CN113184149B - Bionic robotic fish with tail pectoral fin propelled cooperatively - Google Patents
Bionic robotic fish with tail pectoral fin propelled cooperatively Download PDFInfo
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- CN113184149B CN113184149B CN202110624202.3A CN202110624202A CN113184149B CN 113184149 B CN113184149 B CN 113184149B CN 202110624202 A CN202110624202 A CN 202110624202A CN 113184149 B CN113184149 B CN 113184149B
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- fish
- cover plate
- detachably connected
- tail
- fin
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Abstract
The invention discloses a bionic robotic fish with a tail pectoral fin propelled cooperatively, which comprises: the bionic fish comprises a detachable bionic fish shell, a bionic fish shell and a controller, wherein a cylindrical sealed cabin is detachably mounted in the detachable bionic fish shell, and a battery and the controller are fixed in the cylindrical sealed cabin; the two pectoral fin rotation driving parts are symmetrically and detachably arranged on two sides of the front part of the detachable bionic fish shell; the driving ends of the two pectoral fin front-back swing driving parts are respectively detachably connected with the driving ends of the corresponding pectoral fin rotation driving parts; the two pectoral fins are respectively detachably connected with the corresponding pectoral fin front-back swing driving parts; the tail fin left-right swinging driving part is detachably connected with the tail part of the detachable bionic fish shell on one side; and the tail fin is detachably connected with the driving end of the tail fin left-right swinging driving part. Each module of the bionic robot fish is detachably connected, the structure is simple, the cost is low, the bionic robot fish is convenient to expand and easy to install and detach, and the swimming posture of real fish can be simulated.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a tail pectoral fin synergistically propelled bionic robot fish.
Background
The existing ocean contains abundant mineral resources, marine biological resources and energy, and the development of marine resources has important significance for human sustainable development. As an important tool for developing marine resources, research on underwater robots has been receiving much attention both at home and abroad.
The traditional underwater robot such as the bionic robot fish has the following defects: (1) the structure is complicated: the traditional underwater robot takes a propeller as an underwater propeller of a propulsion system, and the system has the disadvantages of large volume, heavy weight, higher construction cost, serious lag of transient response and low energy conversion rate. Many connecting components in the structure need independent customization, the material cost is high, the technical barrier is large, and the structure is not suitable for non-professionals; (2) the action is harsh and not highly flexible: because the propeller is used as an underwater propeller, the motion in a certain single direction or the compound motion in a plurality of single directions can be realized, the motion mode is rigid, the maneuverability is poor especially under the severe marine environment, and the period and the cost of marine detection are increased; (3) Only tail fin pushing is adopted, only simple forward movement can be realized, the bionic effect is poor, and the movement is not flexible.
Therefore, the technical personnel in the field need to solve the problem of how to provide the tail and pectoral fin cooperatively propelled bionic robotic fish which has a simple structure, low cost, convenient expansion, easy installation and disassembly and can simulate the swimming posture of real fish.
Disclosure of Invention
In view of the above, the invention provides the tail pectoral fin synergistically propelled bionic robot fish which is simple in structure, low in cost, convenient to expand, easy to install and disassemble and capable of simulating the swimming postures of real fishes.
In order to achieve the purpose, the invention adopts the following technical scheme:
a tail-pectoral fin synergistically propelled biomimetic robotic fish, comprising:
the bionic fish comprises a detachable bionic fish shell, wherein a cylindrical sealed cabin is detachably mounted in the detachable bionic fish shell, and a battery and a controller are fixed in the cylindrical sealed cabin;
the two pectoral fin rotation driving parts are symmetrically and detachably mounted on two sides of the front part of the detachable bionic fish shell, and are electrically connected with the controller and the battery;
the two pectoral fin front-back swing driving parts are detachably connected with the corresponding driving ends of the pectoral fin rotation driving part respectively, and the pectoral fin front-back swing driving parts are electrically connected with the controller and the battery;
the two pectoral fins are detachably connected with the corresponding pectoral fin front-back swing driving parts respectively;
the tail fin left-right swinging driving part is detachably connected with the tail part of the detachable bionic fish shell, and is electrically connected with the controller and the battery;
and the tail fin is detachably connected with the driving end of the tail fin left-right swinging driving part.
