CN110510088A - A kind of Multifunctional biomimetic robotic fish - Google Patents
A kind of Multifunctional biomimetic robotic fish Download PDFInfo
- Publication number
- CN110510088A CN110510088A CN201910932550.XA CN201910932550A CN110510088A CN 110510088 A CN110510088 A CN 110510088A CN 201910932550 A CN201910932550 A CN 201910932550A CN 110510088 A CN110510088 A CN 110510088A
- Authority
- CN
- China
- Prior art keywords
- steering engine
- fish
- fish head
- sucker
- tail
- 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.)
- Pending
Links
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 121
- 230000003592 biomimetic effect Effects 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 8
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 33
- 238000010079 rubber tapping Methods 0.000 claims description 6
- 239000000853 adhesive Substances 0.000 claims description 5
- 230000001070 adhesive effect Effects 0.000 claims description 5
- 239000000565 sealant Substances 0.000 claims description 3
- 239000011664 nicotinic acid Substances 0.000 abstract description 20
- 238000001179 sorption measurement Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 4
- 230000009182 swimming Effects 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 12
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000007667 floating Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- -1 113 Chemical compound 0.000 description 1
- 241000252254 Catostomidae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of Multifunctional biomimetic robotic fishes, it is related to underwater robot technical field, including sequentially connected fish head mechanism, double steering engine driving mechanism and fish tail from front to back, the circuit control panel and buoyancy control mechanism of each component work of lithium battery, control in fish head mechanism equipped with supply of electrical energy, double steering engine driving mechanism includes the preceding steering engine and rear steering engine for constituting second level wobble drive, fish tail is in tail fin structure, is connected to double steering engine driving mechanism end.The present invention can realize the adjusting of the adsorption capacity between bionic machine fish and underwater wall surface by sucker structure, expanded the application scenarios of bionic machine fish, generated and preferably track effect；Buoyancy control Agency servo driving mechanism collective effect, can sufficiently bionical biological fish swimming characteristics, realize and float, sink, Forward, the movement such as turning to；Fish tail can be designed according to the actual situation, be replaced, and to adapt to narrow environment or generate high speed etc. of moving about, adaptability is good, applied widely.
Description
Technical field
The present invention relates to underwater robot technical fields, and in particular to one kind is for being moved about under water and being climbed operation
Bionic machine fish.
Background technique
Fish are active biology in water, travelling ability with super strength in the Nature, and bionic machine fish is people
According to the imitated machine fish out of this great ability of fish.Currently, either in civil field or military field, bionical machine
Device fish has preferable application prospect, and in civil field, bionic machine fish can help people to detect ocean, discovery shoal of fish etc.；
In military field, bionic machine fish can complete the special military missions such as tracking warship, launch.
By patent retrieval, there are following known technical solutions:
Patent 1:
Application number: CN201610967735, the applying date: 2016.11.05, authorized announcement date: 2017.02.01, the present invention
Bionic machine fish is provided, including machine fish, the machine fish include shell, head, fin, skeleton, motion control unit；Institute
The shell package the stated skeleton；The head installation and described shell one end；The fin is connected on shell；Institute
Movement executive component is installed on the skeleton stated；The movement executive component is controlled by motion control unit, the head,
Fin, skeleton are connect with the movement executive component respectively；The motion control unit control action actuator movement,
It drives the head to complete opening and closing movement, go to action, drives the fin to complete wobbling action, drive the skeleton
Complete wobbling action in tail portion.Motion control of the present invention is flexible, and control precision is high, greatly improves bionic machine fish movement
Emulator.
Although the invention motion control is flexible, control precision is high, greatly improves the emulation of bionic machine fish movement
Degree, but the machine fish cannot be used for executing the task of fish and water lower wall surface, wall adsorption cannot stop under water, save energy consumption.
