CN111792008A - Aquaculture water quality monitoring bionic robot fish - Google Patents
Aquaculture water quality monitoring bionic robot fish Download PDFInfo
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- CN111792008A CN111792008A CN202010691366.3A CN202010691366A CN111792008A CN 111792008 A CN111792008 A CN 111792008A CN 202010691366 A CN202010691366 A CN 202010691366A CN 111792008 A CN111792008 A CN 111792008A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- 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
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- 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
- B63G8/18—Control of attitude or depth by hydrofoils
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/02—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
- G01N33/1886—Water using probes, e.g. submersible probes, buoys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
- B63H2021/171—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor making use of photovoltaic energy conversion, e.g. using solar panels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Ocean & Marine Engineering (AREA)
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- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
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- Life Sciences & Earth Sciences (AREA)
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- Food Science & Technology (AREA)
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- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses a bionic robotic fish for monitoring aquaculture water quality, which relates to the technical field of water quality monitoring and achieves the purpose of monitoring the water quality conditions of different regions and different water layers, and the technical scheme is characterized in that: the water quality monitoring device comprises a water quality monitoring module for monitoring water quality, a mechanical power module for driving the water quality monitoring module to move in water, and a charging module for providing electric energy for the water quality monitoring module and the mechanical power module.
Description
Technical Field
The invention relates to the technical field of water quality monitoring, in particular to a bionic robot fish for monitoring water quality of aquaculture.
Background
At present, water quality monitoring is mainly performed by manual field sampling or fixed-point floating monitoring machines, water quality conditions in different regions and different water layers cannot be flexibly monitored, the problems of low water quality sampling frequency, low efficiency and incapability of feeding back water quality in time exist, and the survival rate of fishes is seriously influenced.
Disclosure of Invention
The invention aims to provide an aquaculture water quality monitoring bionic robotic fish, which achieves the purpose of monitoring the water quality conditions of different regions and different water layers.
The technical purpose of the invention is realized by the following technical scheme:
an aquaculture water quality monitoring bionic robot fish comprises a water quality monitoring module for monitoring water quality, a mechanical power module for driving the water quality monitoring module to move in water, and a charging module for providing electric energy for the water quality monitoring module and the mechanical power module.
By adopting the technical scheme, the water quality monitoring module mainly monitors basic parameters such as pH value, water temperature and turbidity and the like concerned in the culture process, and can collect and process water quality, so that the danger of pond overturning in the whole culture process is avoided; and mechanical power module carries out the machinery bionically to fish mainly, and the bionic machine fish of being convenient for removes in aqueous, and then enlarges quality of water sampling range, improves quality of water sampling efficiency, and the problem of timely feedback quality of water, the existence of the fish of being convenient for reduces nimble removal in aqueous when the influence to fish ecological environment, and the module of charging at last can provide power to mechanical power module, the removal of the bionic machine fish of being convenient for in aqueous.
The invention also aims to provide a mechanical power module applied to the aquaculture water quality monitoring bionic robot fish, which comprises a fixed plate for fixing the water quality monitoring module, a lateral fin mechanism for controlling the fixed plate to rise and sink in water and assisting steering, and a tail mechanism for controlling the fixed plate to advance and steer in water, wherein the charging module is fixed on the fixed plate.
Preferably: the lateral fin mechanism is arranged at one end of the fixing plate and comprises a fixing plate arranged at one end of the fixing plate, a placing plate distributed along the length direction of the fixing plate is arranged on one side of the fixing plate, one end, far away from the fixing plate, of the placing plate is rotatably connected with a vertical first rotating rod perpendicular to the length direction of the fixing plate and rotatably connected with a second rotating rod perpendicular to the first rotating rod, lifting rudder plates are arranged at two ends, penetrating out of the placing plate, of the second rotating rod, the lower end, extending out of the placing plate, of the first rotating rod is provided with an auxiliary direction rudder plate, and a first driving piece for driving the first rotating rod and the second rotating rod to rotate is arranged on the placing plate.
