CN113071640B - Underwater detection bionic robot fish and system control method thereof - Google Patents
Underwater detection bionic robot fish and system control method thereof Download PDFInfo
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- CN113071640B CN113071640B CN202110481457.9A CN202110481457A CN113071640B CN 113071640 B CN113071640 B CN 113071640B CN 202110481457 A CN202110481457 A CN 202110481457A CN 113071640 B CN113071640 B CN 113071640B
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 98
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 title abstract description 8
- 230000007306 turnover Effects 0.000 claims abstract description 43
- 238000004804 winding Methods 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 4
- 230000003592 biomimetic effect Effects 0.000 claims 4
- 238000010586 diagram Methods 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 239000003344 environmental pollutant Substances 0.000 description 3
- 231100000719 pollutant Toxicity 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Classifications
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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
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H2023/0208—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing by means of endless flexible members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Means For Catching Fish (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention provides a bionic robot fish for underwater detection and a system control method thereof, wherein the bionic robot fish comprises a fish head part, a fish body structure and a fish tail structure which are sequentially connected, wherein a driving motor, a winch and a pull rope are arranged in the fish head part, and the pull rope is wound on the winch; the turnover assembly further comprises a linear reset spring, and the linear reset spring is sequentially connected with the plurality of connecting units. Through the setting of this kind of structure, through the action of tightening up of stay cord, just can drive fish head structure and drive whole a plurality of linkage unit and carry out the upset motion to make the fish body structure that originally presents rectilinear state convert gradually into curved state, and this kind of curved state can also carry out the quick adjustment of crooked degree according to the state of accomodating of stay cord on the capstan winch, and then accomplished well and stood up crooked adjustment to fish body structure, and is quick, simple, has adaptability well.
Description
Technical Field
The invention relates to a bionic robot fish for underwater detection and a system control method thereof.
Background
The robot fish is a machine structure which is similar to natural fish in appearance structure, and for the purposes of detection, mapping and the like, an electronic device, such as a chemical sensor, is usually arranged on the basis of the mechanical equipment.
The robot fish with the mechanical structure has an automatic swimming function, can move to different positions or depths by swimming in underground water, and then can fulfill certain detection and measurement purposes through the detection element at the positions. In addition, in some removal technologies aiming at underwater pollutants, the robot fish can also play a good role, can directionally identify the pollutants and capture the pollutants after penetrating into the water, and has good flexibility and adaptability.
However, although the robot fish has many applications and good application prospects, some technical problems are found in practical application work, especially when the robot fish moves underwater, the flexibility of the fish body is insufficient, the turning-over action of the fish in the nature is difficult to achieve, and the turning-over action of the fish has good natural adaptability, such as the capability of quickly turning over and avoiding obstacles, however, the realization of the turning-over function of the fish body structure of the robot fish in the prior art is still needed to be improved.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a robot fish turning device which can conveniently and rapidly turn the fish body of the robot fish in a curve so as to realize the purposes of easily turning and avoiding obstacles.
The invention provides a bionic robotic fish for underwater detection, which comprises a fish head part, a fish body structure and a fish tail structure which are sequentially connected, wherein a driving motor, a winch and a pull rope are arranged in the fish head part, the pull rope is wound on the winch, the driving motor is connected with a winding and unwinding shaft of the winch, and the outer end of the pull rope is connected with a fish tail shell at the fish tail part; a turning-over assembly is arranged in the fish body structure and comprises a plurality of connecting units which are sequentially connected, each connecting unit comprises a turning plate and a hinge rod, and two ends of each hinge rod are respectively connected with two adjacent turning plates; the turnover assembly further comprises a linear reset spring, and the linear reset spring is sequentially connected with the plurality of connecting units.
The beneficial effect of above-mentioned scheme does: through the setting of this kind of structure, through the action of tightening up of stay cord, just can drive fish head structure and drive whole a plurality of linkage unit and carry out the upset motion to make the fish body structure that originally presents rectilinear state convert gradually into curved state, and this kind of curved state can also carry out the quick adjustment of crooked degree according to the state of accomodating of stay cord on the capstan winch, and then accomplished well and stood up crooked adjustment to fish body structure, and is quick, simple, has adaptability well.
