CN106741774B - A kind of bionic machine fish - Google Patents
A kind of bionic machine fish Download PDFInfo
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- CN106741774B CN106741774B CN201611223994.9A CN201611223994A CN106741774B CN 106741774 B CN106741774 B CN 106741774B CN 201611223994 A CN201611223994 A CN 201611223994A CN 106741774 B CN106741774 B CN 106741774B
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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
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a kind of bionic machine fish, are related to underwater robot technical field, and structure includes the head being sequentially connected, trunk and tail portion, and the front end on head has elongated cutting-edge structure, and the outer surface on head is streamlined structure；Trunk includes fish-skin and propulsion system, and the global shape of fish-skin is streamlined structure, and multiple grooves are distributed in its long axis direction of fish-skin upper edge side by side, and propulsion system drives the trunk to swing to realize the underwater movement of bionic machine fish；Tail portion includes tail fin holder and tail fin.The bionic machine fish of the present invention reduces fluid resistance when travelling, reliable operation, bionical degree height.
Description
Technical field
The present invention relates to underwater robot technical field more particularly to a kind of bionic machine 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 mankind and carries out the important flat of ocean research and exploration.In recent years, with the mankind
Development to the continuous exploration and associated fabrication techniques, control technology of fish swimming mechanism understanding, it is a kind of to be pushed away using fish body is bionical
Underwater hiding-machine into mechanism comes into being, and is provided to develop high efficiency, high maneuverability, low noise and easily hidden submarine navigation device
A kind of new approaches.
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.
Machine fish at this stage has the following disadvantages on drag-reduction effect and bionical effect：
First, at this stage Biomimetic Fish fish-skin mostly use Silicone Rubber illiteracy cover structure, it is also opposite to the research of fish-skin concrete structure
Less, when causing yielding after water, swing of the fish body under Biomimetic Fish fish-skin generally existing at this stage, fish-skin swings it effect shadow
Ring the defects of big.
Secondly, propulsion system there is a problem of being short of power, bionical degree is poor.
Invention content
In order to solve the above-mentioned technical problem, the purpose of the present invention is to provide a kind of bionic machine fish, the bionic machine fish
Drag-reduction effect is good, bionical degree is high.
In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is：
A kind of bionic machine fish is provided, including head, trunk and the tail portion being sequentially connected, the front end on head has carefully
The outer surface of long cutting-edge structure, head is streamlined structure；Trunk includes fish-skin and propulsion system, and fish-skin is wrapped in propulsion
The outside of system；The global shape of fish-skin is streamlined structure, and multiple grooves are distributed in its long axis direction of fish-skin upper edge side by side,
Fish-skin is set to form flexible concertina structure；Propulsion system drives trunk to swing to realize the underwater movement of bionic machine fish；Tail
Portion includes tail fin holder and tail fin, and tail fin holder one end is connected with trunk, and the tail fin holder other end is equipped with tail fin.
Further, the cavity for being internally provided with receiving and carrying module on head, the top and bottom of cavity are plane, empty
The two sides of chamber are arcwall face.Cavity is also streamline structure, and the planar structure of cavity top and bottom is conducive to internal control
The layout of component is arranged, it helps setting rigging screw hole.
Further, sealing ring, collision mat and waterproof cover, collision mat are disposed between head and the trunk
Shape of the shape with head close to the end face of trunk it is consistent, control line fairlead is provided on waterproof cover and installation connects
The connecting hole of part.
Further, the top of head latter half is equipped with dorsal fin, and the monosymmetric of head latter half is equipped with
Pectoral fin.Dorsal fin mounting groove is set on the head of bionic machine fish and pectoral fin mounting groove, dorsal fin and pectoral fin are separately mounted to accordingly
In mounting groove, dorsal fin and pectoral fin are set, is conducive to keep the balance of bionic machine fish, bionic machine fish is made to be kept in moving process
Uprightly, it avoids it from turning on one's side, improves the reliability of its work.