Preferably: first driving piece deviates from the extension board of placing board one side including fixed connecting block, the setting that sets up on first bull stick and second bull stick on the fixed disk, be equipped with first steering wheel on the extension board, wear to be equipped with the drive shaft on the fixed disk, the one end and the first steering wheel of drive shaft are connected, and the other end rotates with the connecting block to be connected, and when first steering wheel drove the drive shaft and rotates, set up the removal hole that supplies the drive shaft to remove on the fixed disk.
Preferably: the tail mechanism is arranged at one end of the fixing plate far away from the lateral fin mechanism, the tail mechanism comprises a fishtail ridge bone plate which is rotatably connected at the lower end of the fixing plate, a connecting plate for one end of the fishtail ridge bone plate to pass through is arranged on the fixing plate, a second driving piece for driving the fishtail ridge bone plate to rotate around a hinge joint with the fixing plate is arranged on the connecting plate, a moving groove for the movement of the fishtail ridge bone plate is formed in the connecting plate, one end of the fishtail ridge bone plate far away from the connecting plate extends out of the fixing plate, and a moving rod which is distributed in a direction perpendicular to the length direction of the fishtail ridge bone plate is connected to the extended end in a sliding manner and moves along the length direction of the fishtail ridge bone plate, two ends of the moving rod are symmetrically distributed at two sides of the fishtail ridge bone plate, two ends of the moving rod, one end of the second swing rod is hinged to the fishtail spine bone plate, the other end of the second swing rod is hinged to the third swing rod and the first swing rod, one end, far away from the first swing rod, of the third swing rod is hinged to a fourth swing rod hinged to one end, far away from the moving rod, of the fishtail spine bone plate, and a third driving piece for driving the moving rod to move is arranged on the fishtail spine bone plate.
Preferably: the second driving piece is including setting up the thing board of putting that just is on a parallel with fishtail spine hone lamella length direction distributes on the connecting plate, it is connected with the eccentric wheel to rotate on the thing board to put, be equipped with the eccentric block that penetrates in the fishtail spine hone lamella on the eccentric wheel face, set up on the fishtail spine hone lamella and supply the eccentric block to remove and follow the groove that turns to that fishtail spine hone lamella length direction distributes, the eccentric wheel is by fixing the first motor drive of putting the thing board below.
Preferably: the third driving piece comprises a second steering gear arranged on the fishtail bone plate and a driving rod connected to the second steering gear, and one end, far away from the second steering gear, of the driving rod is hinged to the moving rod.
The invention also aims to provide a charging module applied to the aquaculture water quality monitoring bionic robot fish, which is characterized in that: the charging module comprises arc plates arranged at the upper end and the lower end of the fixed plate, a first solar panel is hinged to the arc plates, a second solar panel is hinged to one end, away from the arc plates, of the first solar panel, and a fourth driving part for driving the first solar panel and the second solar panel to be located in the same plane is arranged on the arc plates.
Preferably: the fourth driving part comprises two first swing plates which are hinged on the two arc-shaped plates and are parallel to each other, the two first swing plates which are positioned on the same side of the two arc-shaped plates are hinged with each other, the ends, away from the arc-shaped plates, of the two first swing plates which are hinged with each other are hinged with a second swing plate, the ends, away from the first swing plates, of the two second swing plates are hinged with each other, the end, away from the vertical rod, of the second swing plate which is positioned on the lower arc-shaped plate is hinged with a third swing plate which is hinged with the adjacent first swing plate, the end, away from the arc-shaped plate, of the first swing plate which is positioned on the upper arc-shaped plate is hinged with a fourth swing plate which is hinged with the adjacent second swing plate, and the two vertical rods are connected through a transverse rod, the fixed plate is provided with a telescopic rod, one end, far away from the fixed plate, of the telescopic rod is connected to the cross rod, and the vertical rod is hinged to the lower end face of the second solar panel.
