CN113148087B - Linkage type detection robot fish - Google Patents
Linkage type detection robot fish Download PDFInfo
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- CN113148087B CN113148087B CN202110490608.7A CN202110490608A CN113148087B CN 113148087 B CN113148087 B CN 113148087B CN 202110490608 A CN202110490608 A CN 202110490608A CN 113148087 B CN113148087 B CN 113148087B
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 172
- 238000001514 detection method Methods 0.000 title claims abstract description 24
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 85
- 210000004690 animal fin Anatomy 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 41
- 230000007246 mechanism Effects 0.000 claims description 12
- 230000003592 biomimetic effect Effects 0.000 claims description 4
- 239000002775 capsule Substances 0.000 claims 2
- 239000011664 nicotinic acid Substances 0.000 abstract description 9
- 230000009182 swimming Effects 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 17
- 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 4
- 229920002379 silicone rubber Polymers 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000004945 silicone rubber Substances 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 208000032370 Secondary transmission Diseases 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 108010025899 gelatin film Proteins 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention provides a linkage type detection robot fish, and relates to the technical field of bionic robots. The linked detection robot fish comprises a fish head assembly, a pectoral fin assembly, a driving assembly, a differential assembly, a fish tail assembly and a fish fin, wherein the fish head assembly comprises a fish head motor and a fish head body, and the fish head body is matched with the fish head motor through a gear set; the pectoral fin assembly comprises a pectoral fin body and a pectoral fin steering engine, wherein the pectoral fin steering engine and the pectoral fin body are connected with each other so as to drive the pectoral fin body to swing; the pectoral fin component is connected with the fish tail component through the driving component and the differential component, and the fish fin is arranged on the other side of the fish tail component, which is far away from the pectoral fin component. The linkage type detection robot fish can simulate a swimming propulsion mode of fish, realize high-efficiency propulsion and high-maneuverability turning of the fish body, and has reasonable structural design and strong practicability.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a linkage type detection robot fish.
Background
With the progress of industry, the demand of human beings for various resources is increasing, and resources on land have gradually not met the demands of people. Marine resources are resources that humans depend on to survive and are also the most promising resources for development. The underwater robot is one of the most important research objects of hot topics and many scholars, and the underwater vehicle in the traditional sense often uses a hydraulic motor or an electromagnetic motor as a power source and adopts an impeller, a propeller and the like as a propeller. However, the continuous working time of the propeller is shorter due to lower efficiency; problems such as insufficient concealment due to large water flow environment change and large noise and the like make marine operation difficult and heavy.
Through the natural evolution of hundreds of millions of years, aquatic fishes have remarkable underwater swimming capability, and the surrounding water flow state is adjusted through the body posture, so that the propulsion force is obtained, and the precise control of vortex flow ensures that the fishes swim fast, have high propulsion efficiency and good maneuverability.
The inventors found in the study that at least the following disadvantages exist in the prior related art:
low efficiency, large turning noise and large water flow environment change.
Disclosure of Invention
The invention aims to provide a linkage type detection robot fish which can simulate a swimming propulsion mode of fish, realize high-efficiency propulsion of fish body and high-mobility turning, and has reasonable structural design and strong practicability.
Embodiments of the present invention are implemented as follows:
the embodiment of the application provides a coordinated type detection robot fish, which comprises a fish head assembly, a pectoral fin assembly, a driving assembly, a differential assembly, a fish tail assembly and a fish fin, wherein the fish head assembly comprises a fish head motor and a fish head body, and the fish head body is matched with the fish head motor through a gear set; the pectoral fin assembly comprises a pectoral fin body and a pectoral fin steering engine, wherein the pectoral fin steering engine and the pectoral fin body are connected with each other so as to drive the pectoral fin body to swing; the pectoral fin assembly is connected with the fish tail assembly through the driving assembly and the differential assembly, and the fish fin is arranged on the other side of the fish tail assembly far away from the pectoral fin assembly.
