CN107458566B - Bionic robot fish - Google Patents
Bionic robot fish Download PDFInfo
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- CN107458566B CN107458566B CN201710765642.4A CN201710765642A CN107458566B CN 107458566 B CN107458566 B CN 107458566B CN 201710765642 A CN201710765642 A CN 201710765642A CN 107458566 B CN107458566 B CN 107458566B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J11/00—Manipulators not otherwise provided for
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a bionic robot fish, which comprises a head part, a trunk part and a tail part, wherein the head part, the trunk part and the tail part are connected into a whole through a central shaft penetrating through the head part, the trunk part and the tail part; the head and tail move horizontally relative to the torso; and a power device for driving the head and the tail to move is arranged in the trunk.
Description
Technical Field
The invention relates to the technical field of bionics, in particular to a bionic robot fish.
Background
After the 90 s of the 20 th century, with the deepening of the research on the propulsion mechanism of fishes and the new development of robotics, bionics, electronic technologies, material science and control technologies, a novel underwater robot simulating the swimming mechanism of fishes, namely a bionic robot fish, has received wide attention at home and abroad. According to the proposed jet propulsion theory of fish tail propulsion, the American Massachusetts institute of technology, a bionic tuna with the length of 1.2 meters and a bionic mullet with the length of 0.8 meter are developed; the oceanic science center of northeast university of America utilizes shape memory alloy and a link mechanism to develop wave-propelled machine eels; the American New Mexico university utilizes polyelectrolyte Ion Exchange Membrane (IEM), plate on the metal flake of the bionic fish fin, realize the artificial synthetic muscle movement through the external electric field, produce the swimming mode similar to eel; the university of Essex, uk, designed robotic fish with three-dimensional motion capabilities. The university of tokyo in japan developed a two-joint self-propelled robotic dolphin; kato et al studied the control of the pectoral fin propulsion mechanism and developed a robotic fish model machine, Perch; the university of the Japanese famous ancient house develops a shape memory alloy driven micro body wave type underwater propeller and a piezoelectric ceramic driven double-fin fish type micro robot. The research work of the bionic machine octopus is carried out at Harbin engineering university in China; the research institute of Beijing aerospace university robot has developed mechanical eel, mechanical dolphin and SPC series bionic robotic fish with flat, wide and axe-shaped hydrodynamic appearance; a Shenyang automated research institute of Chinese academy of sciences makes a bionic robot fish model with two joints; the department of mechanics and engineering department of Beijing university has developed a bionic dolphin model machine; microminiature robotic fish, multi-sensor bionic robotic fish, and the like were developed by the Beijing Automation research institute of Chinese academy of sciences.
However, the existing bionic fish has the defects of inflexible movement and complex structure, so that the cost is high, the large-scale popularization and application cannot be realized, and the common movement of human-machine integration cannot be achieved.
Disclosure of Invention
In view of this, the embodiments of the present invention are expected to provide a bionic robot fish, which has a simple structure and flexible movement, can be popularized and applied in a large scale, and is a common sports apparatus capable of integrating man and machine.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the embodiment of the invention provides a bionic robot fish, which comprises a head part, a trunk part and a tail part, wherein the head part, the trunk part and the tail part are connected into a whole through a central shaft penetrating through the head part, the trunk part and the tail part; the head and tail move horizontally relative to the torso; and a power device for driving the head and the tail to move is arranged in the trunk.
Preferably, the head and the tail swing horizontally relative to the trunk, and the swing sequence of the head and the tail is opposite; the tail part is provided with a tail fin with a preset length.
Preferably, a forelimb is arranged at the joint of the head and the trunk, and the forelimb is linked with the head; the joint of the tail part and the trunk is provided with hind limbs which are linked with the tail part.
Preferably, the power device comprises a driving motor and a battery, and a power supply input end of the driving motor is connected with the battery; and an output shaft of the power device is connected with the head part and the tail part through a transmission mechanism.