Further, part cutting-edge structure being connected with the rear portion on head is changeover portion, and the top of changeover portion is under
Portion is arcwall face, and the both sides of changeover portion are the flat horizontal surface being arranged symmetrically.The upper and lower part of changeover portion is arc-shaped streamlined knot
Structure, left and right cheek is flat horizontal surface structure, further to reduce the resistance to advance.
Further, the groove on fish-skin is around the end to end ring-shaped groove of the side wall of the fish-skin.Fish body is being put
When dynamic, the side of fish-skin is stretched, and the other side of fish-skin is compressed, and groove is being upwardly formed complete ring the week of fish-skin, stretches
Deformation is regular consistent with the compensation point of compressive deformation, and pulling open and compressing for fish-skin only needs the power of very little can be achieved with, and is not required to
The resistance for overcoming the significantly flexible deformation of fish-skin to generate, avoids influence of the fish-skin to bionical fish swimming.
Preferably, the longitudinal cross-section of the side wall of fish-skin is sequentially connected by multiple v-shaped structures and is constituted, the recess of v-shaped structure
The groove is formed, the junction of adjacent two v-shaped structures forms wave crest.V-shaped structure makes fish-skin form bellows structure, adds
Work good manufacturability.
Further, propulsion system includes multiple propulsion units being sequentially connected, and each propulsion unit is from inside to outside successively
Including driving device, driving device inner support and driving device support arm；One end of driving device support arm is connected to driving dress
It is rotated on the output shaft set and with output shaft, the other end of driving device support arm is pivotally connected to driving device
On inner support, the middle part of driving device support arm is fixedly connected with the driving device inner support of the propulsion unit at its rear.
Multiple propulsion units are sequentially connected, the rotation angle of the propulsion unit of rearmost part relative to the propulsion unit of forefront
For the superposition value of the rotation angle in each joint, may be implemented the high movement of flexibility ratio, more really simulation fish swimming when
Posture is swung, in addition, multiple propulsion units also increase the propulsive force of propulsion system generation, improves propulsive efficiency.
Further, the output shaft of driving device is longitudinally arranged, and in the same propulsion unit, is propped up outside the driving device
The both ends of frame rotate coaxially；Between different propulsion units, the rotary shaft of the driving device support arm is mutually parallel.
When the output shaft of driving device is longitudinally arranged, rotation can drive propulsion unit to swing, when being moved with fish body
Swing situation it is consistent, bionical degree is high, and flexibility ratio is high.Driving device support arm both ends rotate coaxially, and can reduce and be filled in driving
It sets in support arm rotation process, the shearing force suffered by propulsion unit all parts, increases the reliability of propulsion system work, prolong
The service life of long propulsion system reduces the cost of maintenance and repair.Each rotary shaft is mutually parallel, the true joint fortune of simulation fish body
Dynamic situation further improves the simulation degree that bionic machine fish moves fish body.
Further, discoidal skeleton is equipped between adjacent propulsion unit.Disc skeleton is pushed away with both sides respectively
It is connected into unit, the contact area of propulsion unit and disc skeleton is larger, improves the reliability of connection；Meanwhile disc
Skeleton uniformly contacted with the madial wall of fish-skin, play a supporting role, the anti-pressure ability for enhancing fish-skin reduces it under hydraulic pressure
Fish body deflection.
Further, the middle part and both sides of tail fin are respectively equipped with rigid tail fin clamping plate, tail fin clamping plate simultaneously with tail fin branch
Frame is connected with tail fin.
All controllable motor lists such as steering engine, stepper motor, direct current generator, servo motor can be used in inventive drive means
Member.