The linkage type robot fish detection device can simulate a swimming propulsion mode of fish, is reasonable in structural design and high in practicality, and is used for realizing the efficient propulsion of the fish body and turning with high maneuverability.
In some embodiments of the invention, the gear set includes an incomplete gear and a nacelle drive gear, the incomplete gear being disposed on an output shaft of the fish head motor and intermeshed with the nacelle drive gear.
In some embodiments of the invention, the fish head assembly further comprises a control mechanism, wherein the control mechanism comprises a controller, a pressure sensor, a battery pack and a gyroscope, and the controller is electrically connected with the pressure sensor, the battery pack and the gyroscope at the same time.
In some embodiments of the present invention, the pectoral fin assembly further includes a support frame and a support platform, the pectoral fin body is disposed on the support frame and is capable of swinging along an extending direction of the support frame, one end of the pectoral fin body is provided with a pectoral fin driven gear, one end of the pectoral fin steering engine is provided with a steering engine driving gear, and the pectoral fin driven gear and the steering engine driving gear are meshed with each other; the support frame, the pectoral fin body, the steering engine and the fish head motor are all arranged on the support platform.
In some embodiments of the present invention, the driving assembly includes a support plate, a driving steering engine, a first wheel shaft driving motor, a transmission shaft, a first gear shaft, and a third gear shaft, where the third gear shaft is sleeved in the first gear shaft;
the steering engine driving gear is fixed on the driving steering engine and is meshed with the driven gear of the second gear shaft;
the first wheel shaft driving motor is connected with the transmission shaft through a coupler, a first gear shaft driving gear is arranged on the transmission shaft, a first gear shaft driven gear is arranged on the first gear shaft, and the first gear shaft driving gear and the first gear shaft driven gear are meshed with each other;
and one end of the driving steering engine is provided with a third gear shaft driving gear, the third gear shaft driving gear is meshed with an excessive gear, and the excessive gear is meshed with a third gear shaft driven gear arranged on the third gear shaft.
In some embodiments of the invention, the drive shaft is fixed to the support plate by a first bearing and a drive steering engine.
In some embodiments of the present invention, the differential assembly includes a swing frame, a second gear frame, a first transmission bevel gear, a second transmission bevel gear, and a flipper rotating gear shaft, the first transmission bevel gear intermeshes with the third gear shaft and the flipper rotating gear shaft, respectively; the second transmission bevel gear is arranged on the swing frame and meshed with the first gear shaft.
In some embodiments of the invention, a second bearing is provided on the second gear housing.
In some embodiments of the present invention, the fish tail assembly includes a universal driving shaft, a fish tail connector, a tail fin connector, and a plurality of swing joints, wherein the plurality of swing joints are sequentially connected through pins, the swing joints have an internal cavity, the universal driving shaft is disposed in the internal cavity, two ends of the universal driving shaft are respectively connected with a tail fin rotation gear shaft and the tail fin connector, the fish tail connector is connected with the swing joints, and the tail fin connector is disposed in the fish tail connector and is connected with the fish fin.
In some embodiments of the invention, the linkage type detection robot fish further comprises a bionic fish shell and a fish skin, wherein the bionic fish shell is sleeved on the fish head assembly, the pectoral fin assembly, the driving assembly, the differential assembly and the fish tail assembly, and the fish skin is sleeved on the bionic fish shell.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:
1) The utility model provides a coordinated type robot fish, includes fish head subassembly, pectoral fin subassembly, drive assembly, differential subassembly, fish tail subassembly and fish fin, and drive assembly drives bionical pectoral fin and bionical tail fin motion, above-mentioned fish head subassembly embeds control circuit, detects the sensor, energy battery. The fish head assembly can realize the upward and downward pitching action of the fish head, the swimming direction of the fish body is controlled, the driving device transmits power to the differential assembly through the first gear shaft, the second gear shaft and the third gear shaft, the fish body can swing the joint fish body through differential motion, the tail fin rotates and the whole fish body rotates, the driving assembly directly transmits power to the fish tail through gear meshing transmission, and the robot fish can move freely and stably through the fish fin and the rotation of the fish body, so that the robot fish can move freely and stably, and the robot fish has higher maneuvering performance and higher efficiency.
