CN107782373A - A kind of novel bionic side line sensor - Google Patents
A kind of novel bionic side line sensor Download PDFInfo
- Publication number
- CN107782373A CN107782373A CN201711312861.3A CN201711312861A CN107782373A CN 107782373 A CN107782373 A CN 107782373A CN 201711312861 A CN201711312861 A CN 201711312861A CN 107782373 A CN107782373 A CN 107782373A
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- Prior art keywords
- fixture
- strain beam
- pipes
- side line
- force rod
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Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 15
- 210000004081 cilia Anatomy 0.000 claims abstract description 22
- 239000011888 foil Substances 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 10
- 238000005516 engineering process Methods 0.000 claims description 6
- 229920000459 Nitrile rubber Polymers 0.000 claims description 3
- 239000011796 hollow space material Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000010146 3D printing Methods 0.000 claims description 2
- 239000011230 binding agent Substances 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
- 241000251468 Actinopterygii Species 0.000 abstract description 11
- 239000012530 fluid Substances 0.000 abstract description 10
- 230000008859 change Effects 0.000 abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 230000001133 acceleration Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 abstract description 3
- 239000002184 metal Substances 0.000 abstract description 3
- 230000008447 perception Effects 0.000 abstract description 3
- 210000000056 organ Anatomy 0.000 abstract 1
- 238000009527 percussion Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 210000001190 lateral line system Anatomy 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 210000004209 hair Anatomy 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention provides a kind of novel bionic side line sensor, application target is positioned as underwater robot.Major function includes the perception of convection body speed, acceleration, vibration frequency to assist underwater robot to carry out the perception of fluid environment, the adjustment for carrying out operation posture that can independently by the information underwater robot for extracting sensor to detect to obtain.Side line perceptual organ of the bionic principle of sensor based on fish, under water in robot operation, the percussion of current on bionical cilium direction is transferred force on force rod, then further strain beam is caused to deform upon, the deflection of detecting element metal foil stain gauge detection strain beam on strain beam, voltage signal is changed into pass, it can finally obtain the corresponding relation of change of fluid and voltage signal change, thus the fluid state around underwater robot can be differentiated by extracting the feedback signal of voltage.
Description
Technical field
The present invention relates to underwater sensor technical field, more particularly to a kind of novel bionic side line sensor.
Background technology
Natural light can not have been penetrated into below 1000 meters of deep-sea, and under this pitch-dark environment, vision already can not
Play a role, but the fish to survive in such a case but can freely hover, hunting and the chase for hiding natural enemy, borrow
What is helped is exactly the lateral－line organ of fish.Scientists inspiration is given in the discovery of fish lateral-line system, can be by manufacturing bionical side line
System senses fluid environment.It is underwater adaptive on applying side line perception principle to carry out on unmanned autonomous underwater robot at present
The research report of regulation is considerably less.
The content of the invention
The present invention relates to a kind of novel bionic side line sensor, compact structure, connection and reasonable arrangement, fish is based on using principle
Bionical side line mechanism, there is convection body speed, acceleration, power, frequency of impact and the advantages of amplitude sensitivity, can work under water
Effect of the fluid to sensor is experienced in work, the side line receptor of fish is replaced using the bionical cilium of special construction, can
Fluid impact is enough directly detected, also has the function that to seal waterproof.
In order to solve the above technical problems, the embodiment of the present application provides a kind of novel bionic side line sensor, including shell,
Fixture one, fixture two, fixed seat, PU pipes plug, PU pipes fixed cover, PU pipes and wire, it is characterised in that also including bionical fibre
Hair, force rod, pressing plate, strain beam and foil gauge, the material of described bionical cilium is flexible material, is "convex" shaped structure,
The end face of convex part is hemispherical dome structure, and two fixed edges of the other end are connected with pressing plate and shell, are in bionical cilium
Hollow structure, is provided with force rod in hollow space, the center of the strain beam inside the other end and fixed seat of described force rod
Position is connected, and described strain beam is divided into four strutbeams, generally " ten " character form structure, and center position is and force rod phase
The connecting hole of matching, described fixture two are the cylindrical structural of both ends open, and right-angled intersection row is contained in the inner side of bottom end face
Four strutbeams of row, the hemisphere to raise up is provided with four strutbeam crossing centers, described four strutbeams of strain beam
The other end is connected with shell side wall respectively, and fixture one and fixture two, fixture one are provided with the side wall of described shell
For the cylindrical structural of a both ends open, be respectively equipped with the lower surface of fixture one and the upper surface of fixture two four match half
Circular groove, groove radius and the radius of strain beam strutbeam end match, and the strutbeam both ends of described strain beam are cylinder
Structure, the side of center section are planar structure symmetrical above and below, the length and width of the planar section chi with foil gauge respectively
Very little to match, the quantity of described foil gauge is eight, wherein four four strutbeam planar sections for being separately mounted to strain beam
The upside at place, four additional are arranged on four strutbeams of fixture two, and the bottom of described fixed seat is provided with PU pipe plugs, PU pipes
Plug is drawn provided with the PU pipe fixed covers to match, the wire of described foil gauge by PU pipes..
