CN107458566A - A kind of bionic machine fish - Google Patents
A kind of bionic machine fish Download PDFInfo
- Publication number
- CN107458566A CN107458566A CN201710765642.4A CN201710765642A CN107458566A CN 107458566 A CN107458566 A CN 107458566A CN 201710765642 A CN201710765642 A CN 201710765642A CN 107458566 A CN107458566 A CN 107458566A
- Authority
- CN
- China
- Prior art keywords
- machine fish
- bionic machine
- afterbody
- head
- trunk
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
Abstract
The invention discloses a kind of bionic machine fish, the bionic machine fish includes head, trunk and afterbody, and the head, trunk and afterbody through the axis of the head, trunk and afterbody by linking into an integrated entity；The head and afterbody are relative to the trunk horizontal movement；The power set for driving the head and afterbody motion are provided with the trunk.
Description
Technical field
The present invention relates to bionics techniques field, and in particular to a kind of bionic machine fish.
Background technology
After the 1990s, with fish promotion tactics research go deep into, robot technology, bionics, electronic technology,
The new development of material science and control technology, simulate fish swimming mechanism underwater robot --- bionic machine fish by
Extensive concern both domestic and external." flux driving is theoretical " that Massachusetts Institute Technology promotes according to the fish tail of proposition, is developed
Long 1.2 meters bionical tuna and long 0.8 meter bionical mullet；Marine Science Center of Northeast USA university is closed using shape memory
Gold and linkage develop the machine eel of undulatory propulsion；University of New Mexico of the U.S. utilizes polyelectrolyte ion exchange
Film (IEM), it is plated on the metal book piece of Biomimetic Fish Fin, artificial synthesis muscular movement is realized by extra electric field, produces similar eel
The travelling mode of fish；Essex universities of Britain devise the machine fish with three-dimensional motion ability.Tokyo Univ Japan have developed two
The self-propelled robotic dolphin in joint；Kato etc. have studied the control to pectoral fin propulsive mechanism, and develop machine fish model machine sea bass；
Japan Nagoya university develops marmem and drives miniature physical undulations formula underwater propeller and Piezoelectric Ceramic
Dipterus type Micro-Robot.In China, Harbin Engineering University has carried out the research work of bionic machine octopus；Beijing Aviation navigates
Its university's robot research have developed machine eel, robotic dolphin and using flat roomy Ax-shaped hydrodynamic force external form
SPC series bionic machine fish；The made diarticular bionic machine fish model of Chinese Academy of Sciences's Shenyang automation research；Peking University
Mechanics have developed bionical dolphin model machine with engineering science system；Chinese Academy of Sciences's Beijing automation research develop microminiature machine fish,
Multisensor bionic machine fish etc..
But current Biomimetic Fish exists and moves the shortcomings that dumb, complicated, thus cause cost it is high, can not
Large-scale promotion application, it can not even more reach the associated movement of people computer system.
The content of the invention
In view of this, the embodiment of the present invention it is expected to provide a kind of bionic machine fish, and simple in construction, motion is flexible, can advise greatly
Mould popularization and application, and be the associated movement equipment that people computer system can be achieved.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
The embodiments of the invention provide a kind of bionic machine fish, the bionic machine fish includes head, trunk and afterbody, institute
Head, trunk and afterbody are stated by being linked into an integrated entity through the axis of the head, trunk and afterbody；The head and afterbody phase
For the trunk horizontal motion；The power set for driving the head and afterbody motion are provided with the trunk.
Preferably, the head and afterbody are swung relative to the trunk horizontal direction, and the pendulum of the head and afterbody
Dynamic order is opposite；The afterbody is provided with the tail fin of preset length.
Preferably, the head and trunk junction are provided with forelimb, the forelimb and head linkage；The afterbody and
Trunk junction is provided with hind leg, the hind leg and afterbody linkage.
Preferably, the power set include motor and battery, the power input connection institute of the motor
State battery；The output shaft of the power set is connected by transmission mechanism with the head and afterbody.
Preferably, the transmission mechanism includes at least two pitch wheels and linkage, and the gear turns
It is dynamic to drive the linkage to drive the swing of the head and afterbody in the horizontal direction.