Patent 2:
Application number: 201510448022.9, the applying date: 2015.07.28, authorized announcement date: 2015.11.18, the present invention
A kind of highly emulated Qi Yu mechanism and system, including front housing, control cabinet, fish-skin, dorsal fin and anal fin under water are disclosed, further includes moving
Force mechanisms and mechanism of wagging the tail, the power mechanism are located within control cabinet；The power mechanism includes driving motor, main control electricity
Road, from control circuit and power supply；The mechanism of wagging the tail includes crank mechanism, fish-bone and tail fin；The crank mechanism includes first
Bevel gear, the second bevel gear, bearing block, magnet and swing rod；The output end of the power supply and the input terminal of main control circuit are electrically connected
It connects；The output end of the main control circuit is electrically connected with the input terminal of driving motor；It is described to be located at crank mechanism from control circuit
Lower section and with main control circuit communication connection；The driving motor is fixedly mounted in control cabinet, and control cabinet end is provided with axis hole；
The present invention drives the travelling of fish using simple joint, ingenious in design, structurally reasonable.
Although the invention motion control is flexible, control precision is high, greatly improves the emulation of bionic machine fish movement
Degree, but structure is complicated for the machine fish, realizes that difficulty is larger.
Through the above search, it has been found that above technical scheme does not influence novelty of the invention；And the above patent text
The intercombination of part is without destroying creativeness of the invention.
Summary of the invention
The present invention provides a kind of multifunction imitated life precisely in order to avoid above-mentioned existing deficiencies in the technology
Device fish.
The present invention adopts the following technical scheme that a kind of Multifunctional biomimetic robotic fish in order to solve the technical problem, including by it is preceding extremely
Sequentially connected fish head mechanism, double steering engine driving mechanism and fish tail, fish head shell are connected with fish head base engagement afterwards, and in inside
Cavity body structure is formed, lithium battery and circuit control panel are set in the cavity body structure, and arrangement, is installed on before and after two sucker structures
On the fish head pedestal, sucker is extend out to below the fish head pedestal, constitutes the fish head mechanism；
Before preceding steering engine is installed and connected on steering engine support frame, output shaft is uprightly arranged and end connects preceding steering wheel, front rudder
Machine rotary shaft rack is set to the front rudder drive end unit in the U-shaped structure facing forward of being open, and both ends are fore-stock horizontal segment, respectively with
The preceding steering wheel is connected and is rotatablely connected by rotating shaft screw bolt group and the preceding steering engine support frame, and middle part is fore-stock vertical section；
Steering engine support frame is connected and fixed by support bracket bolt nut and the fore-stock vertical section afterwards, rear steering engine be installed and connected in it is described after
On steering engine support frame, output shaft is uprightly arranged and steering wheel after the connection of end, the rear steering engine rotary shaft rack U-shaped knot facing forward in opening
Structure, is set to the rear steering engine tail portion, and both ends connect with rear steering wheel respectively and supported by rotating shaft screw bolt group and the rear steering engine
Frame rotation connection, constitutes the double steering engine driving mechanism；
The fish tail is in tail fin structure, be set to it is described after steering engine rotary shaft rack rear, and with it is described after steering engine rotary shaft rack
It is connected and fixed, the preceding steering engine support frame is connected and fixed on fish head shell tail portion；The lithium battery and two suckers
Structure, the circuit control panel, the preceding steering engine are connected to the rear steering engine, the circuit control panel and two sucker knots
Structure, the preceding steering engine are connected to the rear steering engine.
Further, electromagnet ontology is set to inside the cavity body structure, is installed on the fish head by electromagnet stent
On pedestal, electromagnet output end is connected with the corresponding sucker, and the mounting hole by passing through on the fish head pedestal is arranged
Spring connect with the electromagnet ontology, sucking disk outer-shell covers on the outside of the sucker, constitutes the sucker structure；The suction
Disk can slide up and down in the corresponding sucking disk outer-shell, positioned at front the sucker size be greater than be located behind described in
The size of sucker.
Further, air cavity chamber enclosure is tightly connected by sealant and fish head pedestal, and portion forms gas chamber in the inner,
Two-way air pump is set on the fish head pedestal, is located at gas chamber's shell exterior, and the two-way air pump has compressed gas
Function is equipped with compressed air bottle, and air bag is set in the gas chamber, and the two-way air pump passes through air inlet pipe and an air outlet pipe and institute
Air bag connection is stated, the buoyancy control mechanism is constituted；Intercommunicating pore is set on the fish head pedestal, by the gas chamber and the fish head
Connection outside mechanism.