Compared with prior art, the invention has the advantages that：
1, the exemplary bionic machine fish of the present invention, head and fish-skin are streamline structure, when effectively reducing its travelling by
The fluid resistance arrived；Head has elongated cutting-edge structure, and can be used for riving in bionical fish swimming the procephalic flow of fish, rises
To the effect of drag reduction, travelling speed and the flexibility of bionic machine fish are promoted；Groove on fish-skin side wall is produced when fish-skin is swung
Raw compensating action, reduces fish-skin deflection, and the influence that effect is brought, drag-reduction effect are swung to it to reduce fish-skin deformation
It is good.
2, the exemplary bionic machine fish of the present invention, propulsion system drive the trunk of Biomimetic Fish to swing, more true simulation
Swing posture when fish swimming is provided with tail fin in tail portion, and tail fin is swung under the action of propulsion system, and simulation is true
The travelling of fish acts, and bionical degree is high.
3, the exemplary bionic machine fish of the present invention, sealing ring, collision mat and the waterproof cover on head form three seals knot
Structure, to make head form independent sealed module, control device, communication device, supply unit etc. are arranged on fish body head
Interior, head and the waterproof sealing of rear portion fish body structure are mutual indepedent, advantageously ensure that the workability of fish head internal control module etc.
It can stablize, reduce Biomimetic Fish and seal waterproof difficulty.Connecting hole on waterproof cover is for installing the screw being connect with rear portion fish body
Equal connectors, have also reserved control line fairlead, and only letter need to be done using silica gel in reserved hole site after the completion of Biomimetic Fish assembly
Single water-proofing treatment is that can guarantee the independent waterproof of fish head module, and operation is very easy.
4, the exemplary bionic machine fish of the present invention, it is anti-that the groove structure on fish-skin increases it in the case where material is constant
Compressive Strength reduces the deflection of the fish body under hydraulic pressure effect, meanwhile, fish-skin setting groove increases drainage area, Jin Erzeng
The big buoyancy of Biomimetic Fish makes can be arranged inside it and more carries modules.
5, multiple propulsion units are arranged in the exemplary bionic machine fish of the present invention, propulsion system, increase propulsion system production
Raw propulsive force improves propulsive efficiency；In addition, between multiple propulsion units both control can also be coupled with independent control, tie
Joint propulsion unit quantity can be increased to enhance propulsion system movenent performance or reduce joint propulsion by closing actual motion environment
Element number is with controlled motion energy consumption, very flexibly.
6, the exemplary bionic machine fish of the present invention, is arranged multiple propulsion units, and the propulsion unit of rearmost part is relative to before most
The rotation angle of the propulsion unit in portion is the superposition value of the rotation angle in each joint, and motion mode is various, flexible, can realize
Movement under original place racing, high-speed motion under the particular surroundings such as higher curvature steering, the interior movement of narrow space, and can realize high speed
Posture takes over seamlessly under motion state.It is provided with tail fin, more really simulates swing posture when fish swimming.
7, the exemplary bionic machine fish of the present invention, propulsion system drive dress by the way of simulation biological rhythm movement
It sets and a variety of controllable motors can be used, it is easy to accomplish, more existing propeller plant is compared, has work noise small, concealment
The advantages that small.
Description of the drawings
Fig. 1 is the overall structure diagram (omitting fish-skin) of the exemplary bionic machine fish of the present invention；
Fig. 2 is the structural schematic diagram on the head of the exemplary bionic machine fish of the present invention；
Fig. 3 is the schematic diagram of the head seal structure of the exemplary bionic machine fish of the present invention；
Fig. 4 is the structural schematic diagram of the fish-skin of the exemplary bionic machine fish of the present invention；
Fig. 5 is the structural schematic diagram of the propulsion system of the exemplary bionic machine fish of the present invention；
Fig. 6 is the structural schematic diagram of driving device inner support in Fig. 5；
Fig. 7 is the structural schematic diagram of driving device in Fig. 5；
Fig. 8 is the structural schematic diagram of driving device support arm in Fig. 5；
Fig. 9 is the structural schematic diagram of the tail portion of the exemplary bionic machine fish of the present invention.
