CN113173234B - Robotic fish for underwater detection and working method thereof - Google Patents
Robotic fish for underwater detection and working method thereof Download PDFInfo
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- CN113173234B CN113173234B CN202110570474.XA CN202110570474A CN113173234B CN 113173234 B CN113173234 B CN 113173234B CN 202110570474 A CN202110570474 A CN 202110570474A CN 113173234 B CN113173234 B CN 113173234B
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B63G8/08—Propulsion
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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
- B63G8/26—Trimming equipment
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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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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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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- 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 robot fish for underwater detection and a working method thereof, wherein the robot fish comprises a fish body main body, wherein the fish body main body is sequentially provided with a fish tail structure, a fin structure and a fish mouth structure from the tail part to the head part; the fish mouth structure comprises an installation plate, an accommodating channel, a detecting head and a clamping cylinder; when specifically using, provide power through the fish tail structure and remove, and carry out balance adjustment through the fin structure, accomplish image information through detecting head image acquisition devices such as camera and gather, and accomplish the snatching of foreign matter through the fish mouth structure, make the carriage release lever drive two chucking poles and carry out the position through the flexible removal of cylinder specifically and remove, and then make the kink cooperate with the inclined plane structure of protruding piece, and then make two chucking poles open, and tighten up through spring structure, accomplish the fixed action to the object at the in-process that opens and tighten up from this, the object is fixed in the position between chucking pole outer end and the outer terminal surface that holds the passageway.
Description
Technical Field
The invention relates to a detection device for underwater work, in particular to a robot fish structure and a method capable of detecting underwater and completing foreign matter grabbing.
Background
It is necessary to detect underwater environment, such as underwater environment detection, pollutant capture, and lost object catching. Conventional techniques often require bulky mechanical equipment for such underwater detection, or detection by manual submersion.
In recent years, the application of robotic fish gradually becomes popular, and the robotic fish has simple structure, low cost and can complete some underwater difficult works, and is increasingly applied to different occasions. For example, in some instances, underwater contaminants can be discovered by the swimming action of robotic fish, or a three-dimensional map can be drawn for observation.
However, in some practical applications, it is found that there are some problems, especially when it is required to grasp some foreign objects found underwater, it is often not so easy, it is poor in flexibility, and the grasping accuracy and tightness are not sufficient, so it is necessary to develop a robotic fish device capable of detecting underwater and performing flexible grasping and firm grasping of the detected foreign objects.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a robotic fish structure which can finish detection underwater, can flexibly and quickly grab a found target object and is not easy to separate.
The invention provides a robotic fish for underwater detection, which comprises a fish body main body, wherein the fish body main body is sequentially provided with a fish tail structure, a fin structure and a fish mouth structure from the tail part to the head part; the fish mouth structure comprises an installation plate, an accommodating channel, a detecting head and a clamping cylinder; a first clamping rod, a second clamping rod, a moving rod, a protruding block and a spring structure are arranged in the accommodating channel, the clamping cylinder is arranged on the inner side of the mounting plate, the accommodating channel is arranged on the outer side of the mounting plate, the first clamping rod, the moving rod and the second clamping rod are sequentially connected through a hinged shaft rod, a first bending part is arranged at the inner end of the first clamping rod, a second bending part is arranged at the inner end of the second clamping rod, the first bending part and the second bending part are connected through the spring structure, the inner end of the first clamping rod is connected with the inner end of the second clamping rod through the spring structure, the inner side of the moving rod penetrates through the protruding block to be connected with the telescopic rod of the clamping cylinder, a first inclined plane structure and a second inclined plane structure which are oppositely arranged are arranged on the protruding block, and the first bending part is matched with the first inclined plane structure, the second bending part is matched with the second inclined plane structure; the outer end parts of the first clamping rod and the second clamping rod are provided with the detecting heads, and the outer end part of the moving rod is provided with the detecting head.
