CN106275337B - A kind of Biomimetic Fish for carrying out habitata - Google Patents
A kind of Biomimetic Fish for carrying out habitata Download PDFInfo
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- CN106275337B CN106275337B CN201610718716.4A CN201610718716A CN106275337B CN 106275337 B CN106275337 B CN 106275337B CN 201610718716 A CN201610718716 A CN 201610718716A CN 106275337 B CN106275337 B CN 106275337B
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- biomimetic fish
- oscillating rod
- flexible member
- fish
- rod
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The present invention relates to a kind of Biomimetic Fish, more particularly to a kind of Biomimetic Fish for carrying out habitata.It can be used for habitata, practical, the multi-functional Biomimetic Fish for carrying out habitata the technical problem to be solved in the present invention is to provide a kind of.In order to solve the above-mentioned technical problem, the invention provides such a Biomimetic Fish for carrying out habitata, includes Biomimetic Fish, first rotating shaft, the first flexible member, disk, the first oscillating rod, video camera, fixture block, bearing block, head rod, the second connecting rod, the first sliding block, the first slide rail, the first fixed pulley, the second fixed pulley, contact roller, curved rod, the second sliding block, the second slide rail and first water pipe etc.；The front side of Biomimetic Fish inner bottom part and rear side are arranged with bearing block, and bearing block is provided with first rotating shaft, and first rotating shaft is provided with disk, the first oscillating rod is eccentrically provided with the top of disk.Invention achieves available for habitata, practical, multi-functional effect.
Description
Technical field
The present invention relates to a kind of Biomimetic Fish, more particularly to a kind of Biomimetic Fish for carrying out habitata.
Background technology
Seabed refers to below the deep water of ocean, the contact surface on seawater and land.About 362000000 square kilometres of ocean area,
The 71% of near-earth ball surface product.Water containing more than ten three hundred million five thousand ten thousand cubes of kms in ocean, accounts for total Water on the earth
97%.Global ocean is generally divided into several ocean and the less sea of area.
Digital exploration something is detected to determine that object, radiation, chemical compound, signal etc. whether there is.Seabed exists assorted
The biology of various kinds, there is substantial amounts of resource to wait for us and explore and utilize.
Existing Biomimetic Fish, which exists, is difficult to use in the shortcomings that habitata, practicality be not strong, function is single, therefore needs badly and grind
Send out a kind of and can be used for habitata, practical, the multi-functional Biomimetic Fish for carrying out habitata.
The content of the invention
(1) technical problems to be solved
The present invention in order to overcome existing Biomimetic Fish to be difficult to use in the shortcomings that habitata, practicality be not strong, function is single,
It can be used for habitata the technical problem to be solved in the present invention is to provide one kind, practical, multi-functional carry out seabed spy
The Biomimetic Fish of survey.
(2) technical scheme
In order to solve the above-mentioned technical problem, the invention provides such a Biomimetic Fish for carrying out habitata, including
Have Biomimetic Fish, first rotating shaft, the first flexible member, disk, the first oscillating rod, video camera, fixture block, bearing block, head rod,
Second connecting rod, the first sliding block, the first slide rail, the first fixed pulley, the second fixed pulley, contact roller, curved rod, the second sliding block,
Second slide rail, the first water pipe, the first pole, the second oscillating rod, casing, water pump, the second water pipe, the second pole, constant diameter cam, electricity
Machine, the second rotating shaft, the second flexible member and the first bracing wire；The front side of Biomimetic Fish inner bottom part and rear side are arranged with bearing block, axle
Bearing is provided with first rotating shaft, and first rotating shaft is provided with disk, the first oscillating rod, the top of disk are eccentrically provided with the top of disk
Provided with fixture block, a word hole is provided with the first oscillating rod, fixture block is located in a word hole, and fixture block and a word hole coordinate, and the first of front
The first swing rod rear end at oscillating rod front end and rear is respectively connected with video camera, the antetheca in Biomimetic Fish be connected with the second slide rail and
Casing, the right side of casing are provided with water pump, and the first water pipe, the right wall connection of the first water pipe and casing, water are connected with rear side of water pump
The second water pipe is connected with front side of pump, the second water pipe is connected with the antetheca of Biomimetic Fish, and the second slide rail is located at the left of casing,
Second slide rail is provided with the second sliding block, and head rod, the left side connection of the second slide rail are hingedly connected with the top of the second sliding block
There is the first slide rail, the first slide rail is provided with the first sliding block, and the left end of head rod is articulated and connected with the first sliding block, the first sliding block
Left side front side and rear side be equipped with the first flexible member, the first flexible member left end is connected with Biomimetic Fish front end, first slide
The front and rear side of block is symmetrically hingedly connected with the second connecting rod, and the second connecting rod is articulated and connected with disk, and the rear wall in Biomimetic Fish connects
The first fixed pulley and the second fixed pulley are connected to, and the first fixed pulley is located at the left of the second fixed pulley, the right side of Biomimetic Fish inner bottom part
Side is provided with the second pole, and motor and the second rotating shaft are connected with the top of the second pole, and motor is located at the left of the second rotating shaft, electricity
The top of machine is connected with constant diameter cam, and the second rotating shaft is provided with curved rod, and the rear and front end of curved rod is equipped with contact roller, after
The first bracing wire is connected with the contact roller of side, and the first bracing wire bypass the second fixed pulley and the first fixed pulley, the first bracing wire and the
Two sliding blocks are connected, and the low order end of Biomimetic Fish is provided with the first pole, and the first pole crown center is hingedly connected with the second oscillating rod,
On the outside of the left end of second oscillating rod the second flexible member is connected between the inwall of Biomimetic Fish.