In conclusion, the invention has the following beneficial effects: the water quality monitoring module is mainly used for monitoring basic parameters such as pH value, water temperature and turbidity and the like concerned in the culture process, and can be used for collecting and processing water quality, so that the danger of pond overturning in the whole culture process is avoided; and mechanical power module carries out the machinery bionically to fish mainly, and the bionic machine fish of being convenient for removes in aqueous, and then enlarges quality of water sampling range, improves quality of water sampling efficiency, and the problem of timely feedback quality of water, the existence of the fish of being convenient for reduces nimble removal in aqueous when the influence to fish ecological environment, and the module of charging at last can provide power to mechanical power module, the removal of the bionic machine fish of being convenient for in aqueous.
Drawings
FIG. 1 is a schematic structural view of example 1;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1;
FIG. 3 is a schematic structural view of example 2;
FIG. 4 is a schematic structural view for embodying a joint block of embodiment 2;
fig. 5 is a schematic structural view for embodying the tail mechanism of embodiment 2.
In the figure: 1. a water quality monitoring module; 2. a mechanical power module; 21. a fixing plate; 22. fixing the disc; 221. placing the plate; 222. a first rotating lever; 223. a second rotating rod; 224. a lifting rudder plate; 225. an auxiliary rudder plate; 226. connecting blocks; 227. an extension plate; 228. a first steering engine; 229. a drive shaft; 2291. moving the hole; 23. fishtail bone plate; 231. a connecting plate; 232. a moving groove; 233. a travel bar; 234. a first swing link; 235. a second swing link; 236. a third swing link; 237. a fourth swing link; 24. a storage plate; 241. an eccentric wheel; 242. an eccentric block; 243. a steering groove; 244. a first motor; 25. a second steering engine; 251. driving the rod; 26. an arc-shaped plate; 261. a first solar panel; 262. a second solar panel; 27. a first swing plate; 271. a second swing plate; 272. a vertical rod; 273. a third swing plate; 274. a fourth wobble plate; 275. a cross bar; 276. a telescopic rod; 3. and a charging module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1: the utility model provides a bionic machine fish of aquaculture water quality monitoring, as figure 1, including the water quality monitoring module 1 of monitoring quality of water, drive water quality monitoring module 1 mechanical power module 2 of motion in aqueous and to water quality monitoring module 1 and mechanical power module 2 provide the module 3 that charges of electric energy.
The water quality monitoring module 1 can be an autonomous cruise energy-saving water quality monitoring ship with the publication number of CN111332415A and the water quality monitoring module 1 in the monitoring method, but is not limited to the above, the basic parameters of pH value, water temperature, turbidity and the like concerned in the culture process are mainly monitored, and water quality can be collected and processed, so that the risk of pond overturning in the whole culture process is avoided; and mechanical power module 2 mainly carries out the machinery bionically to fish, and the bionic machine fish of being convenient for removes in aqueous, and then enlarges quality of water sampling range, improves quality of water sampling efficiency, and the problem of timely feedback quality of water, the existence of the fish of being convenient for reduces nimble removal in aqueous when the influence to fish ecological environment, and the module 3 that charges at last can provide power to mechanical power module 2, the removal of the bionic machine fish of being convenient for in aqueous.
Example 2: a mechanical power module applied to embodiment 1, as shown in fig. 3 and 4, includes a fixing plate 21 for fixing a water quality monitoring module 1, a lateral fin mechanism for controlling the fixing plate 21 to rise and sink in water and assisting steering, and a tail mechanism for controlling the fixing plate 21 to advance and steer in water, wherein a charging module 3 is fixed on the fixing plate 21.
As shown in fig. 3 and 4, the lateral fin mechanism is disposed at one end of the fixed plate 21, the lateral fin mechanism includes a fixed plate 22 disposed at one end of the fixed plate 21, a placing plate 221 disposed at one side of the fixed plate 22 and distributed along a length direction of the fixed plate 21, a first vertical rotary rod 222 rotatably connected to one end of the placing plate 221 away from the fixed plate 22 and perpendicular to the length direction of the fixed plate 21, and a second vertical rotary rod 223 rotatably connected to the first rotary rod 222, the second rotary rod 223 is provided with a lifting rudder plate 224 at both ends penetrating through the placing plate 221, the lower end of the first rotary rod 222 extending out of the placing plate 221 is provided with an auxiliary direction rudder plate 225, and the placing plate 221 is provided with a first driving member for driving the first rotary rod 222 and the second rotary rod 223 to rotate. At this time, the first driving member drives the second rotary rod 223 to rotate, so that the elevating rudder plate 224 can conveniently rotate back and forth, two ends of the longitudinal section of the elevating rudder plate 224 are pointed, the middle of the longitudinal section of the elevating rudder plate 224 bulges and has an inclination angle, when the elevating rudder plate 224 rotates back and forth, the fixed plate 21 can be conveniently driven to ascend and descend, and when the first driving member drives the first rotary rod 222 to rotate, the auxiliary rudder plate 225 can change the direction, so that the direction of the fixed plate 21 running in water can be conveniently changed.