According to the technical scheme, compared with the prior art, the bionic robot fish with the tail and the pectoral fins pushed in a coordinated mode is provided, wherein the pectoral fin rotation driving portion drives the pectoral fin forward-backward swing driving portion and the pectoral fins to rotate, and the pectoral fin forward-backward swing driving portion drives the pectoral fins to swing forward and backward, so that rotation and forward-backward sliding of the pectoral fins can be achieved, the motion modes of the two pectoral fins can be controlled independently, the motion direction of the robot fish can be controlled, meanwhile, the pectoral fins and the tail fins are pushed in a coordinated mode, the robot fish can be simulated to achieve motions of quick starting, quick turning, upward floating, downward moving, forward moving, backward moving and the like, and the robot fish is suitable for more complex underwater environments. Moreover, each module of the bionic robot fish is detachably connected, and the bionic robot fish is simple in structure, low in cost, convenient to expand and easy to install and detach.
Further, the detachable bionic fish shell comprises:
the two pectoral fin rotary driving parts are symmetrically and detachably arranged on two sides of the front part of the detachable fish skeleton, and one side of the tail fin left-right swinging driving part is detachably connected with the tail part of the detachable fish skeleton;
detachable fish casing, detachable fish casing can dismantle and the parcel is in detachable fishbone frame periphery side, the drive end of pectoral fin rotary driving portion passes detachable fish casing sets up.
The beneficial effects that adopt above-mentioned technical scheme to produce are, the dismouting of easily detachable bionical fish casing, the change and the maintenance of the spare part of being convenient for.
Further, the detachable fishbone frame comprises:
a front cover plate;
the middle cover plate and the front cover plate are arranged in parallel at intervals, and are detachably connected through a first connecting rod;
the two sides of the mounting bottom plate are respectively detachably mounted between the front cover plate and the middle cover plate, and the two pectoral fin rotary driving parts are symmetrically and detachably mounted on the mounting bottom plate;
the rear cover plate and the middle cover plate are arranged in a spaced and parallel mode and detachably connected through a second connecting rod, one side of the tail fin left-right swing driving part is detachably connected with the rear cover plate, and two ends of the cylindrical sealed cabin are detachably connected between the middle cover plate and the rear cover plate through screws;
the detachable fish shell comprises:
the tail end of the fish head shell is detachably connected with the front cover plate;
the fish front body covers the shell, two sides of the fish front body cover the shell are respectively detachably connected with the front cover plate and the middle cover plate, and the driving end of the pectoral fin rotation driving part penetrates through the detachable fish shell;
the fish back covers the casing, the both sides that the fish back covers the casing respectively with well apron, the back shroud can dismantle the connection.
The detachable bionic fish shell has the advantages of simple structure and low manufacturing cost.
Further, the first connecting rod includes:
the front-middle cover main connecting rod is provided with a first screw rod section at one end, the first screw rod section penetrates through the front cover plate, a locking nut is screwed on the first screw rod section, and a threaded connecting hole is formed in the other end of the front-middle cover main connecting rod;
the front middle cover auxiliary connecting rods are multiple, two ends of each front middle cover auxiliary connecting rod are respectively provided with a second screw rod section and a third screw rod section, the second screw rod sections penetrate through the front cover plate and are in threaded connection with locking screw nuts, and the third screw rod sections penetrate through the middle cover plate and are in threaded connection with the locking screw nuts;
the second connecting rod includes:
the middle rear cover main connecting rod is provided with a fourth screw section and a fifth screw section at two ends respectively, the fourth screw section penetrates through the middle cover plate and is fixed with the threaded connecting hole in a threaded manner, the fifth screw section penetrates through the rear cover plate, and a locking nut is screwed on the fifth screw section;
the middle-rear cover auxiliary connecting rod is multiple, a sixth screw section and a seventh screw section are arranged at the two ends of the middle-rear cover auxiliary connecting rod respectively, the sixth screw section is arranged on the middle cover plate in a penetrating mode, a locking nut is connected to the sixth screw section in a threaded mode, the seventh screw section is arranged on the rear cover plate in a penetrating mode, and a locking nut is connected to the seventh screw section in a threaded mode.