Preferably, the second bracing wire, Electric Motor Wheel and the 3rd flexible member are also included, the front and rear side of Biomimetic Fish is symmetrically connected with
Electric Motor Wheel, be wound with the second bracing wire in Electric Motor Wheel, the left end of the second bracing wire is connected with the first oscillating rod, the first oscillating rod with it is bionical
The 3rd flexible member is provided between fish.
Preferably, also include controller and range sensor, range sensor, Biomimetic Fish are provided with the fish mouth of Biomimetic Fish
Controller is provided with the right side of interior antetheca, motor, Electric Motor Wheel, video camera, water pump and range sensor are respectively connected with controller
Connect.
Preferably, transparent shield is also included, the periphery of video camera is provided with transparent shield.
Preferably, the first flexible member, the second flexible member and the 3rd flexible member are spring.
Preferably, motor is servomotor.
Preferably, the first oscillating rod and the second oscillating rod material are stainless steel.
Operation principle：When needing to use Biomimetic Fish to detect sea floor world, start camera operation, in the sea
The world is shot, and is then started motor and is rotated, drives constant diameter cam to rotate, curved rod is swung, and drives second to swing
Bar swing, by contact roller, the first bracing wire is in stretching or relaxed state, when the first bracing wire is in extended state,
Drive the second sliding block to move up, drive the first sliding block to move right by head rod, drive the second connecting rod to transport to the right
It is dynamic, it is disc-rotated, drive the first oscillating rod to swing to the left；When the first bracing wire is in relaxed state, in the first flexible member
Elastic force effect under, drive the first sliding block to be moved to the left, drive the second connecting rod to left movement so that disk rotational, drive the
One oscillating rod is swung to the right, so motor rotates, passes through the motion of the first oscillating rod and the second oscillating rod so that Biomimetic Fish is in sea
In move about, video camera to shooting in the sea.When needing further to shoot to seabed depths, start water pump and be pumped into seawater, water
Water in the sea is drawn into casing by pump by the second water pipe and the first water pipe, and the gravity of Biomimetic Fish increases at leisure, when bionical
When the gravity of fish is more than buoyancy, Biomimetic Fish declines.Video camera is further shot to the biology in seabed, so as to the life to seabed
Thing is detected.After detection terminates, start water pump and extract seawater out, water pump is by the first water pipe and the second water pipe by casing
Seawater is extracted out, and after the seawater in casing is completely drawn out, water pump is stopped.Biomimetic Fish emerges, when Biomimetic Fish has arrived bank
Side, Biomimetic Fish is picked up, after constant diameter cam resets, motor is stopped.
Because also including the second bracing wire, Electric Motor Wheel and the 3rd flexible member, the front and rear side of Biomimetic Fish is symmetrically connected with electricity
Driving wheel, the second bracing wire is wound with Electric Motor Wheel, the left end of the second bracing wire is connected with the first oscillating rod, the first oscillating rod and Biomimetic Fish
Between be provided with the 3rd flexible member, so when needing rearward to turn, start that the Electric Motor Wheel at rear is clockwise, the Electric Motor Wheel at rear
Second bracing wire is withdrawn, the first oscillating rod is held in the second bracing wire, and the first oscillating rod swings and is obstructed, and the oscillating rod in front continues a left side
Right swing, at leisure Biomimetic Fish rearward rotate, when Biomimetic Fish institute gyration is suitable, start rear Electric Motor Wheel reversion, rear
Electric Motor Wheel the second bracing wire is released, in the presence of the 3rd flexible member, the first oscillating rod can be swung, when the first oscillating rod
Swing when not constrained by the second bracing wire, Electric Motor Wheel is stopped, and Biomimetic Fish is rearward turned；Biomimetic Fish similarly can be achieved
Turn forwards.