As shown in fig. 3 and 4, the first driving member includes a connecting block 226 fixedly disposed on the first rotating rod 222 and the second rotating rod 223, an extending plate 227 disposed on a side of the fixed disk 22 away from the placing plate 221, a first steering engine 228 is disposed on the extending plate 227, a driving shaft 229 is disposed on the fixed disk 22 in a penetrating manner, one end of the driving shaft 229 is connected to the first steering engine 228, and the other end of the driving shaft 229 is rotatably connected to the connecting block 226, when the driving shaft 229 is driven by the first steering engine 228 to rotate, a moving hole 2291 for moving the driving shaft 229 is disposed on the fixed disk 22, at this time, the driving shaft 229 is driven to move when the first steering engine 228 works, so that the driving shaft 229 drives the connecting block 226 to rotate around the first rotating rod 222 or the second rotating rod 223, thereby facilitating the control of the fixed plate 21 to. In addition, a sealing telescopic pipe is arranged on the fixed disk 22 and sleeved outside the driving shaft 229, the sealing telescopic pipe can be an elastic corrugated pipe, one end of the sealing telescopic pipe is connected with the fixed disk 22, the other end of the sealing telescopic pipe is connected outside the driving shaft 229, the sealing telescopic pipe is arranged above the placing plate 221, and then a waterproof cover covering the extending plate 227 is arranged on the fixed disk 22, so that the contact between the first driving piece and water is reduced, and the service life is prolonged.
As shown in fig. 5, the tail mechanism is disposed at one end of the fixing plate 21 far away from the lateral fin mechanism, the tail mechanism includes a fishtail bone plate 23 rotatably connected to the lower end of the fixing plate 21, a connecting plate 231 for one end of the fishtail bone plate 23 to pass through is disposed on the fixing plate 21, a second driving member for driving the fishtail bone plate 23 to rotate around a hinge point with the fixing plate 21 is disposed on the connecting plate 231, a moving slot 232 for the movement of the fishtail bone plate 23 is disposed on the connecting plate 231, one end of the fishtail bone plate 23 far away from the connecting plate 231 extends out of the fixing plate 21 and is slidably connected with a moving rod 233 extending perpendicular to the length direction of the fishtail bone plate 23, the moving rod 233 moves along the length direction of the fishtail bone plate 23, two ends of the moving rod 233 are symmetrically disposed on two sides of the fishtail bone plate 23, two ends of the moving rod 233 are both hinged with first swing rods 234, one end, one end of the second swing rod 235 is hinged to the fishtail bone plate 23, the other end of the second swing rod 235 is hinged to the third swing rod 236 and the first swing rod 234, one end of the third swing rod 236, which is far away from the first swing rod 234, is hinged to a fourth swing rod 237, which is hinged to one end of the fishtail bone plate 23, which is far away from the movable rod 233, and a third driving piece, which drives the movable rod 233 to move, is arranged on the fishtail bone plate 23.
As shown in fig. 5, the second driving element drives the fishtail bone plate 23 to rotate around the hinge point with the fixing plate 21, so as to control the fixing plate 21 to advance in water and turn, and the third driving element drives the moving rod 233 to move along the length direction of the fishtail bone plate 23, so that the moving rod 233 drives the first oscillating rod 234, the second oscillating rod 235 and the third oscillating rod 236 to rotate, thereby changing the shape of the fishtail, and further facilitating the change of the advancing speed of the fixing plate 21 and the realization of turning.