The beneficial effect that adopts above-mentioned technical scheme to produce is, the dismouting between easy front shroud, well apron, the back shroud.
Further, the fish precursor covering case includes:
the fish front body is covered with the shell, and two sides of the fish front body, which are covered with the shell, are respectively buckled on the front cover plate and the middle cover plate and are fixed through a plurality of screws;
the lower fish front body covering shell is buckled on the front cover plate and the middle cover plate and is fixed by a plurality of screws, and the driving end of the pectoral fin rotation driving part penetrates through the lower fish front body covering shell;
the fish back body covering shell comprises:
the fish back body is covered with the shell, and the fish back body is covered with the shell, buckled on the middle cover plate and the back cover plate and fixed through a plurality of screws;
the fish back covers the casing down, the fish back covers the casing under and detains well apron with on the back shroud, and through a plurality of fix with screws.
Adopt the beneficial effect that above-mentioned technical scheme produced to be, the dismouting of easy detachable fish shell.
Further, the pectoral fin rotation driving part includes:
the bottom end of the rotary steering engine support is detachably connected with the top end of the mounting bottom plate through a screw;
the rotary steering engine is fixedly connected with one side of the rotary steering engine bracket, and the driving end of the rotary steering engine penetrates through the lower covering shell of the fish front body;
the device comprises a U-shaped swinging steering engine mounting seat, wherein one side of the U-shaped swinging steering engine mounting seat is fixedly connected with the driving ends of the seemingly rotating steering engines, the two driving ends of a pectoral fin front-back swinging driving part are detachably connected with the two sides of the U-shaped swinging steering engine mounting seat respectively, and the rotating steering engines are electrically connected with a controller and a battery.
Adopt the beneficial effect that above-mentioned technical scheme produced to rotate the steering wheel and can drive U type swing steering wheel mount pad and rotate, and then drive pectoral fin swing drive division around and rotate to realize pectoral fin's rotary motion.
Furthermore, first connecting lugs are arranged on two sides of the pectoral fin respectively, a front and back swinging driving part of the pectoral fin is a first swinging steering engine, two driving ends of the first swinging steering engine are detachably connected with two sides of a U-shaped swinging steering engine mounting seat through screws respectively, the first connecting lugs are clamped and detachably connected on two side walls of the first swinging steering engine respectively, and the first swinging steering engine is electrically connected with the controller and the battery.
The beneficial effect that adopts above-mentioned technical scheme to produce is that, when two drive ends of first swing steering wheel rotated, because of two drive ends are connected with U type swing steering wheel mount pad, consequently, the casing of first swing steering wheel produced the front and back swing to the pectoral fin swing motion back and forth that drives it on.
Further, the tail fin yaw driving portion includes:
one side of the first swing steering engine support is detachably connected with the rear cover plate through a screw;
the second swing steering engine is detachably connected with the first swing steering engine support through screws, and the second swing steering engines are electrically connected with the controller and the battery;
one side of the second swinging steering engine support is detachably connected with the driving end of the second swinging steering engine through a screw;
and the third swinging steering engine is detachably connected with the second swinging steering engine support through a screw, the tail fin is detachably connected with the driving end of the third swinging steering engine through a screw, and the third swinging steering engine is electrically connected with the controller and the battery.
The beneficial effect that adopts above-mentioned technical scheme to produce is that, the free swing of tail fin can be realized to second swing steering wheel and third swing steering wheel, can simulate the swing of real fish flexible tail portion.
Further, the tail fin includes:
one side of the tail fin fixing plate is detachably connected with the driving end of the third swinging steering engine through a screw;
the tail fin body, tail fin body one side interval is equipped with two second engaging lugs, two the second engaging lug presss from both sides respectively and establishes and can dismantle the connection through the screw and be in tail fin fixed plate opposite side.
Furthermore, a video sensor which is wirelessly connected with a user control end is arranged on the fish head shell, and the video sensor is electrically connected with the controller and the battery.