Because also including controller and range sensor, range sensor is provided with the fish mouth of Biomimetic Fish, in Biomimetic Fish
Antetheca on the right side of be provided with controller, electrically-controlled valve, water pump and range sensor are connected with controller, thus ought need to use it is imitative
When raw fish detects to sea floor world, controller control camera operation, the world in the sea is shot, then controller
Controlled motor rotates, and drives constant diameter cam to rotate, curved rod is swung, and the second oscillating rod swing is driven, by connecing
Roller is touched, the first bracing wire is in stretching or relaxed state, and when the first bracing wire be in extended state, the second sliding block of drive is to moving up
It is dynamic, drive the first sliding block to move right by head rod, drive the second connecting rod to move right, disc-rotated, band
Dynamic first oscillating rod is swung to the left；When the first bracing wire is in relaxed state, under the elastic force effect of the first flexible member, the is driven
One sliding block is moved to the left, and drives the second connecting rod to left movement so that disk rotational, drive the first oscillating rod to swing to the right, institute
Rotated with controller controlled motor, pass through the motion of the first oscillating rod and the second oscillating rod so that Biomimetic Fish moves about in the sea, takes the photograph
Camera to shooting in the sea.When needing further to shoot to seabed depths, controller control water pump is pumped into seawater, and water pump leads to
Cross the second water pipe and water in the sea is drawn into casing by the first water pipe, the gravity of Biomimetic Fish increases at leisure, when Biomimetic Fish
When gravity is more than buoyancy, Biomimetic Fish declines.Video camera is further shot to the biology in seabed, so as to enter to the biology in seabed
Row detection.After detection terminates, controller control water pump extracts seawater out, and water pump is by the first water pipe and the second water pipe by casing
Seawater extract out, after the seawater in casing is completely drawn out, controller control water pump be stopped.Biomimetic Fish emerges, when
Biomimetic Fish has arrived bank, and Biomimetic Fish is picked up, and after constant diameter cam resets, controller controlled motor is stopped.And work as Biomimetic Fish
During travelling, when the barrier in front and the distance of Biomimetic Fish reach the preset value of range sensor, feed back signal to
Controller, the Electric Motor Wheel at controller control rear is clockwise, and the Electric Motor Wheel at rear withdraws the second bracing wire, and the second bracing wire holds first
Oscillating rod, the first oscillating rod swings and is obstructed, and the oscillating rod in front continues to swing, and Biomimetic Fish rearward rotates at leisure,
When Biomimetic Fish institute gyration is suitable, start the Electric Motor Wheel reversion at rear, the Electric Motor Wheel at rear releases the second bracing wire, in the 3rd bullet
In the presence of property element, the first oscillating rod can be swung, electronic when the swing of the first oscillating rod is not constrained by the second bracing wire
Wheel is stopped, and Biomimetic Fish is rearward turned；Biomimetic Fish similarly can be achieved to turn forwards.
Because also including transparent shield, the periphery of video camera is provided with transparent shield, so transparent shield can be with
Video camera is prevented to be damaged.
Because the first flexible member, the second flexible member and the 3rd flexible member are spring, the first flexible member,
Second flexible member and the 3rd flexible member are unlikely to deform, service life length.
Because motor is servomotor, it is possible to accurately adjusts rotating speed, makes operation more steady.
Because the first oscillating rod and the second oscillating rod material are stainless steel, the first oscillating rod and the second oscillating rod are not
Get rusty, long lifespan.
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 Electric Motor Wheel, and Y2 is video camera, and Y3 is water pump.Electric control theory figure according to Fig. 5, it is affiliated
The technical staff in field does not need performing creative labour, and controller can be achieved by programming and control each part former by above-mentioned work
Reason is acted, and the dependent instruction of programming is all prior art, be will not be repeated here.
(3) beneficial effect
Invention achieves available for habitata, practical, multi-functional effect.
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 overlooking the structure diagram of the 4th kind of the present invention.
Fig. 5 is the electric control theory figure of the present invention.