Preferably, the transmission mechanism comprises at least two gears and a link mechanism which are meshed with each other, and the rotation of the gears drives the link mechanism to drive the head part and the tail part to swing in the horizontal direction.
Preferably, the torso includes a sealed watertight compartment, the drive motor and battery being mounted within the watertight compartment.
Preferably, the trunk further comprises a buoyancy compartment provided with a compression member for compressing air; the buoyancy compartment is adjacent to the watertight compartment.
Preferably, the bionic robot fish further comprises a setting panel and a control component for controlling the power device and the compression component, wherein one end of the control component is respectively connected with the power device and the compression component, and the other end of the control component is connected with the setting panel of the bionic robot fish; the control component is arranged on the waterproof cabin.
Preferably, the trunk comprises a chest section and an abdomen section, and the upper surfaces of the chest section and the abdomen section are respectively provided with a chest pad and an abdomen pad; the chest pad moves horizontally relative to the chest section and the abdominal pad moves horizontally relative to the abdominal section.
Preferably, the forelimb is provided with a handle which is easy to hold, and the handle is provided with an operation key for operating the bionic robot fish.
Preferably, the front limb and the rear limb are each provided with at least one folding joint for folding the front limb or the rear limb.
Preferably, the bionic robot fish is provided with a motion state monitoring part and a geographic position positioning part, the motion state monitoring part is arranged on the head, and the geographic position positioning part is arranged in the waterproof cabin.
The bionic robot fish provided by the embodiment of the invention comprises a head part, a trunk part and a tail part, wherein the head part, the trunk part and the tail part are connected into a whole through a central shaft penetrating through the head part, the trunk part and the tail part; the head and tail move horizontally relative to the torso; a power device for driving the head and the tail to move is arranged in the trunk; therefore, the head and the tail of the bionic robot fish are driven to move in the horizontal direction by the power device, so that the aim of simulating the swimming of fish on the water surface is fulfilled, the structure is simple, the movement is flexible, and the movement can be intelligently controlled and can also be manually operated; in addition, the design structure is not as complicated as the prior art, so that the research and development and production cost of the bionic robot fish can be reduced, and the bionic robot fish is easy to popularize and apply.
Drawings
FIG. 1 is a schematic view of a biomimetic robotic fish in an embodiment of the present invention;
FIG. 2 is a schematic illustration of a side view of FIG. 1;
FIG. 3 is a schematic diagram of the power transmission of the biomimetic robotic fish in the embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a bionic robot fish, which comprises a head part, a trunk part and a tail part, wherein the head part, the trunk part and the tail part are connected into a whole through a central shaft penetrating through the head part, the trunk part and the tail part; the head and tail are movable horizontally relative to the torso; and a power device for driving the head and the tail to move is arranged in the trunk.
Here, the biomimetic robotic fish may be sports equipment for leisure travel, and more particularly, may be biomimetic sports equipment simulating the movement of fish and reptiles; the bionic robot fish can be used for water surface swimming, underwater swimming or beach crawling; when swimming on the water surface, a user can lie on the stomach or ride on the bionic robot fish to swim manned, and the person needs to wear diving equipment or can independently swim without carrying the person and is controlled by a remote controller; when swimming underwater, a user lies prone on the bionic robot fish to carry out manned diving, and the person also needs to wear diving equipment; when the beach crawls, the user lies prone on the bionic robot fish to walk with the person, or does not walk with the person to crawl alone and is controlled by a remote controller.
The principle of the embodiment of the invention is as follows: the head and the tail of the bionic robot fish are driven to move in the horizontal direction by the power device so as to achieve the purpose of simulating the swimming of the fish on the water surface, and the bionic robot fish has a simple structure and flexible movement; in addition, the design structure is not as complicated as the prior art, so that the research and development and production cost of the bionic robot fish can be reduced, and the bionic robot fish is easy to popularize and apply.
