CN106628069B - A kind of Biomimetic Fish fish-skin and the Biomimetic Fish comprising the fish-skin - Google Patents
A kind of Biomimetic Fish fish-skin and the Biomimetic Fish comprising the fish-skin Download PDFInfo
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- CN106628069B CN106628069B CN201611223937.0A CN201611223937A CN106628069B CN 106628069 B CN106628069 B CN 106628069B CN 201611223937 A CN201611223937 A CN 201611223937A CN 106628069 B CN106628069 B CN 106628069B
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B5/00—Hulls characterised by their construction of non-metallic material
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses a kind of Biomimetic Fish fish-skin and include the Biomimetic Fish of the fish-skin, belong to underwater robot technical field, the fish-skin includes fish-skin ontology, fish-skin ontology generally streamlined structure, multiple grooves are set on the side wall of fish-skin ontology, groove makes fish-skin ontology form flexible concertina structure along the long axis direction of fish-skin ontology and column distribution；The Biomimetic Fish includes above-mentioned fish-skin.The whole still streamlined structure of Biomimetic Fish fish-skin of the present invention, helps to reduce fluid resistance, while groove is arranged and increases drainage area, and then increase the buoyancy of Biomimetic Fish, makes that more carrying modules can be arranged inside it.The groove of this body sidewall of fish-skin increases its compression strength in the case where material is constant, reduces fish body deflection of the Biomimetic Fish under hydraulic pressure effect.
Description
Technical field
The present invention relates to underwater robot technical field more particularly to a kind of Biomimetic Fish fish-skin and include the bionical of the fish-skin
Fish.
Background technology
With the mankind's continually developing and utilizing to marine resources, current autonomous underwater robot (Autonomous
Underwater Vehicle, AUV) have become the Important Platform that the mankind carry out ocean research and exploration.In recent years, with people
The development for the continuous exploration and associated fabrication techniques, control technology that class recognizes fish swimming mechanism, it is a kind of bionical using fish body
The underwater hiding-machine of promotion tactics comes into being, and is carried to develop high efficiency, high maneuverability, low noise and easily hidden submarine navigation device
A kind of new approaches are supplied.
Machine fish is a kind of underwater hiding-machine realized and promoted using fish swimming mechanism, assembles various microminiature sensors,
Using advanced control and means of communication, a set of similar fish body structure, the sensor that can be moved about may be constructed.Equipped with difference
The machine fish of sensor have good mobility and concealment, can in narrow space operation and realize low noise transport
It is dynamic.Technology once ripe, machine fish will observe in the underwater operation, marine monitoring, marine organisms of complex environment, military surveillance and
The removal of mines, mine-laying etc. play significant role.
Biomimetic Fish fish-skin, which mostly uses Silicone Rubber and covers, at this stage covers structure, also relatively fewer to the research of fish-skin concrete structure,
When causing yielding after water, swing of the fish body under Biomimetic Fish fish-skin generally existing at this stage, it is big that fish-skin swings influential effect to it
The defects of.
Invention content
In order to solve the above-mentioned technical problem, the purpose of the present invention is to provide a kind of Biomimetic Fish fish-skin and include the fish-skin
Biomimetic Fish can effectively reduce fish-skin deformation in swing of the fish body and swing the influence that effect is brought to it.
According to an aspect of the invention, there is provided a kind of Biomimetic Fish fish-skin, including fish-skin ontology, fish-skin ontology is generally
Streamlined structure, multiple grooves are arranged on the side wall of fish-skin ontology, and groove makes along the long axis direction of fish-skin ontology and column distribution
Fish-skin ontology forms flexible concertina structure.
Fish-skin ontology preferably uses Silicone Rubber, and Silicone Rubber is flexible material and has elasticity, so that fish-skin ontology is become and carries
The flexible concertina structure of elasticity.Groove on this body sidewall of fish-skin generates compensating action when fish-skin is swung, and reduces fish-skin change
Shape amount swings it influence that effect is brought to reduce fish-skin deformation.