2) The pectoral fin driving assembly is of a flapping wing type structure, the power is directly driven by the steering engine, various complex actions of the bionic robot fish in water, such as forward and backward movement, ascending and descending, hovering and turning and the like, can be realized, and meanwhile, complex three-dimensional movement of the robot fish in space is realized by matching with the joint movement of the bionic tail fin, and the movement performance is better to fit a bionic organism.
3) The swing joint enables the tail to have better flexibility, the flexible skin is arranged on the outer side of the fish fin, the sealing piece is a silica gel film, the gap inside the fish body is filled with silicon rubber, the flexibility and the operation safety are guaranteed, the flexible skin is made of imitation fish skin rubber, and the movement characteristics are closer to those of bionic organisms.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall internal structure of a linkage type detection robot fish provided by the invention;
FIG. 2 is a schematic diagram of the structure of the fish head assembly and pectoral fin assembly of the present invention;
FIG. 3 is a schematic diagram of a driving assembly according to the present invention;
FIG. 4 is a second schematic diagram of the driving assembly of the present invention;
FIG. 5 is a schematic diagram of a differential assembly;
FIG. 6 is a schematic view of the structure of the fish tail assembly;
fig. 7 is a schematic structural view of a fin drive mechanism.
Icon: 1-a fish head assembly; 2-pectoral fin body; 3-pectoral fin steering engine; 4-incomplete gear; 5-a nacelle drive gear; 6-steering engine driving gears; 7-pectoral fin driven gear; 8-a cabin driving motor; 9-supporting frames; 10-supporting a platform; 12-a first gear shaft drive gear; 13-a support plate; 14-steering engine driving gear; 15-a first gear shaft driven gear; 16-a second gear shaft driven gear; 17-coupling; 18-a first gear shaft driving motor; 19-a third gear shaft driven gear; 20-a third gear shaft driving gear; 21-steering engine; 22-excess gear; 23-a transmission shaft; 24-a first bearing; 25-second bearings; 26-a second gear shaft mount; 27-a first gear shaft; 28-a third gear shaft; 29-a first drive bevel gear; 30-the tail fin rotates the gear shaft; 32-a second drive bevel gear; 33-swinging frames; 34-swing joint; 35-a fish body connector; 36-tail fin connection; 37-fish fins; 38-universal drive shaft.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an azimuth or a positional relationship based on that shown in the drawings, or an azimuth or a positional relationship in which the product of the present invention is conventionally put when used, it is merely for convenience of describing the present invention and simplifying the description, and it does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang" and the like, if any, do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Examples
Referring to fig. 1-7, fig. 1 is a schematic diagram illustrating an overall internal structure of a linkage type detection robot fish according to the present invention. The coordinated type detection robot fish comprises a fish head assembly 1, a pectoral fin assembly, a driving assembly, a differential assembly, a fish tail assembly and a fish fin 37, wherein the fish head assembly 1 comprises a fish head motor and a fish head body, and the fish head body is matched with the fish head motor through a gear set; the pectoral fin assembly comprises a pectoral fin body 2 and a pectoral fin steering engine 213, wherein the pectoral fin steering engine 213 and the pectoral fin body 2 are connected with each other so as to drive the pectoral fin body 2 to swing; the pectoral fin assembly is interconnected with the fish tail assembly by a drive assembly and a differential assembly, and a fish fin 37 is disposed on the other side of the fish tail assembly from the pectoral fin assembly.
It is worth to say that this coordinated type surveys robot fish can imitate the fish and moves about the propulsion mode, in order to realize the fish height efficiency and impels, high mobility turns, designs a coordinated type robot fish, and this structural design is reasonable, and the practicality is strong.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a fish head assembly 1 and a pectoral fin assembly according to the present invention. The gear set comprises an incomplete gear 4 and a head cabin transmission gear 5, wherein the incomplete gear 4 is arranged on an output shaft of the fish head motor and is meshed with the head cabin transmission gear 5.