The beneficial effect of above-mentioned scheme does: when specifically using, provide power through the fish tail structure and remove, and carry out balance adjustment through the fin structure, through detecting head image acquisition device such as camera completion image information acquisition, and accomplish the snatching of foreign matter through the fish mouth structure, specifically make the carriage release lever drive two chucking poles and carry out the position and remove through the flexible removal of cylinder, and then make the kink cooperate with the inclined plane structure of protruding piece, and then make two chucking poles open, and tighten up through spring structure, from this open and tighten up the in-process completion to the fixed action of object, specifically, the object can be fixed in the outer tip of chucking pole and the position between the outer terminal surface that holds the passageway.
One preferred scheme is that the fin structures are symmetrically distributed at two sides of the fish body main body, and each fin structure comprises a first driving motor, a first crank, a second crank, a third crank, a first rotating rod, a second driving motor and a fan plate; the first driving motor is connected with the inner end of the first crank, the outer end of the first crank is hinged with the inner end of the second crank, the outer end of the second crank is hinged with the inner end of the third crank, the outer end of the third crank is fixedly connected with the lower end of the first rotating rod, the upper end of the first rotating rod is connected onto the second rotating rod through a lantern ring, the inner end of the second rotating rod is connected with the second driving motor, and the outer end of the second rotating rod is connected with the fan plate;
the fish body is characterized in that a balance sensor is arranged inside the fish body main body and connected with a controller, and the controller is further connected with the first driving motor and the second driving motor.
According to a preferable scheme, the fishtail structure comprises a third driving motor, a first driving rod, a second driving rod, a third rotating rod, a transverse connecting plate, a first vertical connecting rod, a second vertical connecting rod, a fourth driving motor, a universal shaft connecting piece, a fourth rotating rod, a swinging frame connecting plate and a swinging tail plate; the fourth driving motor is connected with the fourth rotating rod through the universal shaft connecting piece, the fourth rotating rod is connected with the swinging frame connecting plate, the swinging frame connecting plate is connected with the second vertical connecting rod through a rotating sleeve body, and the rotating sleeve body is further connected with the swinging tail plate; the output shaft of the third driving motor is fixedly connected with the first driving rod, the first driving rod is hinged to the second driving rod, the second driving rod is connected with the transverse connecting rod, and the transverse connecting plate is rotatably connected to the third driving rod.
Preferably, the receiving channel has an upper annular protruding plate, and the outer ends of the first clamping bar and the second clamping bar have an extending clamping plate body arranged in parallel with the upper annular protruding plate, and the extending clamping plate body and the upper annular protruding plate form a clamping position of the object.
The invention provides a working method of a robotic fish for underwater detection, which is characterized by comprising the following steps:
s1, the fish body is moved by the swing of the fish tail structure, then the balance state is maintained by the swing action of the fin structure, the underwater detection task is completed by the detecting head arranged on the fish mouth structure, and the process of clamping the object is completed when the needed object is found;
s2: the process of clamping the object is as follows, the fish mouth structure has two working modes, namely a closing observation mode and an opening clamping mode; in a closing observation mode, the clamping cylinder drives the moving rod to move in the protruding block and is located at a position far away from the clamping cylinder, the spring structure, the first clamping rod and the second clamping rod are located on one side of the outer end of the protruding block, the spring structure drives the inner ends of the first clamping rod and the second clamping rod to be in a closing approaching state, and accordingly the outer ends of the first clamping rod and the second clamping rod are in a closing approaching state; in the process of switching from a closing observation mode to an opening clamping mode, the clamping cylinder drives the moving rod to retract and move so that the moving rod moves along the direction that the protruding block is close to the clamping cylinder, the moving rod drives the first clamping rod and the second clamping rod to move towards the inner end direction, in the moving process, the first bending part touches the first inclined surface structure and expands outwards, the second bending part touches the second inclined surface and expands outwards, the spring structure is switched to a stretching state, and accordingly the outer ends of the first clamping rod and the second clamping rod form an expanding state; as the outer ends of the first clamping bar and the second clamping bar are gradually opened, they clamp the object in place at the outer end of the receiving channel.
A preferred solution is a chucking process for an object of annular configuration, comprising the steps of: when the state is observed in the binding off, the outer end portion of first chucking pole and second chucking pole stretches into in the opening of loop configuration, then convert into the mouth of opening chucking state, the outer end of first chucking pole and second chucking pole opens the mouth to both sides and the loop configuration chucking is on the port face of holding the passageway in this time.