In figure：The heads 1-, 11- cutting-edge structures, 12- dorsal fins, 13- pectoral fins, 14- waterproof covers, 15- cavitys, 16- sealings
Circle, 17- collision mats, 18-O type circles, 19- holding screws,
2- propulsion systems, 21- skeletons, 22- driving device support arms, 23- driving devices, 24- driving device inner supports,
The tail portions 3-, 31- tail fin holders, 32- tail fin clamping plates, 33- tail fins,
4- fish-skins.
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.
As shown in Figure 1, a kind of bionic machine fish, including the head 1, trunk and the tail portion 3 that are sequentially connected.
The front end on head 1 has elongated cutting-edge structure 11, and the outer surface on head 1 is streamlined structure.Head 1 is latter half of
The top divided is equipped with dorsal fin 12, and the monosymmetric of 1 latter half of head is equipped with pectoral fin 13.On the head of bionic machine fish
Setting dorsal fin mounting groove and pectoral fin mounting groove, dorsal fin 12 and pectoral fin 14 are separately mounted in corresponding mounting groove, and dorsal fin 12 is arranged
With pectoral fin 13, it is conducive to keep the balance of bionic machine fish, so that bionic machine fish is kept upright in moving process, avoid its generation
Rollover, improves the reliability of its work.
As shown in Fig. 2, head 1 is internally provided with the cavity 15 for accommodating and carrying module, the top and bottom of cavity 15 are
The two sides of plane, cavity 15 are arcwall face.Cavity 15 is also streamline structure, and the planar structure of 15 top and bottom of cavity has
It is arranged conducive to the layout of internal control component, it helps setting rigging screw hole.
As shown in figure 3, being disposed with sealing ring 16, collision mat 17 and waterproof cover between head 1 and the trunk
14, the shape of the shape of collision mat 17 with head 1 close to the end face of trunk is consistent, is provided with control line on waterproof cover 14 and draws
The connecting hole to portal with installation connecting element, waterproof cover 14 are mounted on by holding screw 19 on the end face on head 1, holding screw
19 are furnished with O-ring 18.Sealing ring, collision mat and the waterproof cover on head form three seal structures, to make head be formed solely
Vertical seal modules, control device, communication device, supply unit etc. are arranged in fish body head, head and rear portion fish body knot
The waterproof sealing of structure is mutual indepedent, advantageously ensures that the stable work in work of fish head internal control module etc., and it is close to reduce Biomimetic Fish
Seal waterproof difficulty.Connecting hole on waterproof cover has also reserved control line extraction for installing the screw being connect with rear portion fish body
Hole only need to do the i.e. certifiable fish head module of simple water-proofing treatment in reserved hole site after the completion of Biomimetic Fish assembly using silica gel
Independent waterproof.
Head 1 has elongated cutting-edge structure 11, and can be used for riving in bionical fish swimming the procephalic flow of fish, reduces
Its fluid resistance being subject to when moving about promotes travelling speed and the flexibility of bionic machine fish.
The part that cutting-edge structure 11 is connected with the rear portion on head 1 is changeover portion, and the upper and lower part of changeover portion is arc
Shape face, the both sides of changeover portion are the flat horizontal surface being arranged symmetrically.The upper and lower part of changeover portion is arc-shaped streamlined structure, left and right
Cheek is flat horizontal surface structure, further to reduce the resistance to advance.
Trunk includes fish-skin 4 and propulsion system 2, and fish-skin 4 is wrapped in the outside of propulsion system 2.
As shown in figure 4, the global shape of fish-skin 4 is streamlined structure, its long axis direction of 4 upper edge of fish-skin is distributed with side by side
Multiple grooves make fish-skin 4 form flexible concertina structure.Fish-skin 4 is made of Silicone Rubber, and Silicone Rubber is flexible material and has bullet
Property, so that fish-skin 4 is become elastic flexible concertina structure.Groove on 4 side wall of fish-skin generates compensation when fish-skin is swung and makees
With reducing fish-skin deflection, the influence that effect brings swung to it to reduce fish-skin deformation.