The technical scheme has the advantages that the video sensor can transmit underwater video pictures of the robot fish to the user control end, and a user can conveniently and remotely control the robot fish to move through the user control end.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic axial-side structural view of a bionic robotic fish propelled by the tail pectoral fin in cooperation.
Fig. 2 is a schematic front view of the structure of fig. 1.
Fig. 3 is a schematic side view of the detachable fish shell of fig. 1.
Fig. 4 is a schematic front view of fig. 3.
Fig. 5 is an enlarged schematic view of the structure of the part a in fig. 3.
Fig. 6 is an attached diagram of an assembly structure of a rotary steering engine, a U-shaped swinging steering engine mounting seat and a first swinging steering engine.
Fig. 7 is a schematic structural diagram of the tail fin.
Fig. 8 is a schematic structural view of the front middle cover main connecting rod.
FIG. 9 is a schematic structural view of the front middle cover pair connecting rod.
Fig. 10 is a schematic structural diagram of a middle rear cover main connecting rod.
Fig. 11 is a schematic structural diagram of a middle-rear cover auxiliary connecting rod.
Fig. 12 is a schematic structural diagram of the cylindrical sealed cabin.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Referring to fig. 1-12, an embodiment of the present invention discloses a bionic robotic fish with a synergistic propulsion function of tail pectoral fin, including:
the bionic fish comprises a detachable bionic fish shell 1, wherein a cylindrical sealed cabin 2 is detachably mounted in the detachable bionic fish shell 1, and a battery and a controller are fixed in the cylindrical sealed cabin 2;
the number of the pectoral fin rotary driving parts 3 is two, the two pectoral fin rotary driving parts 3 are symmetrically and detachably mounted on two sides of the front part of the detachable bionic fish shell 1, and the pectoral fin rotary driving parts 3 are electrically connected with a controller and a battery;
the pectoral fin front-back swing driving parts 4 are provided, the number of the pectoral fin front-back swing driving parts 4 is two, the driving ends of the pectoral fin front-back swing driving parts are detachably connected with the driving ends of the corresponding pectoral fin rotation driving parts 3 respectively, and the pectoral fin front-back swing driving parts 4 are electrically connected with a controller and a battery;
the two pectoral fins 5 are detachably connected with the corresponding pectoral fin front-back swing driving part 4 respectively;
the bionic fish shell comprises a tail fin left-right swinging driving part 6, wherein one side of the tail fin left-right swinging driving part 6 is detachably connected with the tail part of the detachable bionic fish shell 1, and the tail fin left-right swinging driving part 6 is electrically connected with a controller and a battery;
and the tail fin 7 is detachably connected with the driving end of the tail fin left-right swinging driving part 6.
Detachable bionic fish shell 1 includes:
the two pectoral fin rotary driving parts 3 are symmetrically and detachably arranged on two sides of the front part of the detachable fish skeleton 11, and one side of the tail fin left-right swinging driving part 6 is detachably connected with the tail part of the detachable fish skeleton 11;
Detachable fish skeleton 11 includes:
a front cover plate 111;
the middle cover plate 112 is arranged in parallel with the front cover plate 111 at intervals, and the middle cover plate 112 and the front cover plate 111 are detachably connected through a first connecting rod 113;
two sides of the mounting bottom plate 114 are respectively detachably mounted between the front cover plate 111 and the middle cover plate 112, and the two pectoral fin rotary driving parts 3 are symmetrically and detachably mounted on the mounting bottom plate 114;
the rear cover plate 115 is arranged in parallel with the middle cover plate 112 at intervals, the rear cover plate 115 and the middle cover plate 112 are detachably connected through a second connecting rod 116, one side of the tail fin left-right swinging driving part 6 is detachably connected with the rear cover plate 115, and two ends of the cylindrical sealed cabin 2 are detachably connected between the middle cover plate 112 and the rear cover plate 115 through screws;
the detachable fish housing 12 comprises:
the tail end of the fish head shell 121 is detachably connected with the front cover plate 111;
the fish front body covers the shell 122, two sides of the fish front body cover the shell 122 are respectively detachably connected with the front cover plate 111 and the middle cover plate 112, and the driving end of the pectoral fin rotation driving part 3 passes through the detachable fish shell 12;
the fish back covers the shell 123, and two sides of the fish back covering the shell 123 are detachably connected with the middle cover plate 112 and the back cover plate 115 respectively.