It is worth to say that the incomplete gear 4 is meshed with the head cabin transmission gear 5 to transmit power to the fish head body, so that the fish head body can finish the small-angle pitching action, the upward and downward direction of the fish body is controlled,
the incomplete gear 4 mechanism is an intermittent motion mechanism which is evolved by a common involute gear mechanism, and the basic structural form of the intermittent motion mechanism is divided into external engagement and internal engagement. According to the structural characteristics of the incomplete gear 4 mechanism, when the toothed part of the driving wheel is meshed with the gear teeth of the driven wheel, the driven wheel is pushed to rotate; the driven wheel is stationary when the toothed portion of the drive wheel is disengaged from the driven wheel. Thus, when the driving wheel rotates continuously, the driven wheel obtains intermittent motion of time stop. Thereby realizing the small-angle pitching action of the fish head body. The incomplete gear 4 mechanism has the characteristics of simple structure and reliable operation, but the processing technology is complex. Because the driven wheel is not completely constant in the whole motion process, the angular velocity is suddenly changed when each rotation starts and stops, and rigid impact exists.
The fish head assembly 1 further comprises a transmission mechanism, wherein the transmission mechanism comprises a controller, a pressure sensor, a battery pack and a gyroscope, and the controller is electrically connected with the pressure sensor, the battery pack and the gyroscope at the same time.
The fish body power output control, pressure detection, energy supply and robot fish movement direction detection can be respectively realized by the controller, the pressure sensor, the battery block and the gyroscope, so that the using effect of the robot fish is improved, and the swimming efficiency of the robot fish is improved.
Referring to fig. 2 again, the pectoral fin assembly further includes a support frame 9 and a support platform 10, the pectoral fin body 2 is disposed on the support frame 9 and can swing along the extending direction of the support frame 9, one end of the pectoral fin body 2 is provided with a pectoral fin driven gear 7, one end of the pectoral fin steering engine 213 is provided with a steering engine 21 driving gear 146, and the pectoral fin driven gear 7 and the steering engine 21 driving gear 146 are meshed with each other; the support frame 9, the pectoral fin body 2, the steering engine 21 and the fish head motor are all arranged on the support platform 10.
It is worth noting that the pectoral fin body 2 is supported by the support frame 9 and fixed on the support platform 10, the pectoral fin driven gear 7 is arranged at the end of the pectoral fin rod, the driving gear 146 of the steering engine 21 is arranged at the end of the pectoral fin steering engine 213, and torque is transmitted to the pectoral fin body 2 through the pair of meshing gear pectoral fin steering engines 213, so that pectoral fin up-and-down swinging is realized.
Referring to fig. 3 and 4, the driving assembly includes a support plate 13, a driving steering engine 21, a first wheel shaft driving motor, a transmission shaft 23, a first gear shaft 27 and a third gear shaft 28, wherein the third gear shaft 28 is sleeved in the first gear shaft 27;
the driving gear 146 of the steering engine 21 is fixed on the driving steering engine 21 and is meshed with the driven gear 16 of the second gear shaft;
the first wheel shaft driving motor is connected with the transmission shaft 23 through the coupler 17, the transmission shaft 23 is provided with a first gear shaft 27 driving gear 12, the first gear shaft 27 is provided with a first gear shaft 27 driven gear 15, and the first gear shaft 27 driving gear 12 and the first gear shaft 27 driven gear 15 are meshed with each other;
one end of the driving steering engine 21 is provided with a third gear shaft 28 driving gear 20, the third gear shaft 28 driving gear 20 is meshed with the excessive gear 22, and the excessive gear 22 is meshed with a third gear shaft 28 driven gear 19 arranged on the third gear shaft 28.
It should be noted that the driving assembly in this embodiment includes a pair of steering engines 21 and three pairs of driving wheel sets. The first wheel axle drive motor is connected to a drive shaft 23 through a coupling 17, and the drive shaft 23 transmits power to a first gear shaft 27 through a pair of gear sets. The second gear shaft and the third gear shaft 28 are symmetrically distributed along the axis, and torque is transmitted to the second gear shaft and the third gear shaft 28 by the driving steering engine 21 through a pair of transmission gear sets.