The longitudinal cross-section of the side wall of fish-skin 4 is sequentially connected by multiple v-shaped structures and is constituted, and the recess of v-shaped structure forms ditch
The junction of slot, adjacent two v-shaped structures forms wave crest.V-shaped structure makes fish-skin 4 form bellows structure, processing technology
It is good.
When Biomimetic Fish fish body is in nature extended configuration, the both sides continuous v-shaped structure of corrugated tube shape fish-skin is not affected by pulling force
Or the effect of pressure, show structure size when design.Its initial configuration size is：The angle of v-shaped structure is 45 °, V-arrangement knot
The unilateral length of two waists of the isosceles triangle being configured to 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.
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.At this point, V
Shape structure angle is about 20 °, and the distance of adjacent v-shaped structure wave crest 2 is about 2.5mm.
From the structure size of above-mentioned fish-skin 4, the depth that we can obtain v-shaped structure fish-skin groove is about 7mm, adjacent
The distance between wave crest 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.
As shown in figure 5, propulsion system 2 include three propulsion units being sequentially connected, each propulsion unit from inside to outside according to
Secondary includes driving device 23, driving device inner support 24 and driving device support arm 22；One end of driving device support arm 22 connects
It is connected on the output shaft of driving device 23 and is rotated with output shaft, the other end of driving device support arm 22 is pivotally
It is connected on driving device inner support 24, in the driving device of the middle part of driving device support arm 22 and the propulsion unit at its rear
Holder 24 is fixedly connected.
The output shaft of driving device 23 is longitudinally arranged, in the same propulsion unit, the driving device support arm 22
Both ends rotate coaxially；Between different propulsion units, the rotary shaft of the driving device support arm 22 is mutually parallel.
Discoidal skeleton 21 is equipped between adjacent propulsion unit.Disc skeleton 21 respectively with the propulsion unit of both sides
It is connected, the contact area of propulsion unit and disc skeleton 21 is larger, improves the reliability of connection；Meanwhile discoidal bone
Frame 21 is uniformly contacted with the madial wall of fish-skin 4, is played a supporting role, and the anti-pressure ability of enhancing fish-skin 4 reduces it under hydraulic pressure
Fish body deflection.
The structure of driving device inner support 24 as shown in fig. 6, driving device inner support 24 includes the main body of U-shaped, main body
Both ends are symmetrically equipped with the first mounting plate.The structure of driving device 23 is as shown in fig. 7, the both sides of driving device 23 are respectively equipped with
Two mounting plates, the first mounting plate and the second mounting plate are fixed together correspondingly, the master of driving device inner support 24
Body covers side opposite with output shaft in driving device 23.
The structure of driving device support arm 22 is as shown in fig. 7, driving device support arm 22 includes that two pieces of transverse slats and one piece are perpendicular
Plate, two pieces of transverse slats are symmetrically installed on the both ends of riser, and one of transverse slat is connected with the output shaft of driving device 23, another
Block transverse slat is connected with driving device inner support 24.
Between driving device support arm 22 and driving device 23 and driving device support arm 22 and other propulsion units
Between be attached by driving device inner support 24, it is more solid and reliable and convenient for connector installation；Branch in driving device
Frame 24 also forms driving device 23 certain protective effect.Driving device support arm 22 forms a U being rotated by 90 ° to side
Shape structure, riser are connect with the propulsion unit at its rear, make the structure of entire propulsion system closely.
This bionic coatings system is cascaded by three joint units.The maximum rotation angle of single joint is positive and negative 90
Degree.If joint cascade number is N (N>=2) it is positive and negative that, then with respect to first, the n-th joint accessible maximum angle in joint is poor
90*(N-1).And each joint can be controlled by bionic coatings algorithm.Controllable parameter includes that each joint carries out period fortune
The dynamic bias angle in poor, each joint of angular phase between dynamic amplitude, period, speed, each joint and quiescent biasing angle.