One preferred scheme is that the fin structures are symmetrically distributed at two sides of the fish body main body, and each fin structure comprises a first driving motor, a first crank, a second crank, a third crank, a first rotating rod, a second driving motor and a fan plate; the first driving motor is connected with the inner end of the first crank, the outer end of the first crank is hinged with the inner end of the second crank, the outer end of the second crank is hinged with the inner end of the third crank, the outer end of the third crank is fixedly connected with the lower end of the first rotating rod, the upper end of the first rotating rod is connected onto the second rotating rod through a lantern ring, the inner end of the second rotating rod is connected with the second driving motor, and the outer end of the second rotating rod is connected with the fan plate;
a balance sensor is arranged in the fish body main body and connected with a controller, and the controller is also connected with the first driving motor and the second driving motor;
the working method comprises the following steps: the first driving motor provides power, the first crank correspondingly rotates, the first crank drives the second crank to swing, the second crank drives the third crank to swing, the third crank drives the first rotating rod to rotate, the first rotating rod drives the second rotating rod and the fan plate to swing, and lateral power is provided through the swinging process of the fan plate, so that the power of the fish body structure at the first lateral position is adjusted; in addition, the second rotating rod drives the fan plate to adjust the placing angle through the power provided by the second driving motor, so that the direction and the angle of the power provided by the fan plate are changed;
the balance sensor arranged in the fish body structure transmits detected signals to the controller, and the controller correspondingly adjusts the power and direction angles provided by the fin structures on two sides according to the balance signals.
According to a preferable scheme, the fishtail structure comprises a third driving motor, a first driving rod, a second driving rod, a third rotating rod, a transverse connecting plate, a first vertical connecting rod, a second vertical connecting rod, a fourth driving motor, a universal shaft connecting piece, a fourth rotating rod, a swinging frame connecting plate and a swinging tail plate; the fourth driving motor is connected with the fourth rotating rod through the universal shaft connecting piece, the fourth rotating rod is connected with the swinging frame connecting plate, the swinging frame connecting plate is connected with the second vertical connecting rod through a rotating sleeve body, and the rotating sleeve body is further connected with the swinging tail plate; an output shaft of the third driving motor is fixedly connected with the first driving rod, the first driving rod is hinged with the second driving rod, the second driving rod is hinged with the transverse connecting rod, and the transverse connecting plate is rotatably connected to the third rotating rod;
the working method comprises the following steps: the fourth driving motor provides power, so that the fourth rotating rod drives the swing frame connecting plate to swing, and then the swing tail plate swings to provide forward power; in addition, through third driving motor drives first drive bar rotates, and the corresponding feasible second drive bar swings, second drive bar drives the transverse connection board centers on the third dwang rotates, and then makes first vertical connecting rod, the vertical connecting rod of second and the regulation of swing tailboard direction angle of carrying out.
Drawings
FIG. 1 is a schematic diagram of the present invention of a robotic fish for underwater detection;
FIG. 2 is a schematic diagram of the present invention of a robotic fish for underwater detection;
FIG. 3 is a schematic diagram of the internal components of the robotic fish for underwater inspection of the present invention with the outer shell removed;
FIG. 4 is a schematic diagram of the internal components of the robotic fish for underwater detection of the present invention with the outer shell removed;
FIG. 5 is a schematic structural view of a fish mouth structure of the robotic fish for underwater detection of the present invention;
FIG. 6 is a schematic view of the structure of the fish mouth of the robotic fish for underwater detection of the present invention with the receiving passage removed;
FIG. 7 is a schematic structural view of a first clamping bar and a second clamping bar of the fish mouth structure of the robotic fish for underwater detection according to the present invention;
FIG. 8 is a structural view of the fish-mouth structure of the robotic fish for underwater detection according to the present invention for engagement of a ring;
FIG. 9 is a schematic structural view of the fin structure of the robotic fish for underwater detection of the present invention;
FIG. 10 is a schematic structural view of a fishtail structure of the robotic fish for underwater detection of the invention;
fig. 11 is a schematic structural view of a fishtail structure of the robotic fish for underwater detection of the invention.