Mark in accompanying drawing for：1- Biomimetic Fishs, the word holes of 2- mono-, 3- first rotating shafts, the flexible members of 4- first, 5- disks, 6-
First oscillating rod, 7- video cameras, 8- fixture blocks, 9- bearing blocks, 10- head rods, the connecting rods of 11- second, the sliding blocks of 12- first,
The slide rails of 13- first, the fixed pulleys of 14- first, the fixed pulleys of 15- second, 16- contact rollers, 17- curved rods, the sliding blocks of 18- second, 19-
Second slide rail, the water pipes of 20- first, the poles of 21- first, the oscillating rods of 22- second, 23- casings, 24- water pumps, the water pipes of 25- second,
The poles of 26- second, 27- constant diameter cams, 28- motors, the rotating shafts of 29- second, the flexible members of 30- second, the bracing wires of 31- first, 32-
Two bracing wires, 33- Electric Motor Wheels, the flexible members of 34- the 3rd, 35- controllers, 36- range sensors, 37- transparent shields.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
Embodiment 1
A kind of Biomimetic Fish for carrying out habitata, as Figure 1-5, include Biomimetic Fish 1, first rotating shaft 3, the first bullet
Property element 4, disk 5, the first oscillating rod 6, video camera 7, fixture block 8, bearing block 9, head rod 10, the second connecting rod 11,
One sliding block 12, the first slide rail 13, the first fixed pulley 14, the second fixed pulley 15, contact roller 16, curved rod 17, the second sliding block 18,
Second slide rail 19, the first water pipe 20, the first pole 21, the second oscillating rod 22, casing 23, water pump 24,25, second, the second water pipe
Bar 26, constant diameter cam 27, motor 28, the second rotating shaft 29, the second flexible member 30 and the first bracing wire 31；The inner bottom part of Biomimetic Fish 1
Front side and rear side are arranged with bearing block 9, and bearing block 9 is provided with first rotating shaft 3, and first rotating shaft 3 is provided with disk 5, disk 5
Top is eccentrically provided with the first oscillating rod 6, and the top of disk 5 is provided with fixture block 8, a word hole 2, fixture block 8 are provided with the first oscillating rod 6
In in a word hole 2, fixture block 8 coordinates with a word hole 2, and the front end of the first oscillating rod 6 in front and the rear end of the first oscillating rod 6 at rear are equal
It is connected with video camera 7, the antetheca in Biomimetic Fish 1 is connected with the second slide rail 19 and casing 23, and the right side of casing 23 is provided with water pump 24,
The rear side of water pump 24 is connected with the first water pipe 20, and the first water pipe 20 is connected with the right wall of casing 23, and the front side of water pump 24 is connected with
Second water pipe 25, the second water pipe 25 are connected with the antetheca of Biomimetic Fish 1, and the second slide rail 19 is located at the left of casing 23, and second
Slide rail 19 is provided with the second sliding block 18, and the top of the second sliding block 18 is hingedly connected with head rod 10, a left side for the second slide rail 19
Side is connected with the first slide rail 13, and the first slide rail 13 is provided with the first sliding block 12, the left end of head rod 10 and the first sliding block 12
Be articulated and connected, the front side in the left side of the first sliding block 12 and rear side are equipped with the first flexible member 4, the left end of the first flexible member 4 with
The front end of Biomimetic Fish 1 connects, and the front and rear side of the first sliding block 12 is symmetrically hingedly connected with the second connecting rod 11, the second connecting rod 11 and circle
Disk 5 is articulated and connected, and the rear wall in Biomimetic Fish 1 is connected with the first fixed pulley 14 and the second fixed pulley 15, and 14, the first fixed pulley
In the left of the second fixed pulley 15, the right side of the inner bottom part of Biomimetic Fish 1 is provided with the second pole 26, and the top of the second pole 26 is connected with
The rotating shaft 29 of motor 28 and second, and motor 28 is located at the left of the second rotating shaft 29, the top of motor 28 is connected with constant diameter cam 27,
Second rotating shaft 29 is provided with curved rod 17, and the rear and front end of curved rod 17 is equipped with contact roller 16, the contact roller 16 at rear
On be connected with the first bracing wire 31, the first bracing wire 31 bypasses the second fixed pulley 15 and the first fixed pulley 14, the first bracing wire 31 and second
Sliding block 18 is connected, and the low order end of Biomimetic Fish 1 is provided with the first pole 21, and the crown center of the first pole 21 is hingedly connected with the second pendulum
Lever 22, the second flexible member 30 is connected between the left end outside of the second oscillating rod 22 and the inwall of Biomimetic Fish 1.