In the present embodiment propulsion system, three are formed at the output shaft for three driving devices 1 that three propulsion units are included
A joint is compared with the trunk of true fish body, and simulation degree is high, before capable of being realized by the cooperation cooperative motion in three joints
Into, retreat, turn left, turn right and the movements such as original place autobiography.
As shown in figure 9, tail portion 3 includes tail fin holder 31 and tail fin 33,31 one end of tail fin holder is connected with trunk, tail
31 other end of fin holder is equipped with tail fin 33.The middle part and both sides of tail fin 33 are respectively equipped with rigid tail fin clamping plate 32, tail fin folder
Plate 32 is connected with tail fin holder 31 and tail fin 33 simultaneously.
The tail fin 33 of rear end can select certain thickness rubber slab to be made, and tail fin clamping plate 32 is using certain thickness stainless
Steel is made, and can reduce the development cost of Biomimetic Fish.Tail fin clamping plate 32 can improve the structural strength of rubber tail fin, it is made to swing
Travelling states of the Shi Gengjia close to true fish.Tail fin holder 31, tail fin clamping plate 32 can be set after selecting best tail fin structure
It is calculated as inner skeleton structure, finally uses encapsulated processing, the beautiful tail fin structure in support outside.
As shown in figure 9, in the present embodiment, the shape of tail fin 33 is the shape of the approximate swallow-tail form with arc notch, but
It is that the present invention does not limit the shape of tail fin 33, can arbitrarily changes tail fin under the premise of not changing the structure of tail portion 3
33 shape, for studying influence of the caudal-fin models to bionic machine fish propulsive efficiency.
In the present embodiment, driving device 23 uses steering engine, removes outside the steering engine described in embodiment, inventive drive means
All controllable motor units such as servo motor, stepper motor, direct current generator also can be used.
The fold of fish-skin 4 uses v-shaped structure in the present embodiment, further, it is also possible to using U-shaped fold or other forms
Groove and fold.
The U-shaped frame structure of the main body of driving device inner support 24 saves the most under the premise of realizing its function in the present embodiment
Material saving mitigates the weight of propulsion system, and more other operational modules are carried convenient for the inside of Biomimetic Fish humanoid robot.But
That the shape of the main body of driving device inner support 24 of the present invention is not limited to the shape described in embodiment, may be arranged as by
The groove-like structure that the lower sidewall of driving device 23 covers.The shape of driving device support arm 22 is also not necessarily limited to embodiment institute
The shape stated, transverse slat or riser can be extended.
In the present invention, the quantity of propulsion unit is not limited to three described in embodiment, can be by increasing propulsion unit
Quantity improve the variability of the propulsive force and system motion form, shape of propulsion system；It can also be promoted by reducing
The quantity of unit adapts to the movement under simple environment.Multiple propulsion units are sequentially connected, the propulsion unit of rearmost part relative to
The rotation angle of the propulsion unit of forefront is the superposition value of the rotation angle in each joint, and the high fortune of flexibility ratio may be implemented
It is dynamic, more really simulate swing posture when fish swimming.
In the present invention, "front", "rear" is intended merely to facilitate description and the relative position of use, with the head of bionic machine fish
Portion is front, and tail portion is described for rear, can not be interpreted as absolute position and limit the invention.
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 (8)
1. a kind of bionic machine fish, characterized in that including head, trunk and the tail portion being sequentially connected,
The front end on the head has elongated cutting-edge structure, and the outer surface on the head is streamlined structure；
The trunk includes fish-skin and propulsion system, and the fish-skin is wrapped in the outside of the propulsion system；The fish-skin
Global shape is streamlined structure, and multiple grooves are distributed in its long axis direction of the fish-skin upper edge side by side, make the fish-skin shape
At flexible concertina structure；
Groove on the fish-skin is around the end to end ring-shaped groove of the side wall of the fish-skin, and the side wall of the fish-skin is indulged
It is sequentially connected and is constituted by multiple v-shaped structures to section, the recess of the v-shaped structure forms the groove, adjacent two institutes
The junction for stating v-shaped structure 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；
The propulsion system drives the trunk to swing to realize the underwater movement of bionic machine fish；
The tail portion includes tail fin holder and tail fin, and tail fin holder one end is connected with the trunk, the tail fin branch
The frame other end is equipped with the tail fin.