Further, the preceding steering engine and the rear steering engine are waterproof steering engine.
Further, the fish head shell passes to adhesive means with the fish head pedestal and connects, and the sucking disk outer-shell is with glue
Viscous mode is connected to the fish head outer casing bottom.
Further, the fish tail is connected and fixed by four fish tail tapping screws and the rear steering engine rotary shaft rack.
Further, the preceding steering engine rotary shaft rack and the rear steering engine rotary shaft rack pass through each tapping screw and institute respectively
Steering wheel and the rear steering wheel are connected and fixed before stating.
The present invention provides a kind of Multifunctional biomimetic robotic fishes, have the advantages that
1, two adsorption capacity adjustable sucker structures are set in fish head mechanism, can realize bionic machine fish by sucker structure
The application scenarios of bionic machine fish have been expanded in the adjusting of adsorption capacity between underwater wall surface, can be adsorbed under special scenes
It is fixed on certain body surfaces such as warship surface and saves electric power, while generating and preferably tracking effect；
2, fish head it is in-house be equipped with buoyancy control mechanism, can by buoyant means realize bionic machine fish floating and
Sink, while being equipped with double steering engine driving mechanism, can realize high performance second level by adjusting the rotational parameters of two steering engines respectively
Wobble drive, buoyancy control Agency servo driving mechanism collective effect, can sufficiently bionical biological fish swimming characteristics, it is real
The now movement such as floating, sinking, Forward, steering；
3, fish tail can be designed according to the actual situation, be replaced, to adapt to narrow environment or generate high speed etc. of moving about, adaptability
It is good, it is applied widely.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of fish head mechanism of the present invention；
Fig. 3 is the schematic diagram of internal structure of fish head mechanism of the present invention；
Fig. 4 is the structural schematic diagram of sucker structure of the present invention；
Fig. 5 is the structural schematic diagram of buoyancy control mechanism of the present invention；
Fig. 6 is the structural schematic diagram of double steering engine driving mechanism of the present invention；
Fig. 7 is the structural schematic diagram of steering engine rotary shaft rack and fish tail after the present invention.
In figure:
1, fish head mechanism, 111, fish head shell, 112, fish head pedestal, 113, lithium battery, 114, circuit control panel；12, it inhales
Dish structure, 121, sucker, 122, sucking disk outer-shell, 123, electromagnet ontology, 124, spring, 125, electromagnet stent；13, buoyancy control
Mechanism processed, 131, air cavity chamber enclosure, 132, two-way air pump, 133, air inlet pipe, 134, escape pipe, 135, air bag；2, double steering engine drives
Motivation structure, 201, preceding steering engine support frame, 202, preceding steering engine rotary shaft rack, 203, preceding steering engine, 204, preceding steering wheel, 205, rear steering engine branch
Support, 206, rear steering engine rotary shaft rack, 207, rear steering engine, 208, rear steering wheel；3, fish tail.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention,
Technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention one
Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
As shown in FIG. 1 to FIG. 7, structural relation are as follows: driven including sequentially connected fish head mechanism 1 from front to back, double steering engine
Motivation structure 2 and fish tail 3, fish head shell 111 and fish head pedestal 112 are cooperatively connected, and form cavity body structure, lithium battery in inside
113 and circuit control panel 114 be set to cavity body structure in, arrange, be installed on fish head pedestal 112 before and after two sucker structures 12,
Its sucker 121 extend out to 112 lower section of fish head pedestal, constitutes fish head mechanism 1；
Before preceding steering engine 203 is installed and connected on steering engine support frame 201, output shaft is uprightly arranged and end connects preceding steering wheel
204, preceding steering engine rotary shaft rack 202 is set to preceding 203 tail portion of steering engine in the U-shaped structure facing forward that is open, and both ends are that fore-stock is horizontal