As the preferred embodiment of this programme, the material of described bionical cilium is nitrile rubber, length 8.3mm, directly
Footpath is 4mm, and bottom is fixedly connected by annular pressing plate with shell, and its center platen and shell are provided with the M1.6 models to match
Cross recessed countersunk head sscrew connecting hole.
As the preferred embodiment of this programme, a kind of novel bionic side line sensor according to claim 1, it is special
Sign is that the material of described strain beam 7 is ABS, and processing technology is 3D printing, there is a center connecting hole among strain beam 7,
Connected mode between center connecting hole and force rod 2 is shaft hole matching, and is fixed by binding agent, and the bottom of force rod 2 is put down
Face is in contact with the hemisphere projection of the center position of fixture 26.
As the preferred embodiment of this programme, the material of described fixture one and fixture two is 304 stainless steels, the He of fixture one
Fixture two contains half slot on wall, and fixture one contains a boss, and fixture two contains a groove, fixture one and folder
The connected mode of tool two is completed by the cooperation of groove and boss.
As the preferred embodiment of this programme, described PU pipes plug is connected through a screw thread with PU pipe plug fixed covers, PU
Pipe is extruded by PU pipes plug and PU pipe plug fixed covers.
The one or more technical schemes provided in the embodiment of the present application, have at least the following technical effects or advantages：
Compact structure, connection and reasonable arrangement, using bionical side line mechanism of the principle based on fish, there is convection body speed, accelerate
The advantages of degree, power, frequency of impact and amplitude sensitivity, can work the middle effect for experiencing fluid to sensor under water, utilize spy
The bionical cilium of different structure replaces the side line receptor of fish, can either directly detect fluid impact, also has sealing anti-
The effect of water.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this hairs
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the embodiment of the present application.
Fig. 2 is the schematic diagram after the fixture installation of present application example.
Fig. 3 is the three dimensional structure diagram of the fixture one of present application example.
Fig. 4 is the three dimensional structure diagram of the fixture two of present application example.
Fig. 5 is the structural representation of the part strain beam of present application example.
Fig. 6 is the overall appearance figure of present application example.
Fig. 7 is the structural representation of the bionical cilium of present application example.
In Fig. 1-Fig. 7,1. bionical ciliums, 2. force rods, 3. pressing plates, 4. shells, 5. fixtures one, the strain of 6. fixtures two, 7.
Beam, 8. fixed seats, 9.PU pipes plug, 10.PU pipes fixed cover, 11.PU pipes, 12. wires, 13. metal foil stain gauges.
Embodiment
The invention provides a kind of novel bionic side line sensor, compact structure, connection and reasonable arrangement, fish is based on using principle
Bionical side line mechanism, there is convection body speed, acceleration, power, frequency of impact and the advantages of amplitude sensitivity, can work under water
Effect of the fluid to sensor is experienced in work, the side line receptor of fish is replaced using the bionical cilium of special construction, can
Fluid impact is enough directly detected, also has the function that to seal waterproof.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
Technical scheme is stated to be described in detail.
As shown in Fig. 1-Fig. 7, a kind of novel bionic side line sensor, including including shell 4, fixture 1, fixture 26, solid
Reservation 8, PU pipes plug 9, PU pipes fixed cover 10, PU pipes 11 and wire 12, it is characterised in that also including bionical cilium 1, force rod
2nd, pressing plate 3, strain beam 7 and foil gauge 13, the material of described bionical cilium 1 is flexible material, is "convex" shaped structure, convex
Partial end face is hemispherical dome structure, and two fixed edges of the other end are connected with pressing plate 3 and shell 4, in being in bionical cilium 1
Hollow structure, is provided with force rod 2 in hollow space, in the strain beam 7 inside the other end and fixed seat 8 of described force rod 2
Heart position is connected, and described strain beam 7 divides for four strutbeams, generally " ten " character form structure, and center position is and stress
The connecting hole that bar 2 matches, described fixture 26 are the cylindrical structural of both ends open, contain cross on the inside of bottom end face
Four strutbeams of cross arrangement, the hemisphere to raise up, described strain beam 7 four are provided with four strutbeam crossing centers
The other end of strutbeam is connected with the side wall of shell 4 respectively, and the side wall of described shell 4 is provided with fixture 1 and fixture two
6, fixture one (5) is the cylindrical structural of a both ends open, is respectively equipped with the lower surface of fixture 1 and the upper surface of fixture 26
Four semi-circular recesses to match, groove radius and the radius of the strutbeam end of strain beam 7 match, described strain beam 7
Strutbeam both ends are cylindrical structural, and the side of center section is planar structure symmetrical above and below, the length and width of planar section
The size with foil gauge 13 matches respectively, and the quantity of described foil gauge 13 is eight, wherein four are separately mounted to strain
The upside of four strutbeam planar portions offices of beam 7, four additional are arranged on four strutbeams of fixture 26, described fixed seat 8
Bottom be provided with PU pipes plug 9, PU pipes plug 9 is led provided with the PU pipes fixed cover 10 to match, described foil gauge 13
Line 12 is drawn by PU pipes 11.