Preferably, the trunk includes the waterproof compartment of sealing, and the motor and battery are installed in the waterproof compartment.
Preferably, the trunk also includes buoyancy compartment, and the buoyancy compartment is provided with the compression member being compressed to air；Institute
It is adjacent with the waterproof compartment to state buoyancy compartment.
Preferably, the bionic machine fish also includes setting panel and controls the control of the power set and compression member
Part, described control unit one end connect the power set and compression member respectively, and the other end connects the bionic machine fish
Setting panel；The control unit is arranged at the waterproof compartment.
Preferably, the trunk includes chest section and belly section, and chest section and belly the section upper surface is respectively equipped with chest
Pad and abdominal pad；The chest pad moves relative to the chest section horizontal direction, and the abdominal pad is relative to the belly section level side
To movement.
Preferably, the forelimb is provided with easy to grasp handle, and the handle is provided with the behaviour for operating the bionic machine fish
Make button.
Preferably, the forelimb and hind leg are equipped with least one folding joint for being used to collapse the forelimb or hind leg.
Preferably, the bionic machine fish is provided with motion state monitoring component and Geographic mapping part, the motion
Status monitoring part is arranged at the head, and the Geographic mapping part is arranged in the waterproof compartment.
Bionic machine fish provided in an embodiment of the present invention, including head, trunk and afterbody, the head, trunk and afterbody
By being linked into an integrated entity through the axis of the head, trunk and afterbody；The head and afterbody are horizontal relative to the trunk
Move in direction；The power set for driving the head and afterbody motion are provided with the trunk；It can be seen that the embodiment of the present invention is imitative
Raw machine fish, the motion on the head, afterbody horizontal direction of bionic machine fish is driven by power set, is existed with reaching imitation fish
The travelling purpose of the water surface, and it is simple in construction, and motion is flexible, and can intelligent control motion also manual operation campaign；In addition, by
In design structure no longer as prior art is so complicated, accordingly, it is capable to reduce research and development and the production cost of bionic machine fish, and it is easy to
Popularization and application.
Brief description of the drawings
Fig. 1 is the schematic diagram of bionic machine fish of the embodiment of the present invention；
Fig. 2 is the schematic diagram of Fig. 1 side view；
Fig. 3 is the power transmission schematic diagram of bionic machine fish of the embodiment of the present invention.
Embodiment
The embodiments of the invention provide a kind of bionic machine fish, the bionic machine fish includes head, trunk and afterbody, institute
Head, trunk and afterbody are stated by being linked into an integrated entity through the axis of the head, trunk and afterbody；The head and afterbody energy
Relative to the trunk horizontal motion；The power set for driving the head and afterbody motion are provided with the trunk.
Here, the bionic machine fish can be the sports equipment for amusement and travel, more specifically can be to imitate fish
Class and the bionic movement equipment of reptile motion；The bionic machine fish can be used for that the water surface is travelling, underwater travelling or sandy beach
Creep；Wherein, can be that user lies prone or ridden over and carries out manned travelling on the bionic machine fish, people needs when the water surface is travelling
Diving equipment has been dressed, can also be unmanned individually travelling, pass through remote control control；Can be that user lies prone when underwater travelling
Manned diving is carried out on the bionic machine fish, people needs also exist for having dressed diving equipment；Can be user when sandy beach is creeped
Lie prone carried out on the bionic machine fish it is manned walking or it is unmanned individually creep, pass through remote control control.
The principle of the embodiment of the present invention is：The head of bionic machine fish, afterbody horizontal direction are driven by power set
Motion, to reach the purpose imitated fish and moved about in the water surface, and also it is simple in construction, motion is flexible；Further, since design structure is not
Again as prior art is so complicated, accordingly, it is capable to research and development and the production cost of bionic machine fish are reduced, and application easy to spread.
The characteristics of in order to more fully hereinafter understand the embodiment of the present invention and technology contents, below in conjunction with the accompanying drawings and have
The present invention is further elaborated for the Application Example of body, appended accompanying drawing purposes of discussion only for reference, is not used for limiting this
Inventive embodiments.