Section connect with preceding steering wheel 204 respectively and is rotatablely connected by rotating shaft screw bolt group and preceding steering engine support frame 201, and middle part is fore-stock
Vertical section；Steering engine support frame 205 is connected and fixed by support bracket bolt nut and fore-stock vertical section afterwards, and the rear installation of steering engine 207 connects
It is connected on rear steering engine support frame 205, output shaft is uprightly arranged and steering wheel 208 after the connection of end, rear steering engine rotary shaft rack 206 are in
Be open U-shaped structure facing forward, is set to rear 207 tail portion of steering engine, and both ends connect with rear steering wheel 208 respectively and by rotating shaft screw bolt group
It is rotatablely connected with rear steering engine support frame 205, constitutes double steering engine driving mechanism 2；
Fish tail 3 is in tail fin structure, is set to rear 206 rear of steering engine rotary shaft rack, and is connect admittedly with rear steering engine rotary shaft rack 206
Fixed, preceding steering engine support frame 201 is connected and fixed on 111 tail portion of fish head shell；Lithium battery 113 and two sucker structures 12, circuit control
Making sheet 114, preceding steering engine 203 are connected to rear steering engine 206, with supply of electrical energy；It is circuit control panel 114 and two sucker structures 12, preceding
Steering engine 203 is connected to rear steering engine 206, to control the work of sucker structure 12, preceding steering engine 203 and rear steering engine 206.
Preferably, electromagnet ontology 123 is set to inside cavity body structure, is installed on fish head pedestal by electromagnet stent 125
On 112, electromagnet output end is connected with corresponding sucker 121, and the bullet by passing through the mounting hole setting on fish head pedestal 112
Spring 124 is connect with electromagnet ontology 123, and sucking disk outer-shell 122 covers at 121 outside of sucker, constitutes sucker structure 12；Sucker 121
It can be slided up and down in corresponding sucking disk outer-shell 122, the size positioned at the sucker 121 in front is greater than the sucker 121 being located behind
Size.
Preferably, air cavity chamber enclosure 131 is tightly connected by sealant and fish head pedestal 112, and portion forms gas in the inner
Chamber, two-way air pump 132 are set on fish head pedestal 112, are located at outside air cavity chamber enclosure 131, and two-way air pump 132 has compressed gas
The function of body is equipped with compressed air bottle, and air bag 135 is set in gas chamber, and two-way air pump 132 passes through air inlet pipe 133 and escape pipe
134 are connected to air bag 135, constitute buoyancy control mechanism 13；Intercommunicating pore is set on fish head pedestal 112, by gas chamber and fish head mechanism 1
Outside connection.
Preferably, preceding steering engine 203 and rear steering engine 207 are waterproof steering engine.
Preferably, fish head shell 111 passes to adhesive means with fish head pedestal 112 and connects, and sucking disk outer-shell 122 is with adhesive means
It is connected to 111 bottom of fish head shell.
Preferably, fish tail 10 is connected and fixed by four fish tail tapping screws with rear steering engine rotary shaft rack 206.
Preferably, preceding steering engine rotary shaft rack 202 and rear steering engine rotary shaft rack 206 pass through each tapping screw and preceding steering wheel respectively
204 and rear steering wheel 208 be connected and fixed.
When specifically used, the floating and sunken caves of bionic machine fish are realized that air bag 27 can lead to by buoyancy control mechanism 13
Two-way air pump 20 inwardly pumping or the corresponding expand or shrink of outside outlet are crossed, to change the sky not occupied by air bag 27 in gas chamber
Between size, i.e., change gas chamber in liquids and gases ratio；Specifically, air cavity room air occupies when air bag 27 expands
Volume increase, liquid discharge, the overall buoyancy of bionic machine fish increases, and upward acceleration increases, conversely, when air bag 27 contracts
Hour, the volume that air cavity room air occupies reduces, and liquid enters, and the overall buoyancy of bionic machine fish increases, downward acceleration
Degree increases.