Detailed Description
The first embodiment:
as shown in fig. 1 to 8, the robot fish for underwater detection according to the present invention includes a fish body 10, wherein the fish body 10 includes a tail structure 20, a fin structure 30 and a mouth structure 40 in sequence from a tail portion to a head portion; the fish mouth structure 40 comprises a mounting plate 41, an accommodating channel 42, a detecting head 43 and a clamping cylinder 44; a first clamping rod 45, a second clamping rod 46, a moving rod 47, a protruding block 48 and a spring structure 49 are arranged in the accommodating channel 42, a clamping cylinder 44 is arranged on the inner side of the mounting plate 41, the accommodating channel 42 is arranged on the outer side of the mounting plate 45, the first clamping rod 45, the moving rod 47 and the second clamping rod 46 are sequentially connected through a hinged shaft rod 50, a first bent part 451 is arranged at the inner end of the first clamping rod 45, a second bent part 461 is arranged at the inner end of the second clamping rod 46, the first bent part 451 and the second bent part 461 are connected through the spring structure 49, the inner end of the first clamping rod 45 is connected with the inner end of the second clamping rod 46 through the spring structure 49, the inner side of the moving rod 47 penetrates through the protruding block 48 to be connected with the telescopic rod of the clamping cylinder 44, a first inclined surface structure 51 and a second inclined surface structure 52 which are oppositely arranged are arranged on the protruding block 48, the first bent part 451 is matched with the first inclined surface structure 51, the second bending portion 461 cooperates with the second inclined plane structure 52; the outer end portions of the first and second chucking rods 45 and 46 are provided with the probing tips 43, and the outer end portion of the moving rod 47 is provided with the probing tip 43.
The receiving channel 22 has an upper annular protruding plate 54, the outer ends of the first clamping bar 45 and the second clamping plate 46 have an extended clamping plate body 55 arranged in parallel with the upper annular protruding plate 54, the extended clamping plate body 55 and the upper annular protruding plate 54 forming a clamping position for the object.
The invention provides a working method of a robotic fish for underwater detection, which is characterized by comprising the following steps:
s1, the fish body 10 is moved by the swing of the fish tail structure 20, then the balance state is maintained by the swing action of the fin structure 30, the underwater detection task is completed by the detecting head 53 arranged on the fish mouth structure 40, and the process of clamping the object is completed when the needed object is found;
s2: in the process of clamping the object, the fish mouth structure 40 has two working modes, namely a closing observation mode and an opening clamping mode; in a closing observation mode, the clamping cylinder 44 drives the moving rod 47 to move in the protruding block 48 and is located at a position far away from the clamping cylinder 44, at this time, the spring structure 49, the first clamping rod 46 and the second clamping rod 46 are located at one side of the outer end of the protruding block 48, the spring structure 49 drives the inner ends of the first clamping rod 45 and the second clamping rod 46 to be in a closing approaching state, and accordingly, the outer ends of the first clamping rod 45 and the second clamping rod 46 are in a closing approaching state; in the process of switching from the closing observation mode to the opening clamping mode, the clamping cylinder 44 drives the moving rod 47 to retract and move, so that the moving rod 47 moves along the direction that the protruding block 48 approaches the clamping cylinder 44, the moving rod 47 drives the first clamping rod 45 and the second clamping rod 46 to move towards the inner end direction, in the moving process, the first bent part 451 touches the first inclined surface structure 51 and opens towards the outer side, the second bent part 461 touches the second inclined surface 52 and opens towards the outer side, the spring structure 49 is switched to the stretching state, and accordingly, the outer ends of the first clamping rod 45 and the second clamping rod 46 form the opening state; as the outer ends of the first and second clamping bars 45 and 46 are gradually spread apart, they clamp the object in position at the outer end of the receiving channel 22.
The chucking process for the object 1 of annular configuration comprises the following steps: when the ring structure 1 is in the closed observation state, the outer ends of the first clamping rod 45 and the second clamping rod 46 extend into the opening of the ring structure 1, and then are switched to the open clamping state, and at this time, the outer ends of the first clamping rod 45 and the second clamping rod 46 are opened towards two sides to clamp the ring structure 1 on the port surface of the accommodating channel 22.