Fig. 1 is the composition structural representation of bionic machine fish of the embodiment of the present invention, and Fig. 2 is the schematic diagram of Fig. 1 side view；
As depicted in figs. 1 and 2, the bionic machine fish includes head 11, trunk 21 and afterbody 31, the head 11, trunk 21 and tail
Portion 31 is linked into an integrated entity by the axis (being not shown) through the head 11, trunk 21 and afterbody 31；The head
11 and afterbody 31 can be relative to the horizontal motion of trunk 21；It is provided with the trunk 21 and drives the head 11 and afterbody
The power set (being not shown) of 31 motions.
Specifically, the head 11 and afterbody 31 can be swung relative to the horizontal direction of trunk 21, and the head 11
It is opposite with the swing order of afterbody 31；The afterbody 31 is provided with the tail fin of preset length；
Here, the tail fin of the afterbody 31 is the major impetus that the bionic machine fish advances, and the length of the tail fin can
Determined with the power of the desin speed according to the bionic machine fish and power set；The swing of the head 11 and afterbody 31 is suitable
Sequence is on the contrary, primarily to ensure the balance of bionic machine fish during exercise；
More specifically, the plane bearing for being easy to head oscillation is provided between the head 11 and afterbody 31 and trunk 21；And
And in order to further reduce resistance of the bionic machine fish in water, lead between the head 11 and afterbody 31 and trunk 21
The connection of cross slide rail is crossed, i.e., described head 11 and afterbody 31 are while relative to 21 horizontal hunting of trunk, moreover it is possible to relative
Slided in the direction all around of the trunk 21.
Further, the both sides of head 11 are respectively equipped with flipper 111, are needed in the bionic machine fish surface motions
Play a part of helping to turn to when turning to.
The head 11 and the junction of trunk 21 are provided with forelimb 41, and the forelimb 41 and the head 11 are linked；The tail
Portion 31 and the junction of trunk 21 are provided with hind leg 51, and the hind leg 51 and the afterbody 31 link；
As depicted in figs. 1 and 2, forelimb 41 is divided into left fore and right fore, the hind leg using the axis of trunk 21 as boundary
51, using the axis of the trunk 21 as boundary, are divided into left hind and right hind；So, it is described when the head is swung to the left
Left fore produces the effect struck backward, and right fore produces the effect struck forward, but by designing the forelimb 41 of suitable shape,
Such as the flippers of one inverted V-shaped of design, it can cause efficiency of the pull is better than backward to strike forward, i.e., described forelimb 41 and the head
The result that portion 11 links is to produce power forward；
Similarly, the motion of the hind leg 51 can also produce power forward；
So, the swing by forelimb 41 and hind leg 51 in the horizontal direction, before further increasing the bionic machine fish
Enter power.
Further, the forelimb 41 of the bionic machine fish and hind leg 51 are additionally provided with support ground cushion 411, so, described bionical
Machine fish can be crawled at sandy beach by the swing of forelimb 41 and hind leg 51 in the horizontal direction；
With the water surface it is travelling, by designing the forelimb 41 and hind leg 51 of suitable shape, institute's forelimb 41 and hind leg 51 can be made
Swing in the horizontal direction, which produces, promotes the power of the bionic machine fish forward.
Specifically, the head 11, trunk 21, afterbody 31, forelimb 41 and hind leg 51 can use engineering plastics material
Make, such as polyamide (Polyamide Resin), polytetrafluoroethylene (PTFE) (Polytetrafluoroethylene), ABS plastic
(Acrylonitrile Butadiene Styrene plastic) etc. or plastic-steel, fiberglass reinforced plastics
Composites such as (GFRP or FRP)；
Further, the support ground cushion 411 of the forelimb 41 and hind leg 51, can also in addition to it can use above-mentioned material
Made using quality of rubber materials, it is so more resistant；The tail fin of the afterbody 31 is preferably made using fiberglass reinforced plastics, intensity
More preferably.
The power set include motor and battery (being not shown), the power input of the motor
End connects the battery；The output shaft (being not shown) of the power set passes through transmission mechanism and the head 11 and tail
Portion 31 connects, and concrete structure combination Fig. 3 of connection is introduced.
Further, the trunk 21 includes the waterproof compartment (being not shown) of sealing, the motor and battery
It is installed in the waterproof compartment；
Here, the motor is DC brushless motor, and the battery is the water-tight battery of dry type；The battery fills one
Secondary electricity, it can be used continuously about 4 hours.
