillating rod (4), the left end of the first oscillating rod (4) are hingedly connected with first connecting rod (5), and first connecting rod (5) passes through Biomimetic Fish
(25), it is connected with fin (6) on first connecting rod (5), the bottom in Biomimetic Fish (25) is provided with bearing block (24), on bearing block (24)
Rotating shaft (26) is connected with, rotating shaft (26) is provided with disk (12), and the top bias of disk (12) is hingedly connected with second connecting rod
(11) and head rod (13), and second connecting rod (11) is located at the left of head rod (13), a left side for second connecting rod (11)
End is connected with elevating lever (17), and the right-hand member of head rod (13) is hingedly connected with the second oscillating rod (14), the second oscillating rod
(14) Biomimetic Fish (25) is passed through, the right-hand member of the second oscillating rod (14) is connected with fish tail (23), the antetheca connection in Biomimetic Fish (25)
There is the first pole (15), the first pole (15) is articulated and connected with the second oscillating rod (14), and the antetheca in Biomimetic Fish (25) is provided with case
Body (22), the rear side of casing (22) are provided with water pump (20), the second water pipe (21), the second water pipe are connected with the right side of water pump (20)
(21) rear wall with casing (22) is connected, and the first water pipe (19) is connected with the left of water pump (20), the first water pipe (19) is with imitating
The antetheca of raw fish (25) is connected, and the high order end of Biomimetic Fish (25) is provided with water quality testing meter (1).
2. a kind of Biomimetic Fish for detecting river composition according to claim 1, it is characterised in that also include controller
(27) and range sensor (28), the front side of Biomimetic Fish (25) is provided with range sensor (28), the front side wall in Biomimetic Fish (25)
Provided with controller (27), range sensor (28), motor (7) and water pump (20) are respectively connected with controller (27).
3. a kind of Biomimetic Fish for detecting river composition according to claim 1, it is characterised in that also include filter screen
(29), the front side of the first water pipe (19) is provided with filter screen (29).
4. a kind of Biomimetic Fish for detecting river composition according to claim 1, it is characterised in that motor (7) is servo electricity
Machine.
A kind of 5. Biomimetic Fish for detecting river composition according to claim 1, it is characterised in that the material of Biomimetic Fish (25)
For stainless steel.
6. a kind of Biomimetic Fish for detecting river composition according to claim 1, it is characterised in that fin (6) are shaped as
Half arc.
7. a kind of Biomimetic Fish for detecting river composition according to claim 1, it is characterised in that casing (22) and Biomimetic Fish
(25) ratio is 1：8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610718523.9A CN106218842B (en) | 2016-08-24 | 2016-08-24 | A kind of Biomimetic Fish for detecting river composition |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610718523.9A CN106218842B (en) | 2016-08-24 | 2016-08-24 | A kind of Biomimetic Fish for detecting river composition |
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| Publication Number | Publication Date |
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| CN106218842A CN106218842A (en) | 2016-12-14 |
| CN106218842B true CN106218842B (en) | 2018-03-06 |
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| CN106855531B (en) * | 2017-01-23 | 2019-04-26 | 杭州绿宇中科检测技术有限公司 | A kind of intelligent PH detector based on Internet of Things |
| CN108169444A (en) * | 2017-12-25 | 2018-06-15 | 湖北华昱天辰环保节能科技股份有限公司 | A kind of machine fish for environmental monitoring |
| CN108116643B (en) * | 2018-01-23 | 2019-06-07 | 焦作大学 | A kind of novel automatic water body detection device |
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| CN110539867B (en) * | 2019-09-17 | 2021-04-30 | 吕梁学院 | Simulated water quality detection robotic dolphin |
| CN112249286B (en) * | 2020-10-27 | 2022-03-01 | 吕梁学院 | Bionic robot fish with multiple driving systems |
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| CN1903657A (en) * | 2006-07-28 | 2007-01-31 | 哈尔滨工业大学 | Shape memory alloy string driven pectoral wave pushing bionic underwater robot |
| CN101318546A (en) * | 2008-05-20 | 2008-12-10 | 北京航空航天大学 | Double-cam single-degree-of-freedom machine fish flapping mechanism |
| CN102632984A (en) * | 2012-04-20 | 2012-08-15 | 合肥凌翔信息科技有限公司 | Multifunctional biomimetic robotic fish |
| CN103895842A (en) * | 2014-04-01 | 2014-07-02 | 上海海洋大学 | Robotic fish capable of carrying water quality detection sensor |
| CN105775082A (en) * | 2016-03-04 | 2016-07-20 | 中国科学院自动化研究所 | Bionic robotic dolphin for water quality monitoring |
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| KR101284430B1 (en) * | 2011-05-16 | 2013-07-09 | 울산대학교 산학협력단 | Robot fish and Artificial aquarium thereof |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1903657A (en) * | 2006-07-28 | 2007-01-31 | 哈尔滨工业大学 | Shape memory alloy string driven pectoral wave pushing bionic underwater robot |
| CN101318546A (en) * | 2008-05-20 | 2008-12-10 | 北京航空航天大学 | Double-cam single-degree-of-freedom machine fish flapping mechanism |
| CN102632984A (en) * | 2012-04-20 | 2012-08-15 | 合肥凌翔信息科技有限公司 | Multifunctional biomimetic robotic fish |
| CN103895842A (en) * | 2014-04-01 | 2014-07-02 | 上海海洋大学 | Robotic fish capable of carrying water quality detection sensor |
| CN105775082A (en) * | 2016-03-04 | 2016-07-20 | 中国科学院自动化研究所 | Bionic robotic dolphin for water quality monitoring |
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