So that the manner in which the features and advantages of the embodiments of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings.
FIG. 1 is a schematic diagram of a structure of a biomimetic robotic fish in an embodiment of the present invention, and FIG. 2 is a schematic diagram of a side view of FIG. 1; as shown in fig. 1 and 2, the biomimetic robotic fish comprises a head 11, a trunk 21 and a tail 31, wherein the head 11, the trunk 21 and the tail 31 are connected into a whole through a central axis (not shown in the figures) penetrating through the head 11, the trunk 21 and the tail 31; the head 11 and the tail 31 are movable horizontally with respect to the trunk 21; the trunk 21 is provided with a power device (not shown in the figure) for driving the head 11 and the tail 31 to move.
Specifically, the head 11 and the tail 31 can swing horizontally relative to the trunk 21, and the swing sequence of the head 11 and the tail 31 is opposite; the tail part 31 is provided with a tail fin with a preset length;
here, the tail fin of the tail portion 31 is the main power for the bionic robot fish to advance, and the length of the tail fin can be determined according to the design speed of the bionic robot fish and the power of the power device; the swinging sequence of the head part 11 and the tail part 31 is opposite, and the balance of the bionic robot fish in the movement is mainly ensured;
more specifically, a plane bearing facilitating head swing is arranged between the head 11 and the tail 31 and the trunk 21; in addition, in order to further reduce the resistance of the biomimetic robotic fish in water, the head 11 and the tail 31 are connected with the trunk 21 through a cross slide rail, that is, the head 11 and the tail 31 can horizontally swing relative to the trunk 21 and can slide in the front, back, left and right directions relative to the trunk 21.
Furthermore, the two sides of the head 11 are respectively provided with a lifting fin 111, which plays a role in assisting steering when steering is needed in the water surface movement of the bionic robot fish.
A forelimb 41 is arranged at the joint of the head 11 and the trunk 21, and the forelimb 41 is linked with the head 11; a rear limb 51 is arranged at the joint of the tail part 31 and the trunk 21, and the rear limb 51 is linked with the tail part 31;
as shown in fig. 1 and 2, front limb 41 is divided into a left front limb and a right front limb by the central axis of torso 21, and rear limb 51 is divided into a left rear limb and a right rear limb by the central axis of torso 21; thus, when the head swings to the left, the left front limb produces the backward stroke effect, and the right front limb produces the forward stroke effect, but by designing the front limb 41 with a proper shape, for example, an inverted V-shaped flipper, the backward stroke effect can be made better than the forward stroke effect, i.e., the front limb 41 and the head 11 are linked to generate forward power;
similarly, the movement of the hind limb 51 also generates forward power;
thus, the forward power of the biomimetic robotic fish is further increased by the swing of the front limb 41 and the rear limb 51 in the horizontal direction.
Further, the forelimb 41 and the hind limb 51 of the bionic robot fish are also provided with a supporting mat 411, so that the bionic robot fish can crawl through the swinging of the forelimb 41 and the hind limb 51 in the horizontal direction when in a beach;
like the water surface swimming, the front limb 41 and the rear limb 51 with proper shapes are designed, so that the swing of the front limb 41 and the rear limb 51 in the horizontal direction can generate power for pushing the bionic robot fish forwards.
Specifically, the head 11, the trunk 21, the tail 31, the front limb 41 and the rear limb 51 may be made of engineering plastics, such as Polyamide (Polyamide Resin), Polytetrafluoroethylene (Polytetrafluoroethylene), ABS plastic (Acrylonitrile Butadiene Styrene plastic), etc., or may be composite materials such as plastic steel, glass fiber reinforced plastic (GFRP or FRP);
furthermore, the floor supporting pads 411 of the front limb 41 and the rear limb 51 can be made of rubber materials besides the above materials, so that the floor supporting pad is more wear-resistant; the tail fin of the tail part 31 is preferably made of glass fiber reinforced plastics, and the strength is better.