The first connecting rod 113 includes:
a front middle cover main connecting rod 1131, one end of the front middle cover main connecting rod 1131 is provided with a first screw section 11311, the first screw section 11311 is arranged on the front cover plate 111 in a penetrating way, and is screwed with a lock nut, and the other end is provided with a threaded connecting hole 11312;
the front middle cover sub-connecting rods 1132 are provided in plurality, and the two ends of each of the front middle cover sub-connecting rods 1132 are respectively provided with a second screw section 11321 and a third screw section 11322, the second screw section 11321 is arranged on the front cover plate 111 in a penetrating manner and is screwed with a lock nut, and the third screw section 11322 is arranged on the middle cover plate 112 in a penetrating manner and is screwed with a lock nut;
the second connecting rod 116 includes:
a middle rear cover main connecting rod 1161, wherein a fourth screw section 11611 and a fifth screw section 11612 are respectively arranged at two ends of the middle rear cover main connecting rod 1161, the fourth screw section 11611 penetrates through the middle cover plate 112 to be screwed and fixed with the threaded connecting hole 11312, the fifth screw section 11612 penetrates through the rear cover plate 115, and a lock nut is screwed on the fifth screw section 11612;
the middle rear cover pair connecting rods 1162 are multiple, the two ends of the middle rear cover pair connecting rods 1162 are respectively provided with a sixth screw section 11621 and a seventh screw section 11622, the sixth screw section 11621 penetrates through the middle cover plate 112 and is screwed with a lock nut, and the seventh screw section 11622 penetrates through the rear cover plate 115 and is screwed with a lock nut.
The fish front body covering case 122 includes:
the fish front body is covered with a shell 1221, and two sides of the fish front body covering the shell 1221 are respectively buckled on the front cover plate 111 and the middle cover plate 112 and are fixed through a plurality of screws;
a fish front lower covering case 1222, the fish front lower covering case 1222 is fastened to the front cover plate 111 and the middle cover plate 112 and fixed by a plurality of screws, and a driving end of the pectoral fin rotation driving part 3 is disposed through the fish front lower covering case 1222;
the fish back cover case 123 includes:
the back of the fish is covered with a shell 1231, the back of the fish is covered with the shell 1231 and is buckled on the middle cover plate 112 and the back cover plate 115 and is fixed by a plurality of screws;
the fish back lower cover housing 1232, and the fish back lower cover housing 1232 is fastened to the middle cover plate 112 and the rear cover plate 115 and fixed by a plurality of screws.
The pectoral fin rotation driving portion 3 includes:
the bottom end of the rotary steering engine support 31 is detachably connected with the top end of the mounting bottom plate 114 through a screw;
the rotary steering engine 32, the rotary steering engine 32 is fixedly connected with one side of the rotary steering engine bracket 31, and the driving end of the rotary steering engine 32 penetrates through the lower covering shell 1222 of the fish front body;
the U-shaped swinging steering engine mounting seat 33 is fixedly connected with one side of the U-shaped swinging steering engine mounting seat 33 and the driving end of the seemingly rotating steering engine 32, the two driving ends of the pectoral fin front-back swinging driving part 4 are detachably connected with the two sides of the U-shaped swinging steering engine mounting seat 33 respectively, and the rotating steering engine 32 is electrically connected with a controller and a battery.
First connecting lugs 51 are arranged on two sides of the pectoral fin 5 respectively, the front and back pectoral fin swing driving portion 4 is a first swing steering engine, two driving ends of the first swing steering engine are detachably connected with two sides of the U-shaped swing steering engine mounting seat 33 through screws respectively, the two first connecting lugs 51 are clamped and detachably connected to two side walls of the first swing steering engine respectively, and the first swing steering engine is electrically connected with the controller and the battery.