Bionic machine fish Forward and divertical motion are realized that preceding steering engine 203 passes through preceding steering wheel 204 by double steering engine driving mechanism 2
Pass through rear steering wheel with 207 Integral swinging of steering engine support frame 205 and rear steering engine, rear steering engine 207 after the driving of preceding steering engine rotary shaft rack 202
Steering engine rotary shaft rack 206 directly drives the swing of fish tail 3 after 208, and preceding steering engine 203 and rear steering engine 207 realize the second level of fish tail 3 jointly
Driving, can be according to actual needs by adjusting separately hunting frequency, the angle of the output of preceding steering engine 203 and rear steering engine 207, to produce
Raw different thrust, realizes the Forward and steering of the friction speed of bionic machine fish, can also design fish tail according to actual needs
Specific size, shape.
The wall surface operation of bionic machine fish is common by sucker structure 12 and buoyancy control mechanism 13 and double steering engine driving mechanism 2
Cooperation is realized, in wall surface operation process, can realize 12 adsorption capacity of sucker structure by the adsorption capacity of regulating magnet ontology 123
It adjusts, specially when 123 adsorption capacity of electromagnet ontology increases, electromagnet output end overcomes spring 124 under adsorption force
Elastic force, moved up along sucking disk outer-shell 122, increase the adsorption capacity between sucker structure 12 and wall surface, conversely, working as electromagnet
When 123 adsorption capacity of ontology reduces, electromagnet output end is moved down under the action of 124 elastic force of spring along sucking disk outer-shell 122, makes
Adsorption capacity between sucker structure 12 and wall surface reduces.When the adsorption capacity between sucker structure 12 and wall surface is appropriate, bionical machine
Device fish can also be under the driving of double steering engine driving mechanism 2 along wall sliding.Meanwhile the driving of buoyancy control mechanism 13 being cooperated to realize
It floats and the absorption and disengaging with underwater wall surface may be implemented in sinking movement, bionic machine fish.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (7)
1. a kind of Multifunctional biomimetic robotic fish, it is characterised in that: including sequentially connected fish head mechanism (1), Twin Rudders from front to back
Machine driving mechanism (2) and fish tail (3), fish head shell (111) and fish head pedestal (112) are cooperatively connected, and form cavity in inside
Structure, lithium battery (113) and circuit control panel (114) are set in the cavity body structure, arrangement before and after two sucker structures (12),
It is installed on the fish head pedestal (112), sucker (121) is extend out to below the fish head pedestal (112), constitutes the fish head
Mechanism (1)；
Before preceding steering engine (203) is installed and connected on steering engine support frame (201), output shaft is uprightly arranged and end connects preceding steering wheel
(204), preceding steering engine rotary shaft rack (202) is set to preceding steering engine (203) tail portion, both ends are in the U-shaped structure facing forward that is open
Fore-stock horizontal segment connect with the preceding steering wheel (204) respectively and passes through rotating shaft screw bolt group and the preceding steering engine support frame (201)
Rotation connection, middle part are fore-stock vertical section；Steering engine support frame (205) is vertical by support bracket bolt nut and the fore-stock afterwards
Section is connected and fixed, and rear steering engine (207) is installed and connected on the rear steering engine support frame (205), and output shaft is uprightly arranged and end
Steering wheel (208) after connecting is held, rear steering engine rotary shaft rack (206) is set to the rear steering engine (207) in the U-shaped structure facing forward that is open
Tail portion, both ends connect with rear steering wheel (208) respectively and are connected by rotating shaft screw bolt group and rear steering engine support frame (205) rotation
It connects, constitutes the double steering engine driving mechanism (2)；
The fish tail (3) is in tail fin structure, be set to it is described after steering engine rotary shaft rack (206) rear, and with it is described after steering engine shaft
Bracket (206) is connected and fixed, and the preceding steering engine support frame (201) is connected and fixed on fish head shell (111) tail portion；The lithium
Battery (113) and two sucker structures (12), the circuit control panel (114), the preceding steering engine (203) and the rear rudder
Machine (206) connection, the circuit control panel (114) and two sucker structures (12), the preceding steering engine (203) and it is described after
Steering engine (206) connection.