According to a preferable scheme, the turnover plate is a Z-shaped plate body, the Z-shaped plate body comprises a first transverse plate, a first vertical plate and a second transverse plate which are sequentially connected, the first vertical plate and the second transverse plate form a notch groove position, and the notch groove position is used for clamping the first transverse plate of the other adjacent turnover plate;
the second transverse plate is provided with a second vertical plate, and the second vertical plate is connected to the first transverse plate of the other adjacent turnover plate through a turnover shaft.
The beneficial effect of above-mentioned scheme does: when the turnover mechanism is used for turning over, two adjacent Z-shaped plate bodies are turned over and moved at the positions of the turnover shafts and are driven by the adjacent hinge rods, and after the turnover mechanism is turned over, the Z-shaped plate bodies are driven to automatically return by the return springs when the linear state needs to be restored, so that the plurality of connecting units are automatically in a linear placing state.
According to a preferable scheme, a mounting plate is arranged in a fish tail shell of the fish tail structure, a first swing motor is arranged on the mounting plate and connected with a universal structure, the universal structure is connected with a tail frame body, the tail frame body is provided with a rotating head, the rotating head is connected with the downstream end part of the universal structure, a rotating crank, a swing U-shaped body, a rotating block and a supporting shaft rod are arranged on the rotating head, the rotating block is rotatably sleeved on the supporting shaft rod and connected with a fish tail simulating plate, the swing U-shaped body is hinged to the rotating block, and the swing U-shaped body is hinged to the rotating crank.
A preferred scheme is, the mounting panel below is provided with lower floor's platform, be provided with the second on the platform of lower floor and sway the motor, the second sways motor and rotatory plug connection, rotatory plug's end sets up between two holding pieces, and two holding pieces are connected with first swinging arms, second swinging arms and third swinging plate in proper order, first swinging arms rotationally sets up on the body of support rod, the upper and lower both ends of second swinging arms respectively with first swinging arms and third swinging arms are connected, the inner of third swinging arms with the mounting panel is articulated, the outer end of third swinging arms with the support shaft lever is connected, the afterbody framework is connected on the third swinging arms.
Preferably, the universal structure includes a first fixing rod, a first fixing block, two first hinge shaft rods arranged oppositely, two second hinge shaft rods arranged oppositely, and a second fixing rod, the first hinge shaft rod is hinged to the second hinge shaft rod, the first fixing rod is hinged to the second fixing rod, the first hinge shaft rod is hinged to the first fixing block, the second hinge shaft rod is hinged to the second fixing block, the first fixing block and the second fixing block are respectively arranged on the first fixing rod and the second fixing rod, the first fixing rod is connected to an output shaft of the first swing motor, and the second fixing rod is connected to the tail frame body through the second fixing block.
The invention provides a system control method for detecting a bionic robot fish in water, which comprises the following steps:
s1, in an initial state, the fish head, the fish body and the fish tail are in a linear arrangement state, the linear return spring is in a linear natural stretching state, the connecting units are in a straight state, and the winding length of the pulling rope on the winch is in a relatively long state;
s2: the pulling rope on the winch is gradually converted into a relatively short state from a relatively long state, namely the driving motor drives the winch to rotate, so that the pulling rope is gradually wound on the winch; correspondingly, the turnover assembly starts to change, and two adjacent turnover plates gradually move relatively under the pulling action of the hinge rod, namely a certain inclination angle is changed between the two turnover plates; moreover, the degree of an included angle between two adjacent turnover plates is increased through the winding degree of the pull rope on the winch, so that the bending degree of the whole fish body structure is increased; at the moment, the linear return spring is correspondingly deformed to form a bending structure;
s3, when the pulling rope on the winch is gradually changed from a relatively short state to a relatively long state, namely the driving motor drives the winch to rotate, so that the pulling rope is gradually wound on the winch; the linear reset spring drives the connecting unit to automatically reset.
According to a preferable scheme, the turnover plate is a Z-shaped plate body, the Z-shaped plate body comprises a first transverse plate, a first vertical plate and a second transverse plate which are sequentially connected, the first vertical plate and the second transverse plate form a notch groove position, and the notch groove position is used for clamping the first transverse plate of the other adjacent turnover plate; the second transverse plate is provided with a second vertical plate, and the second vertical plate is connected to the first transverse plate of the other adjacent turnover plate through a turnover shaft;
the system control method includes the steps of: when two adjacent turnover plates move, the second turnover plate rotates relative to the first turnover plate by taking the turnover shaft as a fulcrum under the driving of the hinge rod; when the turnover plate is in a linear placing state, the first transverse plate of the second turnover plate enters the notch groove position to be placed.