Specifically, the position of the output shaft stretching waterproof compartment of the motor can use sealing ring to seal or fill out
Material sealing.
Further, the trunk 21 also includes buoyancy compartment (being not shown), and the buoyancy compartment is provided with can be to air
The compression member being compressed；So, air in buoyancy compartment is compressed by compression member, reaching makes the bionic machine
The purpose that fish is dived beneath the water；Because purpose of design is sports equipment, submerged depth is no more than 40 meters.
Specifically, after compression member is compressed to air in buoyancy compartment, pressure increase volume diminishes in buoyancy compartment, so as to
Buoyancy is set also to diminish, the machine fish sinks；On the contrary, after being reduced to compressed air, buoyancy compartment pressure reduces, and volume becomes
Greatly, buoyancy also becomes big, and the machine fish floats；The compression member can be air compressor；
The buoyancy compartment is adjacent with the waterproof compartment, and the buoyancy compartment and the waterproof compartment can be front and rear arrangements.
In the embodiment of the present invention, the bionic machine fish reaches as high as 6 kilometers/hour in the movement velocity of the water surface, in water
Under movement velocity reach as high as 4 kilometers/hour, the speed creeped on ground is then significantly less than the movement velocity of the water surface, more than 1
Kilometer/hour.
The bionic machine fish also includes setting panel 61 and controls the control unit of the power set and buoyancy compartment (not
Shown in figure), described control unit one end connects the power set and compression member respectively, and other end connection is described bionical
The setting panel 61 of machine fish；The control unit is arranged at the waterproof compartment；
Specifically, the control unit can be a micro-control unit (MCU, Microcontroller Unit), institute
State the firmware for being provided with control unit and controlling the power set and compression member；
It is described to set panel 61 to be used to be configured the exercise performance of the bionic machine fish, for example speed can be set
Degree, power, open the infrared ray part coordinated with remote control, open lower rice root nematode etc.；
Further, it is described that the pattern choosing being additionally provided with panel 61 including intelligent mode, electric model, people's force mode is set
Button is selected, for controlling the motor pattern of the bionic machine fish；
Corresponding with the mode selection button, the control unit is provided with the fortune of three kinds of control biomimetic robot fish movements
Dynamic model formula：" intelligent mode ", " electric model ", " people's force mode "；Wherein,
" intelligent mode " to be not required to user's operation, the bionic machine fish is travelled forward automatically, and general speed is fixed
Low speed is arranged to, and moving region is default, can identify front obstacle in advance；" electric model " is user's control institute
The direction of advance of bionic machine fish is stated, speed can be adjusted, and can also be fixed；" people's force mode " relies on to close power set
Manpower is driven forward, for aiding in taking exercise in user's water, when the battery that " people's force mode " can be used for power set exhausts；
Specifically, the predetermined movement region in described " intelligent mode " can be set by limiting the distance being continuously advanced
Put, that is, be continuously advanced after the distance of restriction and just turn 90 degree, the predetermined movement region of so described bionic machine fish can be
In the equal rectangle of one length of side；
, it is understood that predetermined movement region can also be other similar regular shapes；
Further, the bionic machine fish is also provided with sonar sounding set (being not shown), in intelligence
The barrier in identification front in energy pattern.
Further, the trunk 21 includes chest section 71 and belly section 81, chest section 71 and belly section 81 upper table
Face is respectively equipped with chest pad 711 and abdominal pad 811, and the chest pad 711 and abdominal pad 811 can be relative to the chest section 71 and belly sections 81
Horizontal direction moves；So, when user is lain prone or ridden on the bionic machine fish, the bionic machine fish is in motion process
In be easier grasp balance；
Specifically, the chest section 71 connects the chest pad 711 and abdominal pad 811 with belly section 81 by cross slide rail.
Further, the forelimb 41 is provided with easy to grasp handle 412, and it is described bionical that the handle 412 is provided with operation
The Cao Zuoanjian of machine fish；
The Cao Zuoanjian can include mode switching key, speed governing button, turn to button etc., the mode switching key
For switching the motor pattern of the bionic machine fish, the debugging button is used to adjust the biomimetic robot fish movement speed,
The direction for turning to button and being used to control the bionic machine fish.