Second embodiment:
preferably, as shown in fig. 9, the fin structure 30 of the present embodiment is symmetrically distributed on two sides of the fish body 10, and the fin structure 30 includes a first driving motor 31, a first crank 32, a second crank 33, a third crank 34, a first rotating rod 35, a second rotating rod 36, a second driving motor 37, and a fan plate 38; the first driving motor 31 is connected with the inner end of the first crank 32, the outer end of the first crank 32 is hinged with the inner end of the second crank 33, the outer end of the second crank 33 is hinged with the inner end of the third crank 34, the outer end of the third crank 34 is fixedly connected with the lower end of the first rotating rod 35, the upper end of the first rotating rod 35 is connected with the second rotating rod 36 through a lantern ring 39, the inner end of the second rotating rod 36 is connected with the second driving motor 37, and the outer end of the second rotating rod 36 is connected with the fan plate 38;
a balance sensor is arranged in the fish body main body 10 and is connected with a controller, and the controller is also connected with a first driving motor 31 and a second driving motor 37;
the working method comprises the following steps: the first driving motor 31 provides power, the first crank 32 correspondingly rotates, the first crank 32 drives the second crank 33 to swing, the second crank 33 drives the third crank 34 to swing, the third crank 34 drives the first rotating rod 35 to rotate, the first rotating rod 35 drives the second rotating rod 36 and the fan plate 38 to swing, and the swing process of the fan plate 38 provides lateral power, so that the power of the fish body structure 10 at the first lateral position is adjusted; in addition, the second rotating rod 36 drives the fan plate 38 to adjust the placing angle by the power provided by the second driving motor 37, so that the direction and the angle of the power provided by the fan plate 38 are changed;
the balance sensor arranged in the fish body structure 10 transmits the detected signal to the controller, and the controller correspondingly adjusts the power and direction angle provided by the fin structures 30 on the two sides according to the balance signal.
The third embodiment:
preferably, as shown in fig. 10 and 11, the fishtail structure 20 of the embodiment includes a third driving motor 21, a first driving rod 22, a second driving rod 23, a third rotating rod 24, a transverse connecting plate 25, a first vertical connecting rod 26, a second vertical connecting rod 27, a fourth driving motor 28, a universal shaft connector 29, a fourth rotating rod 201, a swing frame connecting plate 202, and a swing tail plate 203; the fourth driving motor 28 is connected with the fourth rotating rod 201 through the universal shaft connecting piece 29, the fourth rotating rod 201 is connected with the swing frame connecting plate 202, the swing frame connecting plate 202 is connected with the second vertical connecting rod 27 through the swing sleeve body 204, and the swing sleeve body 204 is further connected with the swing tail plate 203; an output shaft of the third driving motor 21 is fixedly connected with the first driving rod 22, the first driving rod 22 is hinged with the second driving rod 23, the second driving rod 23 is hinged with the transverse connecting rod 25, and the transverse connecting rod 25 is rotatably connected to the third rotating rod 24;
the working method comprises the following steps: the fourth driving motor 28 provides power, so that the fourth rotating rod 201 drives the swing frame connecting plate 202 to swing, and then the swing tail plate 28 swings to provide forward power; in addition, the third driving motor 21 drives the first driving rod 22 to rotate, so that the second driving rod 23 correspondingly swings, the second driving rod 22 drives the transverse connecting plate 25 to rotate around the third rotating rod 24, and then the first vertical connecting rod 26, the second vertical connecting rod 27 and the swing tail plate 203 are adjusted in direction angle.
When specifically using, provide power through the fish tail structure and remove, and carry out balance adjustment through the fin structure, through detecting head image acquisition device such as camera completion image information acquisition, and accomplish the snatching of foreign matter through the fish mouth structure, specifically make the carriage release lever drive two chucking poles and carry out the position and remove through the flexible removal of cylinder, and then make the kink cooperate with the inclined plane structure of protruding piece, and then make two chucking poles open, and tighten up through spring structure, from this open and tighten up the in-process completion to the fixed action of object, specifically, the object can be fixed in the outer tip of chucking pole and the position between the outer terminal surface that holds the passageway.