Wherein, in actual applications, described bionical cilium 1 is makes of nitrile rubber, using mould process processing
Into, length 18.3mm, a diameter of 4mm, sealing can either be played a part of, it is also flexible, one is being applied to bionical cilium 1
During power on individual direction, because bionical cilium is soft, the inclination of force rod 2 can be caused, and then cause the four of strain beam 7
Root strutbeam deforms upon, and bionical cilium 1 instead of the effect of the cilium on fishes lateral line organ, the direct effect pair as current
As the bottom of bionical cilium 1 is fixedly connected by annular pressing plate 3 with shell 4.
Wherein, in actual applications, the tail beam of described strain beam 7 be diameter 3mm length 0.5-1mm cylinder, material
Matter is ABS, is plane slot structure symmetrical above and below with the part that cylinder is close to, and the upper surface of planar section is used to install four
Model BX120-1AA-A-X3 metal foil stain gauge 13, while foil gauge is also equipped with the strutbeam of the structure of fixture 26,
Used as temperature-compensating plate.
Wherein, in actual applications, described fixture 1 and fixture 26 are installed to coordinate, and the entirety after coordinating can contain
There is four a diameter of 3mm hole, the hole coordinates with four cylindrical structures of the afterbody of strain beam 6 respectively installs, the purpose of the structure
It is to coordinate the influence for eliminating stress to torsion caused by strain beam 6 by hole axle, eliminates the machinery of sensor detection
Error, accuracy of detection is improved, force rod 2 contacts with the hemisphere point on fixture 26, in different depth, due to the pressure of seawater
Power changes, and the pressure caused by force rod straight down also changes, and the strain to the strutbeam of strain beam 7 produces very big
Influence, the design of the structure avoid different depth residing for sensor caused by the data that are detected to sensor of pressure change
Influence.
Wherein, in actual applications, described PU pipes plug 9 and PU pipe plugs fixed cover 10 are connected through a screw thread, the knot
Structure is used to compress PU pipes 12, the PU pipes 11 that size is 4 × 6 is installed on PU pipes plug 9, PU pipe plugs fixed cover 10 passes through
Screw thread extruding PU pipes 11, so as to play a part of sealed guide.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent change and modification made to above example, in the range of still falling within technical solution of the present invention.
Claims (5)
1. a kind of novel bionic side line sensor, including shell (4), fixture one (5), fixture two (6), fixed seat (8), PU pipe are inserted
Head (9), PU pipes fixed cover (10), PU pipes (11) and wire (12), it is characterised in that also including bionical cilium (1), force rod
(2), pressing plate (3), strain beam (7) and foil gauge (13), the material of described bionical cilium (1) is flexible material, is " convex " word
Shape structure, the end face of convex part is hemispherical dome structure, and the fixed edge of the other end is connected by pressing plate (3) with shell (4), is imitated
It is hollow structure in raw cilium (1), force rod (2), the other end and fixed seat of described force rod (2) is provided with hollow space
(8) center of internal strain beam (7) is connected, and described strain beam (7) is divided into four strutbeams, generally " ten " font
Structure, center position are the connecting hole to match with force rod (2), and described fixture two (6) is the cylinder of both ends open
Structure, four strutbeams that the inner side of bottom end face arranges containing right-angled intersection, one is provided with upwards at four strutbeam crossing centers
Raised hemisphere, the other end of described (7) four strutbeams of strain beam are connected with shell (4) side wall respectively, and described is outer
Fixture one (5) and fixture two (6) are installed, fixture one (5) is the cylinder knot of a both ends open in the side wall of shell (4)
Four semi-circular recesses to match, groove radius are respectively equipped with structure, fixture one (5) lower surface and fixture two (6) upper surface
Match with the radius of strain beam (7) strutbeam end, the strutbeam both ends of described strain beam (7) are cylindrical structural, pars intermedia
Point side be planar structure symmetrical above and below, the length and width of the planar section size phase with foil gauge (13) respectively
Match somebody with somebody, the quantity of described foil gauge (13) is eight, wherein four four strutbeam planar sections for being separately mounted to strain beam (7)
The upside at place, four additional are arranged on four strutbeams of fixture two (6), and the bottom of described fixed seat (8) is provided with PU pipes and inserted
Head (9), PU pipes plug (9) are provided with the PU pipes fixed cover (10) to match, and the wire (12) of described foil gauge (13) passes through
PU pipes (11) are drawn.