2. bionic machine fish according to claim 1, characterized in that being internally provided with for the head accommodates carrying module
The top and bottom of cavity, the cavity are plane, and the two sides of the cavity are arcwall face.
3. bionic machine fish according to claim 1, characterized in that by the rear portion phase of the cutting-edge structure and the head
The part of connection is changeover portion, and the upper and lower part of the changeover portion is arcwall face, the both sides of changeover portion be arranged symmetrically it is flat
Plane.
4. according to any bionic machine fish of claims 1 to 3, characterized in that between the head and the trunk
It is disposed with sealing ring, collision mat and waterproof cover, the shape of the collision mat is with the head close to the trunk
The shape of end face is consistent, and the connecting hole of control line fairlead and installation connecting element is provided on the waterproof cover.
5. bionic machine fish according to claim 1, characterized in that the propulsion system include it is multiple be sequentially connected push away
Into unit, each propulsion unit includes being propped up outside driving device, driving device inner support and driving device successively from inside to outside
Frame；One end of the driving device support arm is connected on the output shaft of the driving device and is rotated with the output shaft, institute
The other end for stating driving device support arm is pivotally connected on the driving device inner support, the driving device
The middle part of inner support is fixedly connected with the driving device support arm of the propulsion unit at its rear.
6. bionic machine fish according to claim 5, characterized in that the output shaft of the driving device is longitudinally arranged,
In the same propulsion unit, the both ends of the driving device support arm rotate coaxially；Between different propulsion units, the drive
The rotary shaft of dynamic device support arm is mutually parallel.
7. bionic machine fish according to claim 6, characterized in that be equipped with disc between the adjacent propulsion unit
Skeleton.
8. bionic machine fish according to claim 1, characterized in that the middle part and both sides of the tail fin are respectively equipped with rigidity
Tail fin clamping plate, the tail fin clamping plate is connected with the tail fin holder and the tail fin simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611223994.9A CN106741774B (en) | 2016-12-27 | 2016-12-27 | A kind of bionic machine fish |
Applications Claiming Priority (1)
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| CN108557045A (en) * | 2018-07-04 | 2018-09-21 | 西北工业大学 | A kind of stay-supported flexible bionic machine fish body |
| CN109131809A (en) * | 2018-08-28 | 2019-01-04 | 西北工业大学 | It is a kind of to swing the unmanned vehicles promoted based on tail bone |
| CN109774899A (en) * | 2019-03-25 | 2019-05-21 | 中国计量大学 | A kind of bionic machine fish with dual drive system |
| CN110027691A (en) * | 2019-05-15 | 2019-07-19 | 彭爽 | A kind of bionic mechanical fish |
| CN110588934B (en) * | 2019-10-15 | 2024-01-30 | 上海海洋大学 | Underwater flexible bionic squid |
| CN112319753B (en) * | 2020-11-16 | 2021-09-24 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
| CN112733342B (en) * | 2020-12-30 | 2023-04-07 | 成都杰启科电科技有限公司 | Device for simulating real swimming scene of robotic fish and control method thereof |
| CN112498639B (en) * | 2020-12-31 | 2022-09-23 | 夏秀芬 | Bionic fishtail paddle |
| CN114919724B (en) * | 2022-03-15 | 2024-03-15 | 中国科学院自动化研究所 | Robot fish system driven by bionic tendons and operation control method |
| CN114986996B (en) * | 2022-05-05 | 2023-07-18 | 华南理工大学 | Bionic drag-reduction fish skin and manufacturing method thereof |
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