Further, the forelimb 41 and hind leg 51 are equipped with least one for collapsing the forelimb 41 or hind leg 51
Folding joint；So, after the completion of use, the forelimb 41 and hind leg 51 can be collapsed, is easy to carry.
Specifically, the folding joint can be provided with the hinge of latch, and the rotation of hinge is limited by latch, fold
When, cancel rotation limitation of the latch to hinge, complete to fold；
, it is understood that the folding joint can also be other structures.
Further, the bionic machine fish is provided with motion state monitoring component (being not shown) and geographical position is determined
Position part (being not shown), the motion state monitoring component are arranged at the head 11, the Geographic mapping portion
Part is arranged in the waterproof compartment；
The motion state monitoring component is used for the dynamic equilibrium for controlling the bionic machine fish, and its principle is to pass through gravity
Sensing element detects the gravity center shift situation on the head 11 to determine the motion state of the bionic machine fish, default to deviateing
The situation of equilbrium position, the balance of bionic machine fish is adjusted by bascule；
Specifically, the motion state monitoring component can be gyroscope (gyroscope), and the bascule can be
The ballasting balance weight that can be moved left and right, the ballasting balance weight are located in the waterproof compartment, provided with the driving ballasting balance weight
The balance motor moved left and right, the balance motor adjust the ballasting according to the monitoring result of the motion state monitoring component
Position of the balance weight in the waterproof compartment；The power input of the balance motor connects the battery.
The Geographic mapping part, the bionic machine is obtained for taking the user outside the bionic machine fish
The geographical position of fish, available for joint search and rescue, calling for help, coastal management etc..
Specifically, the Geographic mapping part can be global positioning system (GPS, Global Positioning
System) locator；
More specifically, the user taken outside the bionic machine fish is communicated by being established with the bionic machine fish
The server of connection obtains the geographical position of the bionic machine fish, and the control unit of the bionic machine fish is built-in with can be with institute
State user identity identification (SIM, the Subscriber Identification Module) card of server connection.
Fig. 3 is the power transmission schematic diagram of bionic machine fish of the embodiment of the present invention, as shown in figure 3, the bionic machine fish
Including head 11, trunk 21 and afterbody 31, the head 11, trunk 21 and afterbody 31 pass through through the head 11, trunk 21
Linked into an integrated entity with the axis 90 of afterbody 31；The transmission mechanism includes the power of power set being delivered to head 11 and forelimb
41 the first transmission mechanism and the second transmission mechanism that the power of power set is delivered to afterbody 31 and hind leg 51；Wherein,
First transmission mechanism includes connecting the first gear 91 of the power set and the connection head 11 with before
The second gear 92 of limb 41, three intermeshing idler gears are connected between the first gear 91 and second gear 92
93, the idler gear 93 engages with the first gear 91 and second gear 92 respectively；
Specifically, the output shaft (being not shown) of the power set could be arranged to perpendicular to the axis 90,
The gear train for driving the first gear 91 to rotate is set to be more convenient (being not shown) so on output shaft；
, it is understood that can also be by setting the chain chain for driving the first gear 91 to rotate on output shaft
The transmission parts such as wheel, band and belt wheel, transfer power to the first gear 91.
The second gear 92 connects the head 11 and forelimb 41 by connecting rod 94, due to the head 11 and forelimb 41
It is linkage, therefore the connecting rod 94 is connected to forelimb 41；
More specifically, one end of described two connecting rods 94 and the second gear 92 are be hinged, two pin joints and gear
The distance in the center of circle is equal；The other end of described two connecting rods 94 is respectively articulated with left fore and right fore, and two pin joints are with
The distance of the axis of axle 90 is equal；
So, each connecting rod 94 constitutes double rocker mechanism with second gear 92 and forelimb 41, when power set pass through institute
When stating first gear 91 and driving the second gear 92 to rotate, the connecting rod 94 can promote the forelimb 41 or head 11 in level
Direction rotates；In order to reach the purpose of swing, the power set are arranged to rotate and reverse alternate run, are normally advancing
When, the time rotated and reverse is equal, if necessary to adjustment direction, then can adjust the time scale rotated and reverse；
The operation of the power set is controlled by the control unit.