Further, groove is around the end to end ring-shaped groove of the side wall of fish-skin ontology.Fish body is when swinging, fish-skin
The side of ontology is stretched, and the other side of fish-skin ontology is compressed, and groove is being upwardly formed complete ring the week of fish-skin ontology, draws
Stretch that deformation is regular consistent with the compensation point of compressive deformation, pulling open and compressing for fish-skin ontology only needs the power of very little can be achieved with,
And the resistance that the significantly flexible deformation of fish-skin ontology need not be overcome to generate, avoid influence of the fish-skin to bionical fish swimming.
A kind of selectable technical solution is：The longitudinal cross-section of the side wall of fish-skin ontology is sequentially connected by multiple v-shaped structures
It constitutes, the recess of v-shaped structure forms groove, and the junction of adjacent two v-shaped structures forms wave crest.V-shaped structure makes fish-skin
Ontology forms bellows structure, and processing technology is good.
Another selectable technical solution is：The longitudinal cross-section of the side wall of fish-skin ontology is by multiple U-shaped structures and multiple
Inverted U-shaped forms, and U-shaped structure and the setting of inverted U-shaped interval, the recess of U-shaped structure form groove, inverted U-shaped
Apex forms wave crest.
Preferably, the depth of groove is 6~8mm, and the distance of adjacent wave crest is 5~7mm.
Preferably, the initial configuration size of v-shaped structure is：The angle of v-shaped structure is 40 °~50 °, v-shaped structure it is unilateral
Length is 7~9mm.V-shaped structure forms two waists of isosceles triangle.So-called " original state " of the invention, as stretches naturally
Exhibition state, both without stretching or not compressing.
Preferably, the total length of fish-skin ontology is L, by the number of teeth that v-shaped structure is formed is n, n=on the side wall of fish-skin ontology
L/7。
Preferably, the spacing of the both sides of fish-skin ontology is a, then the limiting condition after fish-skin ontology stretches can reach angle
For one section of concentric circles circular arc of θ, θ=4L/3a.
According to another aspect of the present invention, a kind of Biomimetic Fish, including above-mentioned Biomimetic Fish fish-skin are provided.
Compared with prior art, the invention has the advantages that：
1, the exemplary Biomimetic Fish fish-skin of the present invention, the groove on this body sidewall of fish-skin is generated when fish-skin is swung compensates work
With reducing fish-skin deflection, the influence that effect brings swung to it to reduce fish-skin deformation.
2, the exemplary Biomimetic Fish fish-skin of the present invention, the groove on side wall form end to end ring-type, stretcher strain and pressure
The compensation point of compression deformation is regular consistent, and pulling open and compressing for fish-skin ontology only needs the power of very little can be achieved with, and does not need gram
The resistance that the significantly flexible deformation of fish-skin ontology generates is taken, influence of the fish-skin to bionical fish swimming is avoided.
3, the exemplary Biomimetic Fish of the present invention, the groove structure on fish-skin increase its pressure resistance in the case where material is constant
Degree reduces the deflection of the fish body under hydraulic pressure effect.
4, the exemplary Biomimetic Fish of the present invention, fish-skin structure is whole still streamlined, helps to reduce fluid resistance, together
When, fish-skin setting groove increases drainage area, and then increases the buoyancy of Biomimetic Fish, makes to be arranged inside it and more take
Carry module.
Description of the drawings
Fig. 1 is the structural schematic diagram of one fish-skin ontology of the embodiment of the present invention；
Fig. 2 is the longitudinal cross-section schematic diagram of one fish-skin ontology original state of the embodiment of the present invention；
Fig. 3 is the longitudinal cross-section schematic diagram of one fish-skin ontology tension state of the embodiment of the present invention；
Fig. 4 is the longitudinal cross-section schematic diagram of one fish-skin ontology pressured state of the embodiment of the present invention.
In figure：1 groove, 2 wave crests.
Specific implementation mode
In order to be better understood by technical scheme of the present invention, with reference to the accompanying drawings of the specification with specific embodiment to the present invention
It is described further.