As shown in fig. 5, the second driving member includes a placement plate 24 disposed on the connection plate 231 and distributed parallel to the length direction of the fishbone plate 23, an eccentric wheel 241 is rotatably connected to the placement plate 24, an eccentric block 242 penetrating into the fishbone plate 23 is disposed on the wheel surface of the eccentric wheel 241, a turning groove 243 for moving the eccentric block 242 and distributed along the length direction of the fishbone plate 23 is disposed on the fishbone plate 23, and the eccentric wheel 241 is driven by a first motor 244 fixed below the placement plate 24. At this time, the first motor 244 drives the eccentric wheel 241 to rotate, so that the eccentric block 242 drives the fishbone plate 23 to swing while moving in the turning groove 243, and at this time, the fishbone plate 23 moves in the moving groove 232, so as to control the fixing plate 21 to advance and turn in water, and the operation is convenient.
As shown in fig. 5, the third driving member includes a second steering gear 25 disposed on the fishtail bone plate 23 and a driving rod 251 connected to the second steering gear 25, and one end of the driving rod 251 away from the second steering gear 25 is hinged to the moving rod 233. At this time, when the second steering engine 25 works, the driving rod 251 is driven by the second steering engine 25 to swing, and further the moving rod 233 is driven to move back and forth on the fishtail bone plate 23.
Example 3: the utility model provides a be applied to the module of charging of embodiment 2 and embodiment 1, like figure 1 and figure 2, the module of charging 3 is including setting up the arc 26 at fixed plate 21 upper and lower both ends, the upper end articulated on the arc 26 have first solar panel 261, and the one end that first solar panel 261 kept away from arc 26 articulates has second solar panel 262, is equipped with the fourth driver that drives first solar panel 261 and second solar panel 262 and be located the coplanar on the arc 26. When charging is needed, the fourth driving member drives the second solar panel 262 to be spread, and at this time, the first solar panel 261 and the second solar panel 262 gradually tend to be in the same plane, so that the first solar panel 261 and the second solar panel 262 can work conveniently.
Referring to fig. 1 and 2, the fourth driving member includes two parallel first swing plates 27 hinged to the two arc plates 26, two first swing plates 27 located on the same side of the two arc plates 26 are hinged to each other, two second swing plates 271 are hinged to one end of each of the two hinged first swing plates 27 away from the arc plate 26, one end of each of the two second swing plates 271 away from the first swing plate 27 is hinged to the same vertical rod 272, the two second swing plates 271 are hinged to each other, one end of each of the second swing plates 271 located on the lower arc plate 26 away from the vertical rod 272 is hinged to a third swing plate 273 hinged to the adjacent first swing plate 27, one end of each of the first swing plates 27 located on the upper arc plate 26 away from the arc plate 26 is hinged to a fourth swing plate 274 hinged to the adjacent second swing plate 271, the two vertical rods 272 are connected through a cross rod 276, a telescopic rod 276 is provided on the fixed plate 21, one end of the telescopic rod away from the fixed plate 21 is connected to the cross rod 275, the vertical rod 272 is hinged to the lower end surface of the second solar panel 262. The telescopic link 276 can be hydraulic telescoping rod 276, when telescopic link 276 during operation, make first pendulum board 27 and second pendulum board 271 strutted gradually, vertical pole 272 is driven to removing to keeping away from arc 26 direction this moment, make first solar panel 261 and second solar panel 262 strutted gradually, until being located the coplanar, be convenient for first solar panel 261 and second solar panel 262's work, the setting of third pendulum board 273 and fourth pendulum board 274 makes the structure more stable.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (9)
1. The utility model provides a bionic robot fish of aquaculture water quality monitoring which characterized in that, including water quality monitoring module (1) of monitoring quality of water, drive water quality monitoring module (1) mechanical power module (2) of motion in aqueous and to water quality monitoring module (1) and mechanical power module (2) provide electric energy charging module (3).