2. a kind of Multifunctional biomimetic robotic fish according to claim 1, it is characterised in that: electromagnet ontology (123) is set to
Inside the cavity body structure, be installed on the fish head pedestal (112) by electromagnet stent (125), electromagnet output end with
The corresponding sucker (121) is connected, and the spring (124) by passing through the mounting hole setting on the fish head pedestal (112)
It is connect with the electromagnet ontology (123), sucking disk outer-shell (122) covers on the outside of the sucker (121), constitutes the sucker knot
Structure (12)；The sucker (121) can slide up and down in the corresponding sucking disk outer-shell (122), the sucker positioned at front
(121) size is greater than the size for the sucker (121) being located behind.
3. a kind of Multifunctional biomimetic robotic fish according to claim 1, it is characterised in that: air cavity chamber enclosure (131) passes through
Sealant and fish head pedestal (112) are tightly connected, and portion forms gas chamber in the inner, and two-way air pump (132) is set to the fish head
On pedestal (112), it is external to be located at the air cavity chamber enclosure (131), the two-way air pump (132) have the function of compressed gas or
Equipped with compressed air bottle, air bag (135) is set in the gas chamber, and the two-way air pump (132) is by air inlet pipe (133) and goes out
Tracheae (134) is connected to the air bag (135), constitutes the buoyancy control mechanism (13)；The company of setting on the fish head pedestal (112)
Through-hole will be connected to outside the gas chamber and the fish head mechanism (1).
4. a kind of Multifunctional biomimetic robotic fish according to claim 1, it is characterised in that: the preceding steering engine (203) and institute
Stating rear steering engine (207) is waterproof steering engine.
5. a kind of Multifunctional biomimetic robotic fish according to claim 1, it is characterised in that: the fish head shell (111) and
The fish head pedestal (112) passes to adhesive means connection, and the sucking disk outer-shell (122) is connected to outside the fish head with adhesive means
Shell (111) bottom.
6. a kind of Multifunctional biomimetic robotic fish according to claim 1, it is characterised in that: the fish tail (10) passes through four
Fish tail tapping screw is connected and fixed with the rear steering engine rotary shaft rack (206).
7. a kind of Multifunctional biomimetic robotic fish according to claim 1, it is characterised in that: the preceding steering engine rotary shaft rack
(202) and the rear steering engine rotary shaft rack (206) passes through each tapping screw and the preceding steering wheel (204) and the rear steering wheel respectively
(208) it is connected and fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910932550.XA CN110510088A (en) | 2019-09-29 | 2019-09-29 | A kind of Multifunctional biomimetic robotic fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910932550.XA CN110510088A (en) | 2019-09-29 | 2019-09-29 | A kind of Multifunctional biomimetic robotic fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110510088A true CN110510088A (en) | 2019-11-29 |
Family
ID=68634007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910932550.XA Pending CN110510088A (en) | 2019-09-29 | 2019-09-29 | A kind of Multifunctional biomimetic robotic fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110510088A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112629329A (en) * | 2020-12-07 | 2021-04-09 | 湖南翰坤实业有限公司 | Fighting robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005336A (en) * | 2016-07-11 | 2016-10-12 | 大连海事大学 | Bionic robot fish |
| CN205971770U (en) * | 2016-08-30 | 2017-02-22 | 江苏科技大学 | Underwater biomimetic robotic fish |
| CN206231595U (en) * | 2016-11-30 | 2017-06-09 | 上海海洋大学 | Bionical sea snake device |