Referring to fig. 5, the differential assembly includes a swing frame 33, a second gear housing 26, a first transmission bevel gear 29, a second transmission bevel gear 32, and a tail fin rotation gear shaft 30, the first transmission bevel gear 29 being intermeshed with the third gear shaft 28 and the tail fin rotation gear shaft 30, respectively; the second transmission bevel gear 32 is provided on the swing frame 33 and intermeshes with the first gear shaft 27.
It should be noted that, the differential assembly includes a swivel frame, a first gear shaft 27, a second gear shaft, a third gear shaft 28 and two pairs of bevel gear sets, where the first gear shaft 27 is meshed with the bevel gear sets to transmit power to the multi-joint fish body, so as to implement left-right swinging of the fish body, the second gear shaft transmits power to the fin 37 through the bevel gear sets, so as to implement rotation of the fin 37, and the third gear shaft 28 is connected with the swivel frame, so as to implement rotation of the whole fish body.
Referring to fig. 6 and 7, the fish tail assembly includes a universal driving shaft 3823, a fish tail connecting member, a tail fin connecting member 36 and a plurality of swing joints 34, wherein the plurality of swing joints 34 are sequentially connected through pins, the swing joints 34 have an internal cavity, the universal driving shaft 3823 is disposed in the internal cavity, two ends of the universal driving shaft 3823 are respectively connected with the tail fin rotating gear shaft 30 and the tail fin connecting member 36, the fish tail connecting member and the swing joints 34 are connected with each other, and the tail fin connecting member 36 is embedded in the fish tail connecting member and is connected with the fish fin 37.
Illustratively, the fish tail assembly includes three swing knuckles 34, a fish body support ring, a three-joint universal joint shaft, a bevel gear shaft, and a skeg coupler 36. The three swing joints 34 are connected by a pin shaft, so that flexible swing of the three swing joints 34 can be realized, the swing joints 34 are hollow, the three-joint universal coupler 17 is arranged in the swing joints, the forefront end of the swing joints is connected with a bevel gear shaft, the rearmost end of the swing joints is connected with a tail fin connecting piece 36, and the universal connecting shaft can transmit torque of a second gear shaft to fin fish and can swing left and right along with the fish body.
It will be appreciated that the tail fin is connected to the tail fin connector 36 by a pin, the tail fin connector 36 is connected to the swing joint 34 and can swing left and right along with the fish body, and the tail fin connector shaft is embedded with a bearing, so that the tail fin can rotate.
In this embodiment, the modules of the driving gear 146 of the rudder 21 are 1, the modules of the secondary transmission gears are 0.35, the modules of the first gear shaft 27 are 1, and the modules of the second gear shaft and the third gear shaft 28 are 0.75.
It is worth to say that the outer skin of the fish body is made of silicone rubber skin material, and the inner gap of the fish body is filled with 703 silicone rubber, so that the overall smoothness and swinging softness of the fish body can be ensured. In this example, the total length of the biomimetic robotic fish body is 382mm, the maximum width is 54mm, and the width of the two pectoral fins is 135mm.