A mounting plate is arranged in a fish tail shell of the fish tail structure, a first swing motor is arranged on the mounting plate and connected with a universal structure, the universal structure is connected with a tail frame body, the tail frame body is provided with a rotating head, the rotating head is connected to the downstream end part of the universal structure, a rotating crank, a swinging U-shaped body, a rotating block and a supporting shaft rod are arranged on the rotating head, the rotating block is rotatably sleeved on the supporting shaft rod and connected with a fish tail simulating plate, the swinging U-shaped body is hinged to the rotating block, and the swinging U-shaped body is hinged to the rotating crank;
the system control method includes the steps of: the first swing motor provides rotary power, the universal structure transmits power to the rotating head arranged on the tail frame body, the rotating head correspondingly drives the rotating crank to rotate when rotating, accordingly, the swing U-shaped body rotates by taking the hinged point as a fulcrum, the rotating block forms a left-right swing effect, and the fish-tail-like plate is driven by the rotating block to swing so as to achieve the purpose of moving.
A lower layer platform is arranged below the mounting plate, a second swing motor is arranged on the lower layer platform and connected with a rotary plug, the end of the rotary plug is arranged between two clamping pieces, the two clamping pieces are sequentially connected with a first swing rod, a second swing rod and a third swing plate, the first swing rod is rotatably arranged on a support rod body, the upper end and the lower end of the second swing rod are respectively connected with the first swing rod and the third swing rod, the inner end of the third swing rod is hinged with the mounting plate, the outer end of the third swing rod is connected with the support rod, and the tail frame body is connected to the third swing rod;
the system control method includes the steps of: the second swing motor provides power, then makes the rotary plug rotates, and corresponding messenger the end of rotary plug drives the holding piece carries out the horizontal hunting motion, first swinging arms, second swinging arms and third swinging arms correspondingly carry out the swing motion, and then make the afterbody framework carries out the swing motion, and then makes the swing amplitude of bionical fish tail increases.
A preferred embodiment is that the universal structure includes a first fixing rod, a first fixing block, two first hinge shaft rods arranged oppositely, two second hinge shaft rods arranged oppositely, and a second fixing rod, the first hinge shaft rod is hinged to the second hinge shaft rod, the first fixing rod is hinged to the second fixing rod, the first hinge shaft rod is hinged to the first fixing block, the second hinge shaft rod is hinged to the second fixing block, the first fixing block and the second fixing block are respectively arranged on the first fixing rod and the second fixing rod, the first fixing rod is connected to an output shaft of the first swing motor, and the second fixing rod is connected to the tail frame body through the second fixing block;
the system control method includes the steps of: when the tail frame body drives the second fixed block to swing left and right, the second fixed rod performs swing hinge motion relative to the first fixed rod, and meanwhile, the second hinge rod performs swing hinge motion relative to the first hinge rod.
Drawings
FIG. 1 is a schematic structural diagram of the underwater exploration bionic robot fish of the invention.
FIG. 2 is a schematic structural diagram of the underwater exploration bionic robot fish of the invention.
FIG. 3 is a schematic structural diagram of the underwater exploration bionic robot fish of the invention.
FIG. 4 is a schematic structural diagram of the underwater exploration bionic robot fish of the invention.
FIG. 5 is a schematic structural diagram of the underwater exploration bionic robot fish of the invention.
Fig. 6 is a schematic structural view of a fish body structure, i.e., a region a in fig. 3, of the underwater exploration bionic robot fish of the present invention.
Fig. 7 is a schematic structural view of the fishtail structure of the underwater robotic fish for detecting the bionic robot, namely, the region B in fig. 5.
FIG. 8 is a schematic structural diagram of a clamping piece region of the underwater exploration bionic robot fish of the invention.
FIG. 9 is a schematic structural diagram of the universal structure of the underwater exploration bionic robot fish of the invention.
FIG. 10 is a schematic structural diagram of a tail frame region of the underwater exploration bionic robot fish of the invention.