Embodiment one：
As shown in Figure 1, a kind of Biomimetic Fish fish-skin, including fish-skin ontology, fish-skin ontology generally streamlined structure, fish-skin sheet
Multiple grooves are set on the side wall of body, and groove makes fish-skin ontology form flexibility along the long axis direction of fish-skin ontology and column distribution
Stretching structure.
Fish-skin ontology is made of Silicone Rubber, and Silicone Rubber is flexible material and has elasticity, so that fish-skin ontology is become and carries
The flexible concertina structure of elasticity.Groove on this body sidewall of fish-skin generates compensating action when fish-skin is swung, and reduces fish-skin change
Shape amount swings it influence that effect is brought to reduce fish-skin deformation.
The longitudinal cross-section of the side wall of fish-skin ontology is sequentially connected by multiple v-shaped structures and is constituted, and the recess of v-shaped structure is formed
The junction of groove 1, adjacent two v-shaped structures forms wave crest 2.V-shaped structure makes fish-skin ontology form bellows structure, processing
Good manufacturability.
As shown in Fig. 2, when Biomimetic Fish fish body is in nature extended configuration, the continuous v-shaped structure of both sides corrugated tube shape fish-skin
It is not affected by the effect of pulling force or pressure, shows structure size when design.Its initial configuration size is：The angle of v-shaped structure
It it is 45 °, the unilateral length of two waists of the isosceles triangle that v-shaped structure is formed is 8mm, and the distance of adjacent wave crest is about 6mm.
When Biomimetic Fish swing of the fish body, with the continuous increase of its amplitude of fluctuation, fish body circular arc gradually increases the continuous V of side
Shape fish-skin is stretched, and V-arrangement becomes more flat, and when swing of the fish body is to limit orthodrome state, v-shaped structure amount of tension is maximum,
Its structure is as shown in Figure 3.At this point, the angle of v-shaped structure is about 80 °, the distance of adjacent v-shaped structure wave crest 2 is about 10.5mm.
Similarly, with the continuous increase of Biomimetic Fish swing of the fish body amplitude, fish body circular arc is gradually reduced the continuous V-arrangement fish-skin of side
It is compressed, V-arrangement becomes more narrow, and when swing of the fish body is to limit small arc-shaped state, v-shaped structure decrement is maximum, structure
As shown in Figure 4.At this point, v-shaped structure angle is about 20 °, the distance of adjacent v-shaped structure wave crest 2 is about 2.5mm.
From the structure size of fish-skin above, the depth that we can obtain v-shaped structure fish-skin groove 1 is about 7mm, adjacent
The distance between wave crest 2 is about 6mm.If desired length is one section of fish-skin of L, then the number of teeth n=L/7 of its V-shaped groove.Assuming that both sides
Spacing is a between fish-skin, then it is one section of θ=4L/3a round with one heart that the limiting condition after its stretching, which can reach corner dimension,
Arc.
The Biomimetic Fish of the present embodiment, including above-mentioned Biomimetic Fish fish-skin.
Embodiment two：
The present embodiment feature identical with embodiment one repeats no more, and the present embodiment feature different from embodiment one exists
In：The longitudinal cross-section of the side wall of fish-skin ontology is made of multiple U-shaped structures and multiple inverted U-shapeds, U-shaped structure and inverted U-shaped knot
Structure interval is arranged, and the recess of U-shaped structure forms groove, and the apex of inverted U-shaped forms wave crest.
Pulling open and compressing for groove structure only needs the power of very little can be achieved with, and need not overcome Silicone Rubber significantly
The resistance that flexible deformation generates, avoids influence of the fish-skin to bionical fish swimming.Meanwhile the fish-skin of Biomimetic Fish is whole still in stream
Linear structure helps to reduce fluid resistance, while the structure of setting groove increases drainage area on fish-skin this body sidewall, into
And the buoyancy of Biomimetic Fish is increased, make that more carrying modules can be arranged inside it.Groove is set on the side wall of fish-skin ontology
Its compression strength is increased in the case where material is constant, its fish body deflection under hydraulic pressure effect is reduced, to reduce
Influence of the fish-skin to swing of the fish body effect.