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 (8)
1. A robotic fish for underwater detection is characterized by comprising a fish body main body, wherein the fish body main body is sequentially provided with a fish tail structure, a fish fin structure and a fish mouth structure from the tail part to the head part; the fish mouth structure comprises an installation plate, an accommodating channel, a detecting head and a clamping cylinder; a first clamping rod, a second clamping rod, a moving rod, a protruding block and a spring structure are arranged in the accommodating channel, the clamping cylinder is arranged on the inner side of the mounting plate, the accommodating channel is arranged on the outer side of the mounting plate, the first clamping rod, the moving rod and the second clamping rod are sequentially connected through a hinged shaft rod, a first bending part is arranged at the inner end of the first clamping rod, a second bending part is arranged at the inner end of the second clamping rod, the first bending part and the second bending part are connected through the spring structure, the inner end of the first clamping rod is connected with the inner end of the second clamping rod through the spring structure, the inner side of the moving rod penetrates through the protruding block to be connected with the telescopic rod of the clamping cylinder, a first inclined plane structure and a second inclined plane structure which are oppositely arranged are arranged on the protruding block, and the first bending part is matched with the first inclined plane structure, the second bending part is matched with the second inclined plane structure; the outer end parts of the first clamping rod and the second clamping rod are provided with the detecting heads, and the outer end part of the moving rod is provided with the detecting head.
2. The robotic fish for underwater detection of claim 1,
the fin structures are symmetrically distributed at two sides of the fish body main body and comprise a first driving motor, a first crank, a second crank, a third crank, a first rotating rod, a second driving motor and a fan plate; the first driving motor is connected with the inner end of the first crank, the outer end of the first crank is hinged with the inner end of the second crank, the outer end of the second crank is hinged with the inner end of the third crank, the outer end of the third crank is fixedly connected with the lower end of the first rotating rod, the upper end of the first rotating rod is connected onto the second rotating rod through a lantern ring, the inner end of the second rotating rod is connected with the second driving motor, and the outer end of the second rotating rod is connected with the fan plate;
the fish body is characterized in that a balance sensor is arranged inside the fish body main body and connected with a controller, and the controller is further connected with the first driving motor and the second driving motor.
3. The robotic fish for underwater detection of claim 1, wherein the fish tail structure includes a third drive motor, a first drive rod, a second drive rod, a third rotating rod, a transverse connecting plate, a first vertical connecting rod, a second vertical connecting rod, a fourth drive motor, a universal shaft connecting piece, a fourth rotating rod, a swing frame connecting plate, a swing tail plate; the fourth driving motor is connected with the fourth rotating rod through the universal shaft connecting piece, the fourth rotating rod is connected with the swinging frame connecting plate, the swinging frame connecting plate is connected with the second vertical connecting rod through a rotating sleeve body, and the rotating sleeve body is further connected with the swinging tail plate; the output shaft of the third driving motor is fixedly connected with the first driving rod, the first driving rod is hinged to the second driving rod, the second driving rod is connected with the transverse connecting rod, and the transverse connecting plate is rotatably connected to the third driving rod.
4. The robotic fish for underwater detection of claim 1,
the holding channel is provided with an upper annular protruding plate, the outer ends of the first clamping rod and the second clamping plate are provided with extending clamping plate bodies arranged in the parallel direction of the upper annular protruding plate, and the extending clamping plate bodies and the upper annular protruding plate form the clamping position of an object.