Detailed Description
The first embodiment:
as shown in fig. 1 to 10, the underwater exploration bionic robot fish provided by the invention comprises a fish head 10, a fish body structure 20 and a fish tail structure 30 which are connected in sequence, wherein a driving motor 11, a winch 12 and a pull rope 13 are arranged in the fish head 10, the pull rope 13 is wound on the winch 12, the driving motor 11 is connected with a retraction shaft of the winch 12, and the outer end of the pull rope 13 is connected with a fish tail shell 31 of the fish tail 30; a turning-over assembly 21 is arranged in the fish body structure 20, the turning-over assembly 21 comprises a plurality of connecting units 22 which are sequentially connected, each connecting unit 22 comprises a turning plate 25 and a hinge rod 24, and two ends of each hinge rod 24 are respectively connected with two adjacent turning plates 25; the body-turning assembly 21 further comprises a linear return spring 26, and the linear return spring 26 is sequentially connected with the plurality of connecting units 22.
The turnover plate 25 is a Z-shaped plate body, the Z-shaped plate body comprises a first transverse plate 27, a first vertical plate 28 and a second transverse plate 29 which are sequentially connected, the first vertical plate 28 and the second transverse plate 29 form a notch groove position, and the notch groove position is used for clamping and placing the first transverse plate 27 of the other adjacent turnover plate 25; the second transverse plate 29 has a second vertical plate 281, and the second vertical plate 281 is connected to the first transverse plate 27 of the adjacent other roll-over plate 25 through a roll-over shaft 251.
The invention provides a system control method for detecting a bionic robot fish in water, which comprises the following steps:
s1, in the initial state, the fish head 10, the fish body 20 and the fish tail 30 are in the linear arrangement state, the linear return spring 26 is in the linear natural stretching state, the plurality of connecting units 22 are in the flat arrangement state, and the winding length of the pulling rope 13 on the winch 12 is in the relatively long state;
s2: the pulling rope 13 on the winch 12 is gradually changed from a relatively long state to a relatively short state, namely the driving motor 11 drives the winch 13 to rotate, so that the pulling rope 13 is gradually wound on the winch 12; correspondingly, the turnover assembly 21 starts to change, and two adjacent turnover plates 25 gradually move relatively under the pulling action of the hinge rod 24, namely a certain inclination angle change is formed between the two turnover plates 25; moreover, the degree of the included angle between two adjacent turning plates 25 is increased by the winding degree of the pulling rope 13 on the winch 12, so that the bending degree of the whole fish body structure 20 is increased; at this time, the linear return spring 26 is deformed correspondingly to form a bending structure;
s3, when the pulling rope 13 on the winch 12 is gradually changed from a relatively short state to a relatively long state, namely the driving motor 11 drives the winch 12 to rotate, so that the pulling rope 13 is gradually wound on the winch 12; the linear return spring 26 drives the connection unit 22 to automatically return.
The system control method includes the steps of: when two adjacent turning plates 25 move, the second turning plate 25 rotates relative to the first turning plate 25 by taking the turning shaft 251 as a fulcrum under the driving of the hinge rod; when in the linear placement position, the first transverse plate 27 of the second roll-over plate 25 enters the notch groove position for placement.
Second embodiment:
preferably, in fig. 7, a mounting plate 32 is arranged in a fishtail housing 31 of the fishtail structure 30 of the present embodiment, a first swing motor 33 is arranged on the mounting plate 32, the first swing motor 33 is connected with a universal structure 34, the universal structure 34 is connected with a tail frame 35, the tail frame 35 has a rotating head 36, the rotating head 36 is connected to a downstream end of the universal structure 34, a rotating crank 37, a swing U-shaped body 38, a rotating block 39 and a supporting shaft rod 40 are arranged on the rotating head 36, the rotating block 39 is rotatably sleeved on the supporting shaft rod 40, the rotating block 39 is connected with a fishtail-like plate 41, the swing U-shaped body 38 is hinged on the rotating block 39, and the swing U-shaped body 38 is hinged with the rotating crank 37;
the system control method includes the steps of: first swing motor 33 provides rotary power, and universal structure 34 conveys power to the rotating head 36 that sets up on the afterbody framework 35, and rotating head 36 then correspondingly drives swivel crank 37 and rotates when rotating, makes swing U type body 38 use articulated locus to rotate as the fulcrum correspondingly, and then makes turning block 39 form the effect of horizontal hunting, and then drives imitative fish tailboard 41 through turning block 39 and carry out the swing effect and then reach the purpose of moving about.