2. A mechanical power module for use in claim 1, wherein: the water quality monitoring device comprises a fixing plate (21) for fixing a water quality monitoring module (1), a side fin mechanism for controlling the fixing plate (21) to ascend and descend in water and assisting in steering, and a tail mechanism for controlling the fixing plate (21) to advance and steer in water, wherein a charging module (3) is fixed on the fixing plate (21).
3. The mechanical power module applied to the aquaculture water quality monitoring bionic robot fish according to claim 2, and is characterized in that: the lateral fin mechanism is arranged at one end of the fixing plate (21), the lateral fin mechanism comprises a fixing plate (22) arranged at one end of the fixing plate (21), a placing plate (221) distributed along the length direction of the fixing plate (21) is arranged on one side of the fixing plate (22), one end, far away from the fixing plate (22), of the placing plate (221) is rotatably connected with a vertical first rotary rod (222) perpendicular to the length direction of the fixing plate (21) and rotatably connected with a second rotary rod (223) perpendicular to the first rotary rod (222), the two ends, penetrating out of the placing plate (221), of the second rotary rod (223) are respectively provided with a lifting rudder plate (224), the lower end, extending out of the placing plate (221), of the first rotary rod (222) is provided with an auxiliary direction rudder plate (225), and a first driving piece for driving the first rotary rod (222) and the second rotary rod (223) to rotate is arranged on the placing plate (221).
4. The mechanical power module of the bionic robot fish applied to aquaculture water quality monitoring in claim 3 is characterized in that: first driving piece is including fixed connecting block (226) that sets up on first bull stick (222) and second bull stick (223), set up and deviate from extension board (227) of placing board (221) one side at fixed disk (22), be equipped with first steering wheel (228) on extension board (227), wear to be equipped with drive shaft (229) on fixed disk (22), the one end and the first steering wheel (228) of drive shaft (229) are connected, and the other end rotates with connecting block (226) to be connected, when first steering wheel (228) drive shaft (229) rotate, set up removal hole (2291) that supply drive shaft (229) to remove on fixed disk (22).
5. The mechanical power module applied to the aquaculture water quality monitoring bionic robot fish according to claim 2, and is characterized in that: the tail mechanism is arranged at one end, far away from the lateral fin mechanism, of the fixing plate (21), the tail mechanism comprises a fishtail ridge bone plate (23) which is rotatably connected to the lower end of the fixing plate (21), a connecting plate (231) for one end of the fishtail ridge bone plate (23) to penetrate through is arranged on the fixing plate (21), a second driving piece which drives the fishtail ridge bone plate (23) to rotate around a hinge point with the fixing plate (21) is arranged on the connecting plate (231), a moving groove (232) for the movement of the fishtail ridge bone plate (23) is formed in the connecting plate (231), one end, far away from the connecting plate (231), of the fishtail ridge bone plate (23) extends out of the fixing plate (21), a moving rod (233) which is connected to the extending end in a sliding mode and is perpendicular to the length direction of the fishtail ridge bone plate (23), the moving rod (233) moves along the length direction of the fishtail ridge bone plate (23), and two ends of the, the two ends of the movable rod (233) are hinged to first swing rods (234), one end, away from the movable rod (233), of each first swing rod (234) is hinged to a second swing rod (235) and a third swing rod (236), one end of each second swing rod (235) is hinged to the fishtail ridge bone plate (23), the other end of each second swing rod is hinged to the third swing rod (236) and the corresponding first swing rod (234), one end, away from the first swing rod (234), of each third swing rod (236) is hinged to a fourth swing rod (237) which is hinged to one end, away from the movable rod (233), of each fishtail ridge bone plate (23), and a third driving piece for driving the movable rod (233) to move is arranged on each fishtail ridge bone plate (23).
6. The mechanical power module of the bionic robot fish applied to aquaculture water quality monitoring in claim 5 is characterized in that: the second driving piece comprises an object placing plate (24) which is arranged on a connecting plate (231) and is parallel to the length direction of the fishtail bone plate (23), an eccentric wheel (241) is connected to the object placing plate (24) in a rotating mode, an eccentric block (242) penetrating into the fishtail bone plate (23) is arranged on the wheel surface of the eccentric wheel (241), a turning groove (243) which is used for moving the eccentric block (242) and is distributed along the length direction of the fishtail bone plate (23) is formed in the fishtail bone plate (23), and the eccentric wheel (241) is driven by a first motor (244) fixed below the object placing plate (24).