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN107054590A (en) * | 2017-04-25 | 2017-08-18 | 重庆大学 | Vibrate absorption type four-footed climbing robot under water |
| WO2018006613A1 (en) * | 2016-07-05 | 2018-01-11 | 杭州畅动智能科技有限公司 | Bionic robot fish |
| CN108438182A (en) * | 2018-02-26 | 2018-08-24 | 南京航空航天大学 | Variable-volume Biomimetic Fish agent structure and Biomimetic Fish and locomotive regulation method |
| CN109319070A (en) * | 2018-10-12 | 2019-02-12 | 西北工业大学 | A kind of hidden tracking bionic device of submarine target |
| CN109665079A (en) * | 2019-01-15 | 2019-04-23 | 西安交通大学 | A kind of underwater robot of jet pump and steering engine combination drive |
| CN210793593U (en) * | 2019-09-29 | 2020-06-19 | 中国科学院合肥物质科学研究院 | Multifunctional bionic robot fish |
-
2019
- 2019-09-29 CN CN201910932550.XA patent/CN110510088A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018006613A1 (en) * | 2016-07-05 | 2018-01-11 | 杭州畅动智能科技有限公司 | Bionic robot fish |
| CN106005336A (en) * | 2016-07-11 | 2016-10-12 | 大连海事大学 | Bionic robot fish |
| CN205971770U (en) * | 2016-08-30 | 2017-02-22 | 江苏科技大学 | Underwater biomimetic robotic fish |
| CN206231595U (en) * | 2016-11-30 | 2017-06-09 | 上海海洋大学 | Bionical sea snake device |
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN107054590A (en) * | 2017-04-25 | 2017-08-18 | 重庆大学 | Vibrate absorption type four-footed climbing robot under water |
| CN108438182A (en) * | 2018-02-26 | 2018-08-24 | 南京航空航天大学 | Variable-volume Biomimetic Fish agent structure and Biomimetic Fish and locomotive regulation method |
| CN109319070A (en) * | 2018-10-12 | 2019-02-12 | 西北工业大学 | A kind of hidden tracking bionic device of submarine target |
| CN109665079A (en) * | 2019-01-15 | 2019-04-23 | 西安交通大学 | A kind of underwater robot of jet pump and steering engine combination drive |
| CN210793593U (en) * | 2019-09-29 | 2020-06-19 | 中国科学院合肥物质科学研究院 | Multifunctional bionic robot fish |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112629329A (en) * | 2020-12-07 | 2021-04-09 | 湖南翰坤实业有限公司 | Fighting robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110304223B (en) | Bionic machine bat ray | |
| WO2021004110A1 (en) | Water-air amphibious cross-medium bionic robotic flying fish | |
| CN108146599B (en) | Bionic mechanical jellyfish | |
| CN111301079A (en) | Cross-medium air-sea amphibious unmanned aerial vehicle | |
| CN111746767A (en) | Bionic robotic fish based on bionic fin and pump combined propulsion | |
| CN103213665A (en) | Biomimetic long-fin undulatory propulsion robotic fish | |
| CN103466063A (en) | Under-actuated spherical underwater robot with flexible movement | |
| CN112093018A (en) | Bionic bat ray robot | |
| CN105059505A (en) | Disc-shaped underwater glider | |
| CN108058799A (en) | A kind of novel bionic mechanical fish | |
| CN106864712A (en) | Bionic mechanical dolphin | |
| CN207360550U (en) | No paddle promotes underwater robot | |
| CN110510088A (en) | A kind of Multifunctional biomimetic robotic fish | |
| CN112776981A (en) | Multi-purpose unmanned aerial vehicle | |
| CN108839784B (en) | Tuna robot | |
| CN114655405A (en) | Underwater multi-degree-of-freedom motion mechanism for bionic cuttlefish | |
| CN104015899B (en) | Based on the underwater propulsion unit that the parallel swing-bar mechanism of twin-stage drives | |
| CN208360465U (en) | Hybrid power underwater robot | |
| AU2020103021A4 (en) | A Slider-type Barycenter Regulating Mechanism and Its Control and Application Method | |
| CN208149580U (en) | A kind of quadrotor submarine navigation device that vector promotes | |
| CN210793593U (en) | Multifunctional bionic robot fish | |
| CN216916250U (en) | Bionic red hockey robot | |
| CN115139709A (en) | Cabin body vertically distributed amphibious robot | |
| CN204623036U (en) | A kind of amphibious barrel-shaped robot | |
| CN212637871U (en) | Bionic robotic fish based on bionic fin and pump combined propulsion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191129 |