Second transmission mechanism includes the 3rd gear 101 for connecting the power set and the connection afterbody 31 with after
4th gear 102 of limb 51, two intermeshing center tooths are connected between the 3rd gear 101 and the 4th gear 102
Wheel 103, the idler gear 103 engages with the 3rd gear 101 and the 4th gear 102 respectively；
Because the idler gear 103 of the second transmission mechanism only has two, and the idler gear 93 of the first transmission mechanism has three
It is individual, therefore the afterbody 31, hind leg 51 are opposite with the swing order of the head 11, forelimb 41.
Specifically, the output shaft (being not shown) of the power set could be arranged to perpendicular to the axis 90,
Set the gear train (being not shown) for driving the 3rd gear 101 to rotate more convenient so on output shaft；
Because the afterbody 31 is the major impetus that the bionic machine fish advances, it is therefore desirable to is set and the hind leg
51 different amplitudes of fluctuation, therefore the 4th gear 102 is provided only with the connecting rod 104 for connecting the hind leg 51, additionally by band
Transmission transfers power to belt wheel 105, and connecting rod 106 is then set on belt wheel 105, and connecting rod 106 connects the afterbody 31；
More specifically, one end of described two connecting rods 104 is be hinged with the 4th gear 102, two pin joints and gear
The center of circle distance it is equal；The other end of described two connecting rods 104 is respectively articulated with left hind and right hind 51, two pin joints
It is equal with the distance of the axis of axis 90；One end of the connecting rod 106 is be hinged with the belt wheel 105, the other end of the connecting rod 106
It is hinged the afterbody 31；
So, each gear 102 of connecting rod 104 and the 4th and hind leg 51 constitute double rocker mechanism, when power set pass through
When 3rd gear 101 drives the 4th gear 102 rotation, the connecting rod 104 can promote the hind leg 51 in level side
To rotation；In order to reach the purpose of swing, the power set are arranged to rotate and reverse alternate run, in normal advance,
The time rotated and reverse is equal, if necessary to adjustment direction, then can adjust the time scale rotated and reverse；It is described
The operation of power set is controlled by the control unit；
Similarly, the connecting rod 106 constitutes double rocker mechanism with afterbody 31, and the connecting rod 106 can promote the afterbody 31
Swing in the horizontal direction；
Above-mentioned first gear 91, second gear 92, the 3rd gear 101, the 4th gear 102, idler gear 93 and center tooth
Wheel 103 may each be involute spur gear wheel, is simplified form in Fig. 3, tooth form is not shown；Can certainly be it is other can
Transmit the gear of torque；
Above-mentioned belt wheel 105 can be common V-belt belt wheel or Toothed belt pulley.
, it is understood that the bionic machine fish can also use the transmission mechanism of other structures, reach the head
11st, the purpose that forelimb 41, hind leg 51 and afterbody 31 are swung in the horizontal direction.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention, it is all
All any modification, equivalent and improvement made within the spirit and principles in the present invention etc., it should be included in the protection of the present invention
Within the scope of.
Claims (12)
1. a kind of bionic machine fish, it is characterised in that the bionic machine fish includes head, trunk and afterbody, the head, body
Dry and afterbody through the axis of the head, trunk and afterbody by linking into an integrated entity；The head and afterbody are relative to described
Trunk horizontal motion；The power set for driving the head and afterbody motion are provided with the trunk.
2. bionic machine fish according to claim 1, it is characterised in that the head and afterbody are relative to the trunk water
Square to swing, and the swing order of the head and afterbody is opposite；The afterbody is provided with the tail fin of preset length.
3. bionic machine fish according to claim 2, it is characterised in that the head and trunk junction are provided with forelimb,
The forelimb and head linkage；Afterbody and the trunk junction is provided with hind leg, the hind leg and afterbody linkage.
4. according to the bionic machine fish described in claim 1,2 or 3, it is characterised in that the power set include motor
And battery, the power input of the motor connect the battery；The output shaft of the power set passes through transmission mechanism
It is connected with the head and afterbody.