Working principle: the fish head motor provides power, the power is transmitted to the fish head body through the meshing of the incomplete gear 4 and the head cabin transmission gear 5, the fish head body can finish the small-angle pitching action, the upward floating and the downward submerging directions of the fish body are controlled, the pair of steering engine 21 bodies are fixed on the supporting platform 10 to provide power, the driving gear 146 of the steering engine 21 is meshed with the pectoral fin driven gear 7 to transmit power, the up-and-down swinging of the pair of pectoral fin bodies 2 is realized, the driving motor 18 of the first gear shaft 27 is connected with the transmission shaft 23 through the coupler 17, the driving gear 12 of the first gear shaft 27 and the driven gear 15 of the first gear shaft 27 drive the first gear shaft 27 to rotate, the rotation form of the first gear shaft 27 is converted into the swing of the swing frame 33 through the second transmission bevel gear 32 and the swing frame 33, the fish tail assembly is driven to swing, the driving gear 21 is driven to provide power, the driving gear 20 of the third gear shaft 28, the transition gear 22 and the driven gear 19 of the third gear shaft 28 transmit the power to the third gear shaft 28, the third gear shaft 28 transmits the power to the fish fin 37 through the first transmission bevel gear 29, the tail fin rotating gear shaft 30 and the universal transmission shaft 3823, the fish fin 37 can realize rotary motion, the driving gear 21 drives the driving gear 146 of the driving gear 21 and the driven gear 16 of the second gear shaft to transmit the power to the second gear shaft 26 through the same principle, and the whole rotation of the shaft frame can be realized, so that the whole fish body is driven to rotate.
When the pectoral fin driving assembly moves and is matched with the first gear shaft 27 to move, namely the first gear shaft 27 drives the motor 18 to operate, power is transmitted to the first gear shaft 27 through the transmission gear set, the first gear shaft 27 is meshed with the second transmission bevel gear 32, the rotation mode is converted into the swing mode, and the second transmission bevel gear 32 is connected with the swing frame 33 and the swing joint 34, so that the fin 37 is driven to swing back and forth. When the steering engine 21 is matched with the second gear shaft to move, namely, the steering engine 21 is driven to operate, power is transmitted to the third gear shaft 28 through a transmission gear set, the third gear shaft 28 transmits power to the fish fin 37 through the transmission gear set, the fish tail can be enabled to rotate at plus or minus 45 degrees, the steering engine 21 transmits power to the second gear shaft frame 26 through a transmission gear in the same principle, the three movement modes can realize joint movement through a differential device and a control algorithm, the first gear shaft 27 realizes the swing of the joint fish body, the second gear shaft frame 26 regulates the whole fish at a small angle, the third gear shaft 28 enables the fish fin to rotate at a small angle, the fish head assembly 1 can enable the fish head body to realize the pitching movement at plus or minus 40 degrees, and the movement modes of direct travel and upward floating and diving or high mobility turning can be realized through the mutual matching linkage.
In summary, the embodiment of the invention provides a linkage type robotic fish detection device. The coordinated type detection robot fish comprises a fish head assembly 1, a pectoral fin assembly, a driving assembly, a differential assembly, a fish tail assembly and a fish fin 37, wherein the fish head assembly 1 comprises a fish head motor and a fish head body, and the fish head body is matched with the fish head motor through a gear set; the pectoral fin assembly comprises a pectoral fin body 2 and a pectoral fin steering engine 213, wherein the pectoral fin steering engine 213 and the pectoral fin body 2 are connected with each other so as to drive the pectoral fin body 2 to swing; the pectoral fin assembly is interconnected with the fish tail assembly by a drive assembly and a differential assembly, and a fish fin 37 is disposed on the other side of the fish tail assembly from the pectoral fin assembly. The linkage type detection robot fish can simulate a swimming propulsion mode of fish, realize the high-efficiency propulsion of fish body, turn with high maneuverability, and has reasonable structural design and strong practicability.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A linkage type detection robot fish is characterized by comprising a fish head assembly, a pectoral fin assembly, a driving assembly, a differential assembly, a fish tail assembly and a fish fin,
the fish head assembly comprises a fish head motor and a fish head body, and the fish head body is matched with the fish head motor through a gear set;
the pectoral fin assembly comprises a pectoral fin body and a pectoral fin steering engine, wherein the pectoral fin steering engine is connected with the pectoral fin body so as to drive the pectoral fin body to swing;
the pectoral fin component is connected with the fish tail component through the driving component and the differential component, and the fish fin is arranged on the other side, far away from the pectoral fin component, of the fish tail component;
the driving assembly comprises a supporting plate, a driving steering engine, a first wheel shaft driving motor, a transmission shaft, a first gear shaft and a third gear shaft, and the third gear shaft is sleeved in the first gear shaft;
the steering engine driving gear is fixed on the driving steering engine and is meshed with the second gear shaft driven gear;
the transmission shaft is fixed on the supporting plate through a first bearing and a driving steering engine;
the first wheel shaft driving motor is connected with the transmission shaft through a coupler, a first gear shaft driving gear is arranged on the transmission shaft, a first gear shaft driven gear is arranged on the first gear shaft, and the first gear shaft driving gear and the first gear shaft driven gear are meshed with each other;
a third gear shaft driving gear is arranged at one end of the driving steering engine, the third gear shaft driving gear is meshed with an excessive gear, and the excessive gear is meshed with a third gear shaft driven gear arranged on the third gear shaft;
the differential assembly comprises a swing frame, a second gear shaft frame, a first transmission bevel gear, a second transmission bevel gear and a tail fin rotating gear shaft, wherein the first transmission bevel gear is respectively meshed with the third gear shaft and the tail fin rotating gear shaft; the second transmission bevel gear is arranged on the swing frame and meshed with the first gear shaft;
the driving steering engine transmits power to the second gear shaft bracket through the steering engine driving gear and the second gear shaft driven gear.