In fig. 8, a lower platform 42 is disposed below the mounting plate 32, a second swing motor 43 is disposed on the lower platform 42, the second swing motor 43 is connected to a rotary plug 44, an end of the rotary plug 44 is disposed between two clamping pieces 45, the two clamping pieces 45 are sequentially connected to a first swing rod 46, a second swing rod 47 and a third swing plate 48, the first swing rod 46 is rotatably disposed on a support rod 49, an upper end and a lower end of the second swing rod 47 are respectively connected to the first swing rod 46 and the third swing rod 48, an inner end of the third swing rod 48 is hinged to the mounting plate 32, an outer end of the third swing rod 48 is connected to the support rod 40, and the tail frame 35 is connected to the third swing rod 48;
the system control method includes the steps of: the second swing motor 43 provides power, and then the rotary plug 44 rotates, so that the end of the rotary plug 44 drives the clamping piece 45 to swing left and right correspondingly, the first swing rod 46, the second swing rod 47 and the third swing rod 48 correspondingly swing, and then the tail frame 35 swings, and further the swing amplitude of the bionic fishtail is increased.
In fig. 9, the universal structure 34 includes a first fixed rod 341, a first fixed block 342, two first hinge shafts 343 and two second hinge shafts 344 arranged opposite to each other, and a second fixed rod 345, where the first hinge shaft is hinged to the 343 and the second hinge shaft 344, the first fixed rod 341 is hinged to the second fixed rod 345, the first hinge shaft 343 is hinged to the first fixed block 342, the second hinge shaft 344 is hinged to the second fixed block 346, the first fixed block 342 and the second fixed block 346 are respectively disposed on the first fixed rod 341 and the second fixed rod 345, the first fixed rod 341 is connected to the output shaft 331 of the first swing motor 33, and the second fixed rod 345 is connected to the tail frame 35 through the second fixed block 346;
the system control method includes the steps of: when the tail frame 35 drives the second fixing block 345 to swing left and right, the second fixing rod 346 performs a swing hinge motion with respect to the first fixing rod 341, and at the same time, the second hinge rod 344 performs a swing hinge motion with respect to the first hinge rod 343.
Through the setting of this kind of structure, through the action of tightening up of stay cord, just can drive fish head structure and drive whole a plurality of linkage unit and carry out the upset motion to make the fish body structure that originally presents rectilinear state convert gradually into curved state, and this kind of curved state can also carry out the quick adjustment of crooked degree according to the state of accomodating of stay cord on the capstan winch, and then accomplished well and stood up crooked adjustment to fish body structure, and is quick, simple, has adaptability well.
It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Claims (5)
1. A bionic robotic fish for underwater exploration is characterized by comprising a fish head part, a fish body structure and a fish tail structure which are sequentially connected, wherein a driving motor, a winch and a pull rope are arranged in the fish head part, the pull rope is wound on the winch, the driving motor is connected with a winding and unwinding shaft of the winch, and the outer end of the pull rope is connected with a fish tail shell of the fish tail structure; a turning-over assembly is arranged in the fish body structure and comprises a plurality of connecting units which are sequentially connected, each connecting unit comprises a turning plate and a hinge rod, and two ends of each hinge rod are respectively connected with two adjacent turning plates; the turnover assembly further comprises a linear reset spring, and the linear reset spring is sequentially connected with the plurality of connecting units;
the turnover plate is a Z-shaped plate body, the Z-shaped plate body comprises a first transverse plate, a first vertical plate and a second transverse plate which are sequentially connected, the first vertical plate and the second transverse plate form a notch groove position, and the notch groove position is used for clamping the first transverse plate of another adjacent turnover plate;
the second transverse plate is provided with a second vertical plate, and the second vertical plate is connected to the first transverse plate of the other adjacent turnover plate through a turnover shaft;
the fish tail structure is characterized in that a mounting plate is arranged in a fish tail shell of the fish tail structure, a first swing motor is arranged on the mounting plate and connected with a universal structure, the universal structure is connected with a tail frame body, the tail frame body is provided with a rotating head, the rotating head is connected to the downstream end part of the universal structure, the rotating head is provided with a rotating crank, a swinging U-shaped body, a rotating block and a supporting shaft rod, the rotating block is rotatably sleeved on the supporting shaft rod and connected with a fish tail simulating plate, the swinging U-shaped body is hinged to the rotating block, and the swinging U-shaped body is hinged to the rotating crank;
a lower-layer platform is arranged below the mounting plate, a second swing motor is arranged on the lower-layer platform and connected with a rotary plug, the end of the rotary plug is arranged between two clamping pieces, the two clamping pieces are sequentially connected with a first swing rod, a second swing rod and a third swing plate, the first swing rod is rotatably arranged on a support rod body, the upper end and the lower end of the second swing rod are respectively connected with the first swing rod and the third swing rod, the inner end of the third swing rod is hinged with the mounting plate, the outer end of the third swing rod is connected with the support shaft rod, and the tail frame body is connected to the third swing rod;
the universal structure comprises a first fixing rod, a first fixing block, two first hinged shaft rods arranged oppositely, two second hinged shaft rods arranged oppositely and a second fixing rod, wherein the first hinged shaft rods are hinged with the second hinged shaft rods, the first fixing rod is hinged with the second fixing rod, the first hinged shaft rods are hinged to the first fixing block, the second hinged shaft rods are hinged to the second fixing block, the first fixing block and the second fixing block are arranged on the first fixing rod and the second fixing rod respectively, the first fixing rod is connected to an output shaft of the first swing motor, and the second fixing rod is connected to the tail frame body through the second fixing block.