Also include the second bracing wire 32, the flexible member 34 of Electric Motor Wheel 33 and the 3rd, the front and rear side of Biomimetic Fish 1 is symmetrically connected with
Electric Motor Wheel 33, the second bracing wire 32 is wound with Electric Motor Wheel 33, the left end of the second bracing wire 32 is connected with the first oscillating rod 6, the first pendulum
The 3rd flexible member 34 is provided between lever 6 and Biomimetic Fish 1.
Also include controller 35 and range sensor 36, range sensor 36, Biomimetic Fish are provided with the fish mouth of Biomimetic Fish 1
Controller 35 is provided with the right side of antetheca in 1, motor 28, Electric Motor Wheel 33, video camera 7, water pump 24 and range sensor 36 are respectively
It is connected with controller 35.
Also include transparent shield 37, the periphery of video camera 7 is provided with transparent shield 37.
First flexible member 4, the second flexible member 30 and the 3rd flexible member 34 are spring.
Motor 28 is servomotor 28.
First oscillating rod 6 and the material of the second oscillating rod 22 are stainless steel.
Operation principle：When needing to use Biomimetic Fish 1 to detect sea floor world, start video camera 7 and work, in the sea
The world shot, then start motor 28 rotate, drive constant diameter cam 27 rotate, curved rod 17 is swung, drive
The swing of second oscillating rod 22, by contact roller 16, the first bracing wire 31 is in stretching or relaxed state, when the first bracing wire 31
During in extended state, drive the second sliding block 18 to move up, drive the first sliding block 12 to move right by head rod 10,
Drive the second connecting rod 11 to move right, drive disk 5 to rotate, drive the first oscillating rod 6 to swing to the left；At the first bracing wire 31
In relaxed state, under the elastic force effect of the first flexible member 4, drive the first sliding block 12 to be moved to the left, drive the second connecting rod
11 to left movement so that disk 5 rotates, and drives the first oscillating rod 6 to swing to the right, so motor 28 rotates, passes through first and swings
The motion of the oscillating rod 22 of bar 6 and second so that Biomimetic Fish 1 moves about in the sea, and video camera 7 to shooting in the sea.When need into
One step to seabed depths shoot when, start water pump 24 and be pumped into seawater, water pump 24 is by the second water pipe 25 and the first water pipe 20 by sea
In water be drawn into casing 23, the gravity of Biomimetic Fish 1 increases at leisure, when the gravity of Biomimetic Fish 1 is more than buoyancy, Biomimetic Fish
1 declines.Video camera 7 is further shot to the biology in seabed, so as to be detected to the biology in seabed.When detection terminates
Afterwards, starting water pump 24 and extract seawater out, water pump 24 is extracted out the seawater in casing 23 by the first water pipe 20 and the second water pipe 25, when
After seawater in casing 23 is completely drawn out, water pump 24 is stopped.Biomimetic Fish 1 emerges, will when Biomimetic Fish 1 has arrived bank
Biomimetic Fish 1 is picked up, and after constant diameter cam 27 resets, motor 28 is stopped.
Because also including the second bracing wire 32, the flexible member 34 of Electric Motor Wheel 33 and the 3rd, the front and rear side of Biomimetic Fish 1 symmetrically connects
Electric Motor Wheel 33 is connected to, the second bracing wire 32 is wound with Electric Motor Wheel 33, the left end of the second bracing wire 32 is connected with the first oscillating rod 6, the
The 3rd flexible member 34 is provided between one oscillating rod 6 and Biomimetic Fish 1, so when needing rearward to turn, starts the electricity at rear
Driving wheel 33 is clockwise, and the Electric Motor Wheel 33 at rear withdraws the second bracing wire 32, and the first oscillating rod 6 is held in the second bracing wire 32, and first swings
Bar 6 swings and is obstructed, and the oscillating rod in front continues to swing, and Biomimetic Fish 1 rearward rotates at leisure, 1 corner of Biomimetic Fish
When spending suitable, the Electric Motor Wheel 33 for starting rear inverts, and the Electric Motor Wheel 33 at rear releases the second bracing wire 32, in the 3rd flexible member
In the presence of 34, the first oscillating rod 6 can be swung, electronic when the swing of the first oscillating rod 6 is not by the constraint of the second bracing wire 32
Wheel 33 is stopped, and Biomimetic Fish 1 is rearward turned；Biomimetic Fish 1 similarly can be achieved to turn forwards.