2. The ganged-detection robotic fish of claim 1, wherein the gear set comprises an incomplete gear and a head capsule drive gear, the incomplete gear being disposed on an output shaft of the fish head motor and intermeshed with the head capsule drive gear.
3. The ganged-detection robotic fish of claim 1 or 2, wherein the fish head assembly further comprises a drive mechanism comprising a controller, a pressure sensor, a battery pack, and a gyroscope, the controller being electrically connected to the pressure sensor, the battery pack, and the gyroscope simultaneously.
4. The ganged-detection robot fish of claim 1, wherein the pectoral fin assembly further comprises a support frame and a support platform, the pectoral fin body is arranged on the support frame and can swing along the extending direction of the support frame, one end of the pectoral fin body is provided with a pectoral fin driven gear, one end of the pectoral fin steering engine is provided with a steering engine driving gear, and the pectoral fin driven gear and the steering engine driving gear are meshed with each other;
the support frame the pectoral fin body steering wheel with the fish head motor all set up in on the supporting platform.
5. The ganged detection robot fish of claim 1, wherein the second gear-axle carriage is provided with a second bearing.
6. The ganged-type surveying robot fish of claim 1, wherein the fish tail assembly comprises a universal drive shaft, a fish tail connector, a tail fin connector and a plurality of swing joints, wherein the plurality of swing joints are sequentially connected through pin shafts, the swing joints have an internal cavity, the universal drive shaft is arranged in the internal cavity, two ends of the universal drive shaft are respectively connected with a tail fin rotating gear shaft and the tail fin connector, the fish tail connector is connected with the swing joints, and the tail fin connector is arranged in the fish tail connector and is connected with the fish fin.
7. The ganged-detection robotic fish of claim 1, further comprising a biomimetic fish housing and a fish skin, the biomimetic fish housing being nested on the fish head assembly, the pectoral fin assembly, the drive assembly, the differential assembly, and the fish tail assembly, the fish skin being nested on the biomimetic fish housing.
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| CN113650764B (en) * | 2021-09-14 | 2022-11-01 | 西湖大学 | Bionic aircraft |
| CN114394219A (en) * | 2022-01-14 | 2022-04-26 | 中国科学院深圳先进技术研究院 | Intelligent bionic robot fish based on head and multi-fin cooperative motion |
| CN114735178B (en) * | 2022-05-24 | 2023-03-31 | 哈尔滨工业大学 | Variable-rigidity bionic flexible swinging propelling mechanism |
| CN114954878B (en) * | 2022-06-06 | 2024-03-15 | 河南理工大学 | Multi-stage transmission bionic baton pectoral fin driving device |
| CN115140285B (en) * | 2022-06-27 | 2024-02-09 | 哈尔滨工业大学 | Variable-rigidity flexible bionic fish structure based on high-frequency driving of super-elastic beam |
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