A kind of 2. novel bionic side line sensor according to claim 1, it is characterised in that described bionical cilium (1)
Material be nitrile rubber, length 18.3mm, a diameter of 4mm, bottom are fixedly connected by annular pressing plate (3) with shell (4),
Its center platen (3) and shell (4) are provided with the cross recessed countersunk head sscrew connecting hole of the M1.6 models to match.
3. a kind of novel bionic side line sensor according to claim 1, it is characterised in that described strain beam (7)
Material is ABS, and processing technology is 3D printing, there is a center connecting hole, center connecting hole and force rod (2) among strain beam (7)
Between connected mode be shaft hole matching, and be fixed by binding agent, force rod (2) baseplane and fixture two (6) center
The hemisphere projection of opening position is in contact.
A kind of 4. novel bionic side line sensor according to claim 1, it is characterised in that described fixture one (5) and
The material of fixture two (6) is 304 stainless steels, and fixture one (5) and fixture two (6) contain half slot, fixture one (5) on wall
Containing a boss, fixture two (6) contains a groove, the connected mode of fixture one (5) and fixture two (6) by groove with it is convex
The cooperation of platform is completed.
A kind of 5. novel bionic side line sensor according to claim 1, it is characterised in that described PU pipes plug (9)
It is connected through a screw thread with PU pipe plug fixed covers (10), PU pipes are squeezed by PU pipes plug (9) and PU pipe plug fixed covers (10)
Pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711312861.3A CN107782373B (en) | 2017-12-12 | 2017-12-12 | Novel bionic lateral line sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711312861.3A CN107782373B (en) | 2017-12-12 | 2017-12-12 | Novel bionic lateral line sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107782373A true CN107782373A (en) | 2018-03-09 |
| CN107782373B CN107782373B (en) | 2024-04-09 |
Family
ID=61430468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711312861.3A Active CN107782373B (en) | 2017-12-12 | 2017-12-12 | Novel bionic lateral line sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107782373B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109470281A (en) * | 2019-01-11 | 2019-03-15 | 中国海洋大学 | A kind of bionical side line flow sensor |
| CN110763428A (en) * | 2019-10-16 | 2020-02-07 | 北京机电工程研究所 | Sensor layout method for sensing flow field around bionic fish body |
| CN112258958A (en) * | 2020-10-29 | 2021-01-22 | 扬州大学 | Mosquito auditory solid model based on symmetrical liquid core organic piezoelectric material sphere |
| CN112419858A (en) * | 2020-10-29 | 2021-02-26 | 扬州大学 | Mosquito auditory solid model based on cable-stayed double-layer liquid core organic piezoelectric material rod |
| CN114509577A (en) * | 2022-01-11 | 2022-05-17 | 华中科技大学 | Water body flow velocity optical fiber, water flow acceleration optical fiber and all-optical fiber bionic fish side line system |
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| CN207570595U (en) * | 2017-12-12 | 2018-07-03 | 天津瀚海蓝帆海洋科技有限公司 | A kind of novel bionic side line sensor |
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| US20110000320A1 (en) * | 2009-07-06 | 2011-01-06 | Delatorre Leroy C | Pressure isolated strain gauge torque sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN110763428A (en) * | 2019-10-16 | 2020-02-07 | 北京机电工程研究所 | Sensor layout method for sensing flow field around bionic fish body |
| CN110763428B (en) * | 2019-10-16 | 2021-05-11 | 北京机电工程研究所 | Sensor layout method for sensing flow field around bionic fish body |
| CN112258958A (en) * | 2020-10-29 | 2021-01-22 | 扬州大学 | Mosquito auditory solid model based on symmetrical liquid core organic piezoelectric material sphere |
| CN112419858A (en) * | 2020-10-29 | 2021-02-26 | 扬州大学 | Mosquito auditory solid model based on cable-stayed double-layer liquid core organic piezoelectric material rod |
| CN114509577A (en) * | 2022-01-11 | 2022-05-17 | 华中科技大学 | Water body flow velocity optical fiber, water flow acceleration optical fiber and all-optical fiber bionic fish side line system |
| CN114509577B (en) * | 2022-01-11 | 2022-11-11 | 华中科技大学 | Water body flow velocity optical fiber, water flow acceleration optical fiber and all-optical fiber bionic fish side line system |
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| CN107782373B (en) | 2024-04-09 |
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