The power device comprises a driving motor and a battery (both not shown in the figure), wherein a power supply input end of the driving motor is connected with the battery; the output shaft (not shown) of the power unit is connected with the head part 11 and the tail part 31 through a transmission mechanism, and the specific structure of the connection is described in connection with fig. 3.
Further, the trunk 21 includes a sealed waterproof compartment (not shown in the drawings) in which the driving motor and the battery are mounted;
here, the driving motor is a dc brushless motor, and the battery is a dry type watertight battery; the battery is charged once and can be used continuously for about 4 hours.
Specifically, the part of the output shaft of the driving motor, which extends out of the waterproof cabin, can be sealed by a sealing ring or a filler.
Further, the trunk 21 further includes a buoyancy compartment (not shown in the drawings) provided with a compression member capable of compressing air; therefore, the air in the buoyancy cabin is compressed through the compression part, and the purpose of submerging the bionic robot fish is achieved; since the design objective is sports equipment, the submergence depth is not more than 40 meters.
Specifically, after the compression component compresses air in the buoyancy cabin, the pressure in the buoyancy cabin is increased, the volume is reduced, the buoyancy is reduced, and the robot fish sinks; on the contrary, after the compressed air is reduced, the pressure of the buoyancy cabin is reduced, the volume is increased, the buoyancy is also increased, and the robot fish floats upwards; the compression component may be an air compressor;
the buoyancy compartment is adjacent to the waterproof compartment, and the buoyancy compartment and the waterproof compartment can be arranged in a front-back manner.
In the embodiment of the invention, the movement speed of the bionic robot fish on the water surface can reach 6 km/h at most, the movement speed of the bionic robot fish under water can reach 4 km/h at most, and the speed of crawling on the ground is greatly lower than the movement speed of the water surface and is more than 1 km/h.
The bionic robot fish also comprises a setting panel 61 and a control component (not shown in the figure) for controlling the power device and the buoyancy cabin, one end of the control component is respectively connected with the power device and the compression component, and the other end of the control component is connected with the setting panel 61 of the bionic robot fish; the control component is arranged on the waterproof cabin;
specifically, the control Unit may be a Micro Controller Unit (MCU), and a firmware for controlling the power device and the compression Unit is disposed in the control Unit;
the setting panel 61 is used for setting the motion performance of the biomimetic robotic fish, such as setting the speed and power, turning on an infrared component matched with a remote controller, turning on a submergence function, and the like;
furthermore, the setting panel 61 is also provided with a mode selection key comprising an intelligent mode, an electric mode and a manual mode, and the mode selection key is used for controlling the motion mode of the bionic robot fish;
and the control part is provided with three motion modes for controlling the bionic robot fish to move corresponding to the mode selection key: "smart mode", "electric mode", and "manual mode"; wherein,
the intelligent mode is that the bionic robot fish automatically moves forwards without user operation, the general speed is fixedly set to be low, and the moving area is preset, so that a front obstacle can be recognized in advance; the electric mode is that a user controls the advancing direction of the bionic robot fish, and the speed can be adjusted or fixed; the 'manpower mode' is to turn off the power device, and is driven forwards by manpower to assist the user to do exercise in water, and the 'manpower mode' can also be used when the battery of the power device is exhausted;
specifically, the preset motion area in the "intelligent mode" may be set by limiting a distance of continuous advance, that is, after the distance of continuous advance is limited, a turn is made for 90 degrees, so that the preset motion area of the biomimetic robotic fish may be in a rectangle with equal side length;
it will be appreciated that the predetermined motion zone may be of other similar regular shapes;
further, the biomimetic robotic fish may be further provided with a sonar detector (not shown in the drawings) for identifying obstacles ahead in the smart mode.