Because also including controller 35 and range sensor 36, range sensor 36 is provided with the fish mouth of Biomimetic Fish 1, is imitated
Controller 35 is provided with the right side of antetheca in raw fish 1, electrically-controlled valve, water pump 24 and range sensor 36 are connected with controller 35,
So when needing to use Biomimetic Fish 1 to detect sea floor world, controller 35 controls video camera 7 to work, to generation in the sea
Boundary is shot, and then the controlled motor 28 of controller 35 rotates, and is driven constant diameter cam 27 to rotate, curved rod 17 is swung,
The swing of the second oscillating rod 22 is driven, by contact roller 16, the first bracing wire 31 is in stretching or relaxed state, when the first drawing
When line 31 is in extended state, drive the second sliding block 18 to move up, the first sliding block 12 is driven to the right by head rod 10
It is mobile, drive the second connecting rod 11 to move right, drive disk 5 to rotate, drive the first oscillating rod 6 to swing to the left；When the first drawing
Line 31 is in relaxed state, under the elastic force effect of the first flexible member 4, drives the first sliding block 12 to be moved to the left, drives second
Connecting rod 11 is to left movement so that disk 5 rotates, and drives the first oscillating rod 6 to swing to the right, so the controlled motor 28 of controller 35
Rotate, pass through the motion of the first oscillating rod 6 and the second oscillating rod 22 so that Biomimetic Fish 1 moves about in the sea, and video camera 7 is in the sea
Shot.When needing further shoot to seabed depths, controller 35 controls the suction seawater of water pump 24, and water pump 24 passes through the
Water in the sea is drawn into casing 23 by two water pipes 25 and the first water pipe 20, and the gravity of Biomimetic Fish 1 increases at leisure, works as Biomimetic Fish
When 1 gravity is more than buoyancy, Biomimetic Fish 1 declines.Video camera 7 is further shot to the biology in seabed, so as to seabed
Biology is detected.After detection terminates, controller 35 controls water pump 24 to extract seawater out, and water pump 24 passes through the first water pipe 20 and the
Two water pipes 25 extract the seawater in casing 23 out, and after the seawater in casing 23 is completely drawn out, controller 35 controls water pump 24 to stop
Only work.Biomimetic Fish 1 is emerged, and when Biomimetic Fish 1 has arrived bank, Biomimetic Fish 1 is picked up, after constant diameter cam 27 resets, control
The controlled motor 28 of device 35 is stopped.And work as Biomimetic Fish 1 during travelling, when the distance of the barrier and Biomimetic Fish 1 in front
When reaching the preset value of range sensor 36, controller 35 is fed back signal to, controller 35 controls the Electric Motor Wheel 33 at rear clockwise,
The Electric Motor Wheel 33 at rear withdraws the second bracing wire 32, and the first oscillating rod 6 is held in the second bracing wire 32, and the first oscillating rod 6 swings and is obstructed,
And the oscillating rod in front continues to swing, Biomimetic Fish 1 rearward rotates at leisure, when 1 gyration of Biomimetic Fish is suitable, starts
The Electric Motor Wheel 33 at rear inverts, and the Electric Motor Wheel 33 at rear releases the second bracing wire 32, in the presence of the 3rd flexible member 34, the
One oscillating rod 6 can be swung, and when the swing of the first oscillating rod 6 is not by the constraint of the second bracing wire 32, Electric Motor Wheel 33 is stopped,
Biomimetic Fish 1 is rearward turned；Biomimetic Fish 1 similarly can be achieved to turn forwards.
Because also including transparent shield 37, the periphery of video camera 7 is provided with transparent shield 37, so transparent shield
37 can prevent that video camera 7 is impaired.
Because the first flexible member 4, the second flexible member 30 and the 3rd flexible member 34 are spring, the first elasticity
Element 4, the second flexible member 30 and the 3rd flexible member 34 are unlikely to deform, service life length.
Because motor 28 is servomotor 28, it is possible to accurately adjusts rotating speed, makes operation more steady.
Because the first oscillating rod 6 and the material of the second oscillating rod 22 are stainless steel, the first oscillating rod 6 and second is swung
The non-corrosive of bar 22, long lifespan.