7. The mechanical power module of the bionic robot fish applied to aquaculture water quality monitoring in claim 5 is characterized in that: the third driving piece comprises a second steering engine (25) arranged on the fishtail bone plate (23) and a driving rod (251) connected to the second steering engine (25), and one end, far away from the second steering engine (25), of the driving rod (251) is hinged to the moving rod (233).
8. The charging module applied to the aquaculture water quality monitoring bionic robot fish is characterized in that: the module (3) that charges is including setting up arc (26) at both ends about fixed plate (21), upper end it has first solar panel (261) to articulate on arc (26), the one end that arc (26) were kept away from in first solar panel (261) articulates has second solar panel (262), be equipped with the fourth driver that drives first solar panel (261) and second solar panel (262) and be located the coplanar on arc (26).
9. The charging module applied to the water quality monitoring bionic robotic fish for aquaculture according to claim 8, which is characterized in that: the fourth driving part comprises two first swing plates (27) which are hinged on the two arc-shaped plates (26) and are parallel to each other, the two first swing plates (27) which are positioned on the same side of the two arc-shaped plates (26) are hinged with each other, one ends, far away from the arc-shaped plates (26), of the two first swing plates (27) which are hinged with each other are hinged with a second swing plate (271), one ends, far away from the first swing plates (27), of the two second swing plates (271) are hinged with the same vertical rod (272), one ends, far away from the vertical rod (272), of the second swing plates (271) which are positioned on the lower arc-shaped plate (26) are hinged with third swing plates (273) which are hinged with the adjacent first swing plates (27), one ends, far away from the arc-shaped plates (26), of the first swing plates (27) which are positioned on the upper arc-shaped plate (26) are hinged with fourth swing plates (274) which are hinged with the adjacent second swing plates (271), two vertical poles (272) are connected through horizontal pole (275), be equipped with telescopic link (276) on fixed plate (21), the one end that fixed plate (21) were kept away from in telescopic link (276) is connected on horizontal pole (275), vertical pole (272) and the articulated setting of second solar panel (262) lower terminal surface.
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| CN202010691366.3A CN111792008B (en) | 2020-07-17 | 2020-07-17 | Aquaculture water quality monitoring bionic robotic fish |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895842A (en) * | 2014-04-01 | 2014-07-02 | 上海海洋大学 | Robotic fish capable of carrying water quality detection sensor |
| CN106005336A (en) * | 2016-07-11 | 2016-10-12 | 大连海事大学 | Bionic robot fish |
| CN107144677A (en) * | 2017-07-05 | 2017-09-08 | 山东建筑大学 | A kind of freshwater aquiculture water quality monitoring system based on bionic machine fish |
| CN110667813A (en) * | 2019-09-30 | 2020-01-10 | 武汉工程大学 | Mobile bionic robot fish for water quality monitoring and oxygen increasing and control method |
| CN210310833U (en) * | 2019-06-13 | 2020-04-14 | 中国人民解放军海军工程大学 | Marine monitoring bionic fish |
-
2020
- 2020-07-17 CN CN202010691366.3A patent/CN111792008B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895842A (en) * | 2014-04-01 | 2014-07-02 | 上海海洋大学 | Robotic fish capable of carrying water quality detection sensor |
| CN106005336A (en) * | 2016-07-11 | 2016-10-12 | 大连海事大学 | Bionic robot fish |
| CN107144677A (en) * | 2017-07-05 | 2017-09-08 | 山东建筑大学 | A kind of freshwater aquiculture water quality monitoring system based on bionic machine fish |
| CN210310833U (en) * | 2019-06-13 | 2020-04-14 | 中国人民解放军海军工程大学 | Marine monitoring bionic fish |
| CN110667813A (en) * | 2019-09-30 | 2020-01-10 | 武汉工程大学 | Mobile bionic robot fish for water quality monitoring and oxygen increasing and control method |
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| CN111792008B (en) | 2022-05-27 |
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