The tail fin yaw driving portion 6 includes:
one side of the first swing steering engine support 61 is detachably connected with the rear cover plate 115 through a screw;
the second swinging steering engine 62 is detachably connected with the first swinging steering engine bracket 61 through a screw, and the second swinging steering engines 62 are electrically connected with a controller and a battery;
one side of the second swinging steering engine support 63 is detachably connected with the driving end of the second swinging steering engine 62 through a screw;
and the third swinging steering engine 64 is detachably connected with the second swinging steering engine bracket 63 through screws, the tail fin 7 is detachably connected with the driving end of the third swinging steering engine 64 through screws, and the third swinging steering engine 64 is electrically connected with the controller and the battery.
The tail fin 7 includes:
one side of the tail fin fixing plate 71 is detachably connected with the driving end of the third swing steering engine 64 through a screw;
two second engaging lugs 721 are arranged on one side of the tail fin body 72 at intervals, and the two second engaging lugs 721 are respectively clamped and detachably connected to the other side of the tail fin fixing plate 71 through screws.
Be equipped with on fish head casing 121 with user control end wireless connection's video sensor, video sensor all is connected with controller, battery electricity.
The bionic robot fish with the tail pectoral fins propelled cooperatively is characterized in that a battery provides power for corresponding components, a controller controls the corresponding components to move, specifically, the rotary steering engine and the first swing steering engine can realize two-degree-of-freedom swinging and swinging motion of the pectoral fins, the swimming postures of water-beating, water-paddling and wing-swinging of real fishes can be simulated, the motion modes of the two pectoral fins can be controlled independently, the control on the motion direction of the robot fish is realized, and the second swing steering engine and the third swing steering engine can realize flexible swinging of the tail fins. Therefore, the synergistic propulsion of the pectoral fins and the tail fins can simulate the fish to realize the motions of quick start, quick turning, floating, submergence, forward movement, backward movement and the like, and is suitable for more complex underwater environments. Moreover, each module of the bionic robot fish is detachably connected, the structure is simple, the cost is low, the bionic robot fish is convenient to expand and easy to install and detach, and the bionic robot fish can be widely applied to industries such as underwater resource exploration, military reconnaissance, weather early warning, marine organism research, marine accident rescue, underwater fishing operation, climate change analysis, water pollution cleaning and the like. In addition, the tail fin, the pectoral fin, the fish head shell, the fish front body covering shell and the fish back body covering shell can be printed by photosensitive resin materials in a 3D mode, and the rest parts are machined through aluminum alloy CNC.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A bionic robotic fish with cooperative propulsion of the tail pectoral fin, comprising:
the bionic fish comprises a detachable bionic fish shell (1), wherein a cylindrical sealed cabin (2) is detachably mounted in the detachable bionic fish shell (1), and a battery and a controller are fixed in the cylindrical sealed cabin (2);
the number of the pectoral fin rotary driving parts (3) is two, the two pectoral fin rotary driving parts (3) are symmetrically and detachably mounted on two sides of the front part of the detachable bionic fish shell (1), and the pectoral fin rotary driving parts (3) are electrically connected with the controller and the battery;
the two pectoral fin front-back swing driving parts (4) are detachably connected with the corresponding driving ends of the pectoral fin rotation driving part (3), and the pectoral fin front-back swing driving parts (4) are electrically connected with the controller and the battery;
the number of the pectoral fins (5) is two, and the two pectoral fins (5) are detachably connected with the corresponding pectoral fin front-back swing driving parts (4) respectively;
the tail fin left-right swinging driving part (6), one side of the tail fin left-right swinging driving part (6) is detachably connected with the tail part of the detachable bionic fish shell (1), and the tail fin left-right swinging driving part (6) is electrically connected with the controller and the battery;
the tail fin (7), the tail fin (7) is detachably connected with the driving end of the tail fin left-right swing driving part (6);
the detachable bionic fish shell (1) comprises:
the two pectoral fin rotary driving parts (3) are symmetrically and detachably mounted on two sides of the front part of the detachable fish skeleton (11), and one side of the tail fin left-right swinging driving part (6) is detachably connected with the tail part of the detachable fish skeleton (11);