2. The method for controlling a system for underwater exploration of biomimetic robotic fish of claim 1, comprising the steps of:
s1, in an initial state, the fish head, the fish body and the fish tail are in a linear arrangement state, the linear return spring is in a linear natural stretching state, the connecting units are in a straight state, and the winding length of the pulling rope on the winch is in a relatively long state;
s2: the pulling rope on the winch is gradually converted into a relatively short state from a relatively long state, namely the driving motor drives the winch to rotate, so that the pulling rope is gradually wound on the winch; correspondingly, the turnover assembly starts to change, and two adjacent turnover plates gradually move relatively under the pulling action of the hinge rod, namely a certain inclination angle is changed between the two turnover plates; moreover, the degree of an included angle between two adjacent turnover plates is increased through the winding degree of the pull rope on the winch, so that the bending degree of the whole fish body structure is increased; at the moment, the linear return spring is correspondingly deformed to form a bending structure;
s3, when the pulling rope on the winch is gradually changed from a relatively short state to a relatively long state, namely the driving motor drives the winch to rotate, so that the pulling rope is gradually wound on the winch; the linear reset spring drives the connecting unit to automatically reset.
3. The system control method for underwater detecting a biomimetic robotic fish in claim 2, characterized by comprising the steps of: when two adjacent turnover plates move, the second turnover plate rotates relative to the first turnover plate by taking the turnover shaft as a fulcrum under the driving of the hinge rod; when the turnover plate is in a linear placing state, the first transverse plate of the second turnover plate enters the notch groove position to be placed.
4. The method for controlling a system for underwater exploration of biomimetic robotic fish of claim 3,
the system control method includes the steps of: the first swing motor provides rotary power, the universal structure transmits the power to the rotary head arranged on the tail frame body, the rotary head correspondingly drives the rotary crank to rotate when rotating, the swing U-shaped body correspondingly rotates by taking the hinged point as a fulcrum, the rotary block further forms a left-right swing effect, and the rotary block drives the fish-imitating tail plate to swing so as to achieve the purpose of moving;
in addition, when the tail frame body drives the second fixed block to swing left and right, the second fixed rod performs swing and hinge motion relative to the first fixed rod, and meanwhile, the second hinge shaft rod performs swing and hinge motion relative to the first hinge shaft rod.
5. The method for controlling a system for underwater detecting a biomimetic robotic fish in claim 4, comprising the steps of: the second swing motor provides power, then makes the rotary plug rotates, and corresponding messenger the end of rotary plug drives the holding piece carries out the horizontal hunting motion, first swinging arms, second swinging arms and third swinging arms correspondingly carry out the swing motion, and then make the afterbody framework carries out the swing motion, and then makes the swing amplitude of imitative fish tailboard increases.
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| CN202110481457.9A CN113071640B (en) | 2021-04-30 | 2021-04-30 | Underwater detection bionic robot fish and system control method thereof |
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| CN202110481457.9A CN113071640B (en) | 2021-04-30 | 2021-04-30 | Underwater detection bionic robot fish and system control method thereof |
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| CN115258110B (en) * | 2022-06-20 | 2024-04-19 | 东北大学 | Boston-imitating lobster underwater movement mechanism |
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