It for the sea that Science and Technology Ltd. produces is S24S0T types PLC 35 that controller 35, which selects Xiamen sea, outside main frame
Portion 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 distance
Sensor 36；Y0 is motor 28, and Y1 is Electric Motor Wheel 33, and Y2 is video camera 7, and Y3 is water pump 24.Electrical control according to Fig. 5
Schematic diagram, those skilled in the art do not need performing creative labour, and controller 35 can be achieved by programming and control each portion
Part is acted by above-mentioned operation principle, and the dependent instruction of programming is all prior art, be 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 carrying out habitata, includes Biomimetic Fish (1), video camera (7), motor (28), its feature exists
In, in addition to first rotating shaft (3), the first flexible member (4), disk (5), the first oscillating rod (6), fixture block (8), bearing block (9),
Head rod (10), the second connecting rod (11), the first sliding block (12), the first slide rail (13), the first fixed pulley (14), second are determined
Pulley (15), contact roller (16), curved rod (17), the second sliding block (18), the second slide rail (19), the first water pipe (20), first
Pole (21), the second oscillating rod (22), casing (23), water pump (24), the second water pipe (25), the second pole (26), constant diameter cam
(27), the second rotating shaft (29), the second flexible member (30) and the first bracing wire (31)；The front side of Biomimetic Fish (1) inner bottom part and rear side
Bearing block (9) is arranged with, bearing block (9) is provided with first rotating shaft (3), and first rotating shaft (3) is provided with disk (5), disk (5)
Top be eccentrically provided with the first oscillating rod (6), the top of disk (5) is provided with fixture block (8), and the first oscillating rod is provided with a word on (6)
Hole (2), fixture block (8) are located in a word hole (2), and fixture block (8) coordinates with a word hole (2), the first oscillating rod (6) front end in front and
First oscillating rod (6) rear end at rear is respectively connected with video camera (7), and the antetheca in Biomimetic Fish (1) is connected with the second slide rail (19)
With casing (23), the right side of casing (23) is provided with water pump (24), the first water pipe (20), the first water is connected with rear side of water pump (24)
Pipe (20) is connected with the right wall of casing (23), the second water pipe (25) is connected with front side of water pump (24), the second water pipe (25) is with imitating
The antetheca of raw fish (1) is connected, and the second slide rail (19) is located at the left of casing (23), and the second slide rail (19) is provided with second and slided
Block (18), head rod (10) is hingedly connected with the top of the second sliding block (18), is connected with the left of the second slide rail (19)
One slide rail (13), the first slide rail (13) are provided with the first sliding block (12), the left end and the first sliding block (12) of head rod (10)
It is articulated and connected, the front side in the left side of the first sliding block (12) and rear side are equipped with the first flexible member (4), the first flexible member (4)
Left end is connected with Biomimetic Fish (1) front end, and the front and rear side of the first sliding block (12) is symmetrically hingedly connected with the second connecting rod (11), and second
Connecting rod (11) is articulated and connected with disk (5), and the rear wall in Biomimetic Fish (1) is connected with the first fixed pulley (14) and the second fixed pulley
(15), and the first fixed pulley (14) is located at the left of the second fixed pulley (15), and the right side of Biomimetic Fish (1) inner bottom part is provided with second
Bar (26), motor (28) and the second rotating shaft (29) are connected with the top of the second pole (26), and motor (28) is located at the second rotating shaft
(29) left, the top of motor (28) are connected with constant diameter cam (27), and the second rotating shaft (29) is provided with curved rod (17), curved
The rear and front end of bar (17) is equipped with contact roller (16), and the first bracing wire (31) is connected with the contact roller (16) at rear, the
One bracing wire (31) bypasses the second fixed pulley (15) and the first fixed pulley (14), and the first bracing wire (31) is connected with the second sliding block (18)
Connect, the low order end of Biomimetic Fish (1) is provided with the first pole (21), and the first pole (21) crown center is hingedly connected with the second oscillating rod
(22), it is connected with the second flexible member (30) between the inwall of Biomimetic Fish (1) on the outside of the left end of the second oscillating rod (22).
2. a kind of Biomimetic Fish for carrying out habitata according to claim 1, it is characterised in that also include the second drawing
Line (32), Electric Motor Wheel (33) and the 3rd flexible member (34), the front and rear side of Biomimetic Fish (1) are symmetrically connected with Electric Motor Wheel (33), electricity
The second bracing wire (32) is wound with driving wheel (33), the left end of the second bracing wire (32) is connected with the first oscillating rod (6), the first oscillating rod
(6) the 3rd flexible member (34) is provided between Biomimetic Fish (1).
3. a kind of Biomimetic Fish for carrying out habitata according to claim 1, it is characterised in that also include controller
(35) and range sensor (36), it is provided with range sensor (36) at the fish mouth of Biomimetic Fish (1), the antetheca in Biomimetic Fish (1) is right
Side is provided with controller (35), and motor (28), Electric Motor Wheel (33), video camera (7), water pump (24) and range sensor (36) are respectively
It is connected with controller (35).