5. bionic machine fish according to claim 4, it is characterised in that the transmission mechanism is mutually nibbled including at least two
The gear and linkage of conjunction, the rotation of the gear drive the linkage to drive the head and afterbody in the horizontal direction
Swing.
6. bionic machine fish according to claim 5, it is characterised in that the trunk includes the waterproof compartment of sealing, described
Motor and battery are installed in the waterproof compartment.
7. bionic machine fish according to claim 6, it is characterised in that the trunk also includes buoyancy compartment, the buoyancy
Cabin is provided with the compression member being compressed to air；The buoyancy compartment is adjacent with the waterproof compartment.
8. bionic machine fish according to claim 7, it is characterised in that the bionic machine fish also include set panel and
The power set and the control unit of compression member are controlled, described control unit one end connects the power set and pressure respectively
Contracting part, the other end connect the setting panel of the bionic machine fish；The control unit is arranged at the waterproof compartment.
9. according to the bionic machine fish described in claim 1,2 or 3, it is characterised in that the trunk includes chest section and belly
Section, chest section and belly the section upper surface is respectively equipped with chest pad and abdominal pad；The chest pad is relative to the chest section level side
To movement, the abdominal pad moves relative to the belly section horizontal direction.
10. bionic machine fish according to claim 3, it is characterised in that the forelimb is provided with easy to grasp handle, institute
State handle and be provided with the Cao Zuoanjian for operating the bionic machine fish.
11. bionic machine fish according to claim 3, it is characterised in that the forelimb and hind leg are equipped with least one
For collapsing the folding joint of the forelimb or hind leg.
12. bionic machine fish according to claim 6, it is characterised in that the bionic machine fish is supervised provided with motion state
Survey part and Geographic mapping part, the motion state monitoring component are arranged at the head, the Geographic mapping
Part is arranged in the waterproof compartment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710765642.4A CN107458566B (en) | 2017-08-30 | 2017-08-30 | Bionic robot fish |
| PCT/CN2017/110116 WO2019041562A1 (en) | 2017-08-30 | 2017-11-09 | Bionic robotic fish |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710765642.4A CN107458566B (en) | 2017-08-30 | 2017-08-30 | Bionic robot fish |
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| CN107458566A true CN107458566A (en) | 2017-12-12 |
| CN107458566B CN107458566B (en) | 2020-01-10 |
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| CN201710765642.4A Active CN107458566B (en) | 2017-08-30 | 2017-08-30 | Bionic robot fish |
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| WO (1) | WO2019041562A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108346361A (en) * | 2018-03-06 | 2018-07-31 | 自贡亘古龙腾科技有限公司 | A kind of mechanical dinosaur of brushless motor modular driving |
| CN110588934A (en) * | 2019-10-15 | 2019-12-20 | 上海海洋大学 | Underwater flexible bionic squid |
| CN111251325A (en) * | 2020-04-16 | 2020-06-09 | 王源浩 | Underwater bionic robot |
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| CN101033000A (en) * | 2007-04-28 | 2007-09-12 | 哈尔滨工程大学 | Multi-joint fluctuation-propulsion fish-shape robot |
| DE102008053495A1 (en) * | 2008-10-28 | 2010-04-29 | Pfeifer, Henry, Dipl.-Wirtsch. Ing. | Muscular force operated diving device, has front part with control fin and brake surface, where device is driven by combination of s-shaped wave movement with wing profiles at vertical tail pin by utilization of large muscle groups |
| CN201807186U (en) * | 2010-10-14 | 2011-04-27 | 上海海洋大学 | Robotic fish compound turning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108346361A (en) * | 2018-03-06 | 2018-07-31 | 自贡亘古龙腾科技有限公司 | A kind of mechanical dinosaur of brushless motor modular driving |
| CN110588934A (en) * | 2019-10-15 | 2019-12-20 | 上海海洋大学 | Underwater flexible bionic squid |
| CN110588934B (en) * | 2019-10-15 | 2024-01-30 | 上海海洋大学 | Underwater flexible bionic squid |
| CN111251325A (en) * | 2020-04-16 | 2020-06-09 | 王源浩 | Underwater bionic robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107458566B (en) | 2020-01-10 |
| WO2019041562A1 (en) | 2019-03-07 |
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