In the present invention, the shape of the fold on fish-skin is not limited to the v-shaped structure described in embodiment and U-shaped structure, can be with
It is set as the groove and fold of other shapes.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical solutions of arbitrary combination and formation.Such as features described above has similar work(with (but not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (5)
1. a kind of Biomimetic Fish fish-skin, including fish-skin ontology, characterized in that the fish-skin ontology generally streamlined structure, it is described
Multiple grooves are set on the side wall of fish-skin ontology, and the groove makes institute along the long axis direction of the fish-skin ontology and column distribution
It states fish-skin ontology and forms flexible concertina structure；
The longitudinal cross-section of the side wall of the fish-skin ontology is sequentially connected by multiple v-shaped structures to be constituted, the recess of the v-shaped structure
The groove is formed, the junction of adjacent two v-shaped structures forms wave crest；
The total length of the fish-skin ontology is Lmm, by the number of teeth that the v-shaped structure is formed is n on the side wall of the fish-skin ontology,
N=L/7；
When swing of the fish body is to limit orthodrome state, v-shaped structure amount of tension is maximum, and the angle of v-shaped structure is 80 °, adjacent V
The distance of shape structure wave crest is 10.5mm；
When swing of the fish body is to limit small arc-shaped state, v-shaped structure decrement is maximum, and the angle of v-shaped structure is 20 °, adjacent V
The distance of shape structure wave crest is 2.5mm.
2. Biomimetic Fish fish-skin according to claim 1, characterized in that the groove is the side wall around the fish-skin ontology
End to end ring-shaped groove.
3. Biomimetic Fish fish-skin according to claim 1, characterized in that the depth of the groove is 6~8mm, adjacent institute
The distance for stating wave crest is 5~7mm.
4. Biomimetic Fish fish-skin according to claim 1, characterized in that the initial configuration size of the v-shaped structure is：V-arrangement
The angle of structure is 40 °~50 °, and the unilateral length of v-shaped structure is 7~9mm.
5. a kind of Biomimetic Fish, characterized in that including any Biomimetic Fish fish-skin of Claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611223937.0A CN106628069B (en) | 2016-12-27 | 2016-12-27 | A kind of Biomimetic Fish fish-skin and the Biomimetic Fish comprising the fish-skin |
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| CN201611223937.0A CN106628069B (en) | 2016-12-27 | 2016-12-27 | A kind of Biomimetic Fish fish-skin and the Biomimetic Fish comprising the fish-skin |
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| CN106628069B true CN106628069B (en) | 2018-08-07 |
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| CN109520401B (en) * | 2018-11-30 | 2024-05-17 | 浙江工业大学 | Deformation device for mantis shrimp-like body surface non-smooth surface and resistance testing device thereof |
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| CN100493990C (en) * | 2005-04-12 | 2009-06-03 | 北京大学 | Small-sized bionic machine fish |
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN202200602U (en) * | 2011-09-06 | 2012-04-25 | 山东理工大学 | Shark-simulated combined damping device |
| CN202686731U (en) * | 2012-04-20 | 2013-01-23 | 合肥凌翔信息科技有限公司 | Sealing outer layer of bionic robot fish |
| CN206417163U (en) * | 2016-12-27 | 2017-08-18 | 中电科海洋信息技术研究院有限公司 | A kind of novel bionic fish fish-skin structure and Biomimetic Fish |
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Effective date of registration: 20191015 Address after: 572427 Clear Water Bay International Information Industry Park, Lingshui Town, Hainan,, 3A Patentee after: CET MARINE INSTITUTE OF INFORMATION TECHNOLOGY CO., LTD. Address before: 572427 Clear Water Bay International Information Industry Park, Lingshui Town, Hainan, 3A Co-patentee before: China Electricity Marine Information Technology (Beijing) Co., Ltd. Patentee before: CET MARINE INSTITUTE OF INFORMATION TECHNOLOGY CO., LTD. |
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