5. The working method of a robotic fish for underwater detection as claimed in claim 1, comprising the steps of:
s1, the fish body is moved by the swing of the fish tail structure, then the balance state is maintained by the swing action of the fin structure, the underwater detection task is completed by the detecting head arranged on the fish mouth structure, and the process of clamping the object is completed when the needed object is found;
s2: in the process of clamping an object, the fish mouth structure has two working modes, namely a closing observation mode and an opening clamping mode; in a closing observation mode, the clamping cylinder drives the moving rod to move in the protruding block and is located at a position far away from the clamping cylinder, the spring structure, the first clamping rod and the second clamping rod are located on one side of the outer end of the protruding block, the spring structure drives the inner ends of the first clamping rod and the second clamping rod to be in a closing approaching state, and accordingly the outer ends of the first clamping rod and the second clamping rod are in a closing approaching state; in the process of switching from a closing observation mode to an opening clamping mode, the clamping cylinder drives the moving rod to retract and move so that the moving rod moves along the direction that the protruding block is close to the clamping cylinder, the moving rod drives the first clamping rod and the second clamping rod to move towards the inner end direction, in the moving process, the first bending part touches the first inclined surface structure and expands outwards, the second bending part touches the second inclined surface and expands outwards, the spring structure is switched to a stretching state, and accordingly the outer ends of the first clamping rod and the second clamping rod form an expanding state; as the outer ends of the first and second clamping bars are gradually splayed apart, they clamp the object in position at the outer end of the receiving channel.
6. The working method of a robotic fish for underwater detection as claimed in claim 1, wherein for the process of chucking the object in a ring-like configuration, it comprises the steps of: when the state is observed in the binding off, the outer end portion of first chucking pole and second chucking pole stretches into in the opening of loop configuration, then convert into the mouth of opening chucking state, the outer end of first chucking pole and second chucking pole opens the mouth to both sides and the loop configuration chucking is on the port face of holding the passageway in this time.
7. The working method of a robotic fish for underwater detection as claimed in claim 1,
the fin structures are symmetrically distributed at two sides of the fish body main body and comprise a first driving motor, a first crank, a second crank, a third crank, a first rotating rod, a second driving motor and a fan plate; the first driving motor is connected with the inner end of the first crank, the outer end of the first crank is hinged with the inner end of the second crank, the outer end of the second crank is hinged with the inner end of the third crank, the outer end of the third crank is fixedly connected with the lower end of the first rotating rod, the upper end of the first rotating rod is connected onto the second rotating rod through a lantern ring, the inner end of the second rotating rod is connected with the second driving motor, and the outer end of the second rotating rod is connected with the fan plate;
a balance sensor is arranged in the fish body main body and connected with a controller, and the controller is also connected with the first driving motor and the second driving motor;
the working method comprises the following steps: the first driving motor provides power, the first crank correspondingly rotates, the first crank drives the second crank to swing, the second crank drives the third crank to swing, the third crank drives the first rotating rod to rotate, the first rotating rod drives the second rotating rod and the fan plate to swing, and lateral power is provided through the swinging process of the fan plate, so that the power of the fish body structure at the first lateral position is adjusted; in addition, the second rotating rod drives the fan plate to adjust the placing angle through the power provided by the second driving motor, so that the direction and the angle of the power provided by the fan plate are changed;
the balance sensor arranged in the fish body structure transmits detected signals to the controller, and the controller correspondingly adjusts the power and direction angles provided by the fin structures on two sides according to the balance signals.
8. The working method of the robotic fish for underwater detection of claim 1, wherein the fish tail structure comprises a third driving motor, a first driving rod, a second driving rod, a third rotating rod, a transverse connecting plate, a first vertical connecting rod, a second vertical connecting rod, a fourth driving motor, a universal shaft connecting piece, a fourth rotating rod, a swing frame connecting plate, and a swing tail plate; the fourth driving motor is connected with the fourth rotating rod through the universal shaft connecting piece, the fourth rotating rod is connected with the swinging frame connecting plate, the swinging frame connecting plate is connected with the second vertical connecting rod through a rotating sleeve body, and the rotating sleeve body is further connected with the swinging tail plate; an output shaft of the third driving motor is fixedly connected with the first driving rod, the first driving rod is hinged with the second driving rod, the second driving rod is connected with the transverse connecting rod, and the transverse connecting plate is rotatably connected to the third rotating rod;
the working method comprises the following steps: the fourth driving motor provides power, so that the fourth rotating rod drives the swing frame connecting plate to swing, and then the swing tail plate swings to provide forward power; in addition, through third driving motor drives first drive rod rotates, and the corresponding feasible second drive rod swings, the second drive rod drives the transverse connection board centers on the third dwang rotates, and then makes first vertical connecting rod, the vertical connecting rod of second and the regulation of swing tailboard direction angle carries out.
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