Further, the trunk 21 includes a chest section 71 and an abdomen section 81, the upper surfaces of the chest section 71 and the abdomen section 81 are respectively provided with a chest pad 711 and an abdomen pad 811, and the chest pad 711 and the abdomen pad 811 can move horizontally relative to the chest section 71 and the abdomen section 81; therefore, when a user lies on the stomach or rides on the bionic robot fish, the bionic robot fish can more easily master balance in the movement process;
specifically, the chest section 71 and the abdomen section 81 are connected to the chest pad 711 and the abdomen pad 811 by a cross slide rail.
Further, the forelimb 41 is provided with a handle 412 which is easy to hold, and the handle 412 is provided with an operation key for operating the bionic robot fish;
the operation keys can comprise a mode switching key, a speed regulation key, a steering key and the like, the mode switching key is used for switching the motion mode of the bionic robot fish, the debugging key is used for adjusting the motion speed of the bionic robot fish, and the steering key is used for controlling the direction of the bionic robot fish.
Further, the front limb 41 and the rear limb 51 are both provided with at least one folding joint for folding the front limb 41 or the rear limb 51; thus, after use, the front limb 41 and the rear limb 51 can be folded for carrying.
Specifically, the folding joint can be a hinge provided with a bolt, the rotation of the hinge is limited by the bolt, and when the folding joint is folded, the rotation limitation of the bolt on the hinge is cancelled, so that the folding is completed;
it will be appreciated that the folding joint may be of other configurations.
Further, the bionic robot fish is provided with a motion state monitoring component (not shown in the figure) and a geographic position positioning component (not shown in the figure), the motion state monitoring component is arranged on the head part 11, and the geographic position positioning component is arranged in the waterproof cabin;
the motion state monitoring component is used for controlling the dynamic balance of the bionic robot fish, and the principle is that the gravity sensing component is used for detecting the change condition of the gravity center of the head part 11 to determine the motion state of the bionic robot fish, and the balance of the bionic robot fish is adjusted through a balancing device under the condition of deviating from a preset balance position;
specifically, the motion state monitoring component may be a gyroscope (gyrosope), the balancing device may be a ballast balance weight capable of moving left and right, the ballast balance weight is located in the waterproof cabin, a balancing motor for driving the ballast balance weight to move left and right is provided, and the balancing motor adjusts the position of the ballast balance weight in the waterproof cabin according to the monitoring result of the motion state monitoring component; and the power supply input end of the balance motor is connected with the battery.
The geographic position positioning component is used for a user except the bionic robot fish to obtain the geographic position of the bionic robot fish, and can be used for combined search and rescue, help calling, coast management and the like.
Specifically, the geographic position locating component may be a Global Positioning System (GPS) locator;
more specifically, the user who takes the bionic robot fish obtains the geographic position of the bionic robot fish through a server which establishes communication connection with the bionic robot fish, and a Subscriber Identity Module (SIM) card which can be connected with the server is arranged in a control component of the bionic robot fish.
Fig. 3 is a schematic power transmission diagram of a biomimetic robotic fish according to an embodiment of the present invention, as shown in fig. 3, the biomimetic robotic fish includes a head 11, a trunk 21, and a tail 31, and the head 11, the trunk 21, and the tail 31 are connected into a whole by a central axis 90 penetrating through the head 11, the trunk 21, and the tail 31; the transmission mechanisms include a first transmission mechanism that transmits the power of the power plant to the head 11 and the front limb 41 and a second transmission mechanism that transmits the power of the power plant to the tail 31 and the rear limb 51; wherein,
the first transmission mechanism comprises a first gear 91 connecting the power device and a second gear 92 connecting the head 11 and the front limb 41, three mutually meshed intermediate gears 93 are connected between the first gear 91 and the second gear 92, and the intermediate gears 93 are respectively meshed with the first gear 91 and the second gear 92;
specifically, an output shaft (not shown) of the power device may be arranged perpendicular to the middle shaft 90, so that a gear set (not shown) for driving the first gear 91 to rotate is conveniently arranged on the output shaft;
it can be understood that the power may be transmitted to the first gear 91 by providing a transmission member such as a chain sprocket, a belt, and a pulley on the output shaft to rotate the first gear 91.