4. a kind of Biomimetic Fish for carrying out habitata according to claim 1, it is characterised in that also include transparent anti-
Shield (37), the periphery of video camera (7) are provided with transparent shield (37).
A kind of 5. Biomimetic Fish for carrying out habitata according to claim 1, it is characterised in that the first flexible member
(4), the second flexible member (30) and the 3rd flexible member (34) are spring.
6. a kind of Biomimetic Fish for carrying out habitata according to claim 1, it is characterised in that motor (28) is servo
Motor (28).
A kind of 7. Biomimetic Fish for carrying out habitata according to claim 1, it is characterised in that the first oscillating rod (6)
It is stainless steel with the second oscillating rod (22) material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610718716.4A CN106275337B (en) | 2016-08-24 | 2016-08-24 | A kind of Biomimetic Fish for carrying out habitata |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610718716.4A CN106275337B (en) | 2016-08-24 | 2016-08-24 | A kind of Biomimetic Fish for carrying out habitata |
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| Publication Number | Publication Date |
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| CN106275337A CN106275337A (en) | 2017-01-04 |
| CN106275337B true CN106275337B (en) | 2018-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610718716.4A Active CN106275337B (en) | 2016-08-24 | 2016-08-24 | A kind of Biomimetic Fish for carrying out habitata |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109516042B (en) * | 2018-10-31 | 2021-09-14 | 长沙宁湖机械设备有限公司 | Bionic robot for recycling garbage on water |
| CN109720527A (en) * | 2019-01-31 | 2019-05-07 | 中国矿业大学(北京) | A kind of machine fish and its paths planning method |
Citations (5)
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|---|---|---|---|---|
| CN102267552A (en) * | 2011-07-11 | 2011-12-07 | 卢小平 | Drive and control method for bionic fish and bionic fish |
| CN102700695A (en) * | 2012-07-09 | 2012-10-03 | 长沙理工大学 | Riverway illegal sewage drain detection robot fish |
| CN204701760U (en) * | 2015-05-18 | 2015-10-14 | 陈丽芬 | A kind of flapping wing type bionic underwater robot |
| CN204956891U (en) * | 2015-08-06 | 2016-01-13 | 上海湖益科贸有限公司 | Flexible structure that impels of bionical fish tail dual drive |
| CN205273823U (en) * | 2015-12-12 | 2016-06-01 | 毕芃 | Bionical machine fish based on drive of simple joint tail fin |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2903655B1 (en) * | 2006-07-13 | 2009-04-17 | Cybernetix Sa | DEVICE FOR DYNAMIC STABILIZATION OF SUBMARINE ENGINE |
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2016
- 2016-08-24 CN CN201610718716.4A patent/CN106275337B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267552A (en) * | 2011-07-11 | 2011-12-07 | 卢小平 | Drive and control method for bionic fish and bionic fish |
| CN102700695A (en) * | 2012-07-09 | 2012-10-03 | 长沙理工大学 | Riverway illegal sewage drain detection robot fish |
| CN204701760U (en) * | 2015-05-18 | 2015-10-14 | 陈丽芬 | A kind of flapping wing type bionic underwater robot |
| CN204956891U (en) * | 2015-08-06 | 2016-01-13 | 上海湖益科贸有限公司 | Flexible structure that impels of bionical fish tail dual drive |
| CN205273823U (en) * | 2015-12-12 | 2016-06-01 | 毕芃 | Bionical machine fish based on drive of simple joint tail fin |
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| CN106275337A (en) | 2017-01-04 |
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Effective date of registration: 20191202 Address after: 314300 No. 166 Haiwang Road, Shendang Town Industrial Park, Haiyan County, Jiaxing City, Zhejiang Province Patentee after: Zhejiang Deyikang Photoelectric Co.,Ltd. Address before: 305 room 230088, center building, 605 Mount Huangshan Road, Hefei high tech Zone, Anhui, China Patentee before: HEFEI LINGXIANG INFORMATION TECHNOLOGY Co.,Ltd. |
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Denomination of invention: A biomimetic fish capable of underwater exploration Effective date of registration: 20230924 Granted publication date: 20180119 Pledgee: Zhejiang Haiyan Rural Commercial Bank Co.,Ltd. Shendang sub branch Pledgor: Zhejiang Deyikang Photoelectric Co.,Ltd. Registration number: Y2023330002135 |