The second gear 92 connects the head 11 and the front limb 41 through a link 94, and since the head 11 and the front limb 41 are linked, the link 94 is connected to the front limb 41;
more specifically, one end of the two connecting rods 94 is hinged to the second gear 92, and the distance between the two hinged points and the circle center of the gear is equal; the other ends of the two connecting rods 94 are respectively hinged on the left forelimb and the right forelimb, and the distance between the two hinged points and the axis of the middle shaft 90 is equal;
thus, each link 94 forms a double rocker mechanism with the second gear 92 and the front limb 41, and when the power device drives the second gear 92 to rotate through the first gear 91, the link 94 will push the front limb 41 or the head 11 to rotate in the horizontal direction; in order to achieve the purpose of swinging, the power device is set to alternately operate in forward rotation and reverse rotation, the forward rotation time and the reverse rotation time are equal when the vehicle normally moves forwards, and the time proportion of the forward rotation time and the reverse rotation time can be adjusted if the direction needs to be adjusted; the operation of the power plant is controlled by the control means.
The second transmission mechanism comprises a third gear 101 connected with the power device and a fourth gear 102 connected with the tail part 31 and the hind limb 51, two mutually meshed intermediate gears 103 are connected between the third gear 101 and the fourth gear 102, and the intermediate gears 103 are respectively meshed with the third gear 101 and the fourth gear 102;
since there are only two intermediate gears 103 of the second transmission mechanism and three intermediate gears 93 of the first transmission mechanism, the swing sequence of the tail 31 and the rear limb 51 is opposite to that of the head 11 and the front limb 41.
Specifically, an output shaft (not shown in the drawings) of the power device may be arranged perpendicular to the middle shaft 90, so that it is more convenient to arrange a gear set (not shown in the drawings) on the output shaft for driving the third gear 101 to rotate;
since the tail 31 is the main power for the bionic robot fish to move forward, it is necessary to set a different swing amplitude from the hind limb 51, so the fourth gear 102 is only provided with the connecting rod 104 connected with the hind limb 51, and in addition, the power is transmitted to the belt wheel 105 through belt transmission, and then the connecting rod 106 is arranged on the belt wheel 105, and the connecting rod 106 is connected with the tail 31;
more specifically, one end of the two connecting rods 104 is hinged to the fourth gear 102, and the distance between the two hinged points and the center of the gear is equal; the other ends of the two connecting rods 104 are respectively hinged on the left hind limb 51 and the right hind limb 51, and the distances between the two hinged points and the axis of the middle shaft 90 are equal; one end of the connecting rod 106 is hinged with the belt wheel 105, and the other end of the connecting rod 106 is hinged with the tail part 31;
thus, each connecting rod 104, the fourth gear 102 and the rear limb 51 form a double-rocker mechanism, and when the power device drives the fourth gear 102 to rotate through the third gear 101, the connecting rod 104 pushes the rear limb 51 to rotate in the horizontal direction; in order to achieve the purpose of swinging, the power device is set to alternately operate in forward rotation and reverse rotation, the forward rotation time and the reverse rotation time are equal when the vehicle normally moves forwards, and the time proportion of the forward rotation time and the reverse rotation time can be adjusted if the direction needs to be adjusted; the operation of the power plant is controlled by the control component;
similarly, the connecting rod 106 and the tail portion 31 form a double-rocker mechanism, and the connecting rod 106 can push the tail portion 31 to swing in the horizontal direction;
the first gear 91, the second gear 92, the third gear 101, the fourth gear 102, the intermediate gear 93 and the intermediate gear 103 may be involute spur gears, and fig. 3 is a simplified drawing and does not show tooth profiles; of course, other gears capable of transmitting torque are also possible;
the pulley 105 may be a normal v-belt pulley or a timing belt pulley.
It can be understood that the biomimetic robotic fish can also use other structures of transmission mechanisms to achieve the purpose of swinging the head 11, forelimb 41, hind limb 51 and tail 31 in the horizontal direction.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, and any modifications, equivalents, improvements, etc. that are within the spirit and principle of the present invention should be included in the present invention.
Claims (10)
1. The bionic robot fish is characterized by comprising a head, a trunk and a tail, wherein the head, the trunk and the tail are connected into a whole through a central shaft penetrating through the head, the trunk and the tail; the head and the tail swing in the horizontal direction relative to the trunk, and the swing sequence of the head and the tail is opposite; a power device for driving the head and the tail to move is arranged in the trunk;
the joint of the head and the trunk is provided with a forelimb, the joint of the tail and the trunk is provided with a hind limb, the forelimb is linked with the head, and the hind limb is linked with the tail; the fore limb and the hind limb both comprise flippers in preset shapes;
the forelimbs and the hindlimbs are also provided with support ground mats;
the trunk comprises a chest section and an abdomen section, and the upper surfaces of the chest section and the abdomen section are respectively provided with a chest pad and an abdomen pad; the chest pad moves horizontally relative to the chest section and the abdominal pad moves horizontally relative to the abdominal section.
2. The biomimetic robotic fish of claim 1, wherein the tail portion is provided with tail fins of a predetermined length.
3. The biomimetic robotic fish of claim 1 or 2, wherein the power device comprises a drive motor and a battery, and a power input end of the drive motor is connected with the battery; and an output shaft of the power device is connected with the head part and the tail part through a transmission mechanism.
4. The biomimetic robotic fish of claim 3, wherein the transmission mechanism comprises at least two gears and a linkage mechanism engaged with each other, wherein rotation of the gears drives the linkage mechanism to drive the head and tail to swing in a horizontal direction.
5. The biomimetic robotic fish of claim 4, wherein the torso includes a sealed watertight compartment, the drive motor and battery being mounted within the watertight compartment.
6. The biomimetic robotic fish of claim 5, wherein the torso further comprises a buoyancy compartment provided with a compression member that compresses air; the buoyancy compartment is adjacent to the watertight compartment.
7. The biomimetic robotic fish of claim 6, further comprising a setup panel and a control component controlling the power device and the compression component, wherein one end of the control component is connected to the power device and the compression component, respectively, and the other end is connected to the setup panel of the biomimetic robotic fish; the control component is arranged on the waterproof cabin.
8. The biomimetic robotic fish of claim 1, wherein the forelimb is provided with a readily graspable handle provided with operating keys to operate the biomimetic robotic fish.
9. The biomimetic robotic fish of claim 1, wherein the front and rear limbs each have at least one folding joint for folding the front or rear limb.
10. The biomimetic robotic fish of claim 7, wherein the biomimetic robotic fish is provided with a motion state monitoring component and a geographic position locating component, the motion state monitoring component is disposed on the head, and the geographic position locating component is disposed within 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 |
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| CN201710765642.4A CN107458566B (en) | 2017-08-30 | 2017-08-30 | Bionic robot fish |
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| CN107458566A CN107458566A (en) | 2017-12-12 |
| CN107458566B true 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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| CN (1) | CN107458566B (en) |
| WO (1) | WO2019041562A1 (en) |
Families Citing this family (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 |
| CN110588934B (en) * | 2019-10-15 | 2024-01-30 | 上海海洋大学 | Underwater flexible bionic squid |
| CN111251325B (en) * | 2020-04-16 | 2022-10-25 | 王源浩 | Underwater bionic robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106853863B (en) * | 2016-12-27 | 2019-02-15 | 江苏共井集团有限公司 | A kind of hydroplane equipment |
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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 |
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| WO2019041562A1 (en) | 2019-03-07 |
| CN107458566A (en) | 2017-12-12 |
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