the detachable fish shell (12) is detachably wrapped on the outer peripheral side of the detachable fish skeleton (11), and the driving end of the pectoral fin rotation driving part (3) penetrates through the detachable fish shell (12);
the detachable fish skeleton (11) comprises:
a front cover plate (111);
the middle cover plate (112) and the front cover plate (111) are arranged in parallel at intervals, and the middle cover plate (112) and the front cover plate (111) are detachably connected through a first connecting rod (113);
the two sides of the mounting bottom plate (114) are respectively detachably mounted between the front cover plate (111) and the middle cover plate (112), and the two pectoral fin rotation driving parts (3) are symmetrically and detachably mounted on the mounting bottom plate (114);
the rear cover plate (115) and the middle cover plate (112) are arranged in parallel at intervals, the rear cover plate (115) and the middle cover plate (112) are detachably connected through a second connecting rod (116), one side of the tail fin left-right swing driving part (6) is detachably connected with the rear cover plate (115), and two ends of the cylindrical sealed cabin (2) are detachably connected between the middle cover plate (112) and the rear cover plate (115) through screws;
the detachable fish housing (12) comprises:
the tail end of the fish head shell (121) is detachably connected with the front cover plate (111);
the fish front body covering shell (122), two sides of the fish front body covering shell (122) are respectively detachably connected with the front cover plate (111) and the middle cover plate (112), and the driving end of the pectoral fin rotation driving part (3) penetrates through the detachable fish shell (12);
the fish back cover shell (123), and two sides of the fish back cover shell (123) are respectively detachably connected with the middle cover plate (112) and the back cover plate (115);
the first connecting rod (113) includes:
the front middle cover main connecting rod (1131), one end of the front middle cover main connecting rod (1131) is provided with a first screw section (11311), the first screw section (11311) penetrates through the front cover plate (111), a locking nut is screwed on the first screw section, and the other end of the first screw section is provided with a threaded connecting hole (11312);
the front middle cover auxiliary connecting rod (1132) is multiple, the two ends of the front middle cover auxiliary connecting rod (1132) are respectively provided with a second screw section (11321) and a third screw section (11322), the second screw section (11321) penetrates through the front cover plate (111), a locking nut is connected onto the second screw section (11321) in a threaded mode, the third screw section (11322) penetrates through the middle cover plate (112), and a locking nut is connected onto the third screw section (11322) in a threaded mode;
the second connecting rod (116) comprises:
the middle rear cover main connecting rod (1161), a fourth screw section (11611) and a fifth screw section (11612) are respectively arranged at two ends of the middle rear cover main connecting rod (1161), the fourth screw section (11611) penetrates through the middle cover plate (112) to be in threaded connection with the threaded connecting hole (11312) for fixation, and the fifth screw section (11612) penetrates through the rear cover plate (115) and is in threaded connection with a locking nut;
the middle rear cover auxiliary connecting rods (1162) are multiple, a sixth screw section (11621) and a seventh screw section (11622) are respectively arranged at two ends of each middle rear cover auxiliary connecting rod (1162), the sixth screw section (11621) penetrates through the middle cover plate (112) and is in threaded connection with a lock nut, and the seventh screw section (11622) penetrates through the rear cover plate (115) and is in threaded connection with a lock nut;
the fish precursor covering shell (122) comprises:
the fish front body is covered with a shell (1221), and two sides of the fish front body covering shell (1221) are respectively buckled on the front cover plate (111) and the middle cover plate (112) and are fixed through a plurality of screws;
a fish front lower covering case (1222), the fish front lower covering case (1222) is fastened to the front cover plate (111) and the middle cover plate (112) and fixed by a plurality of screws, and a driving end of the pectoral fin rotation driving part (3) is disposed through the fish front lower covering case (1222);
the fish back covering case (123) includes:
a fish back upper cover housing (1231), wherein the fish back upper cover housing (1231) is buckled on the middle cover plate (112) and the back cover plate (115) and is fixed by a plurality of screws;
a fish lower body covering shell (1232), the fish lower body covering shell (1232) being fastened to the middle cover plate (112) and the rear cover plate (115) and fixed by a plurality of screws;
the pectoral fin rotation drive section (3) includes:
the bottom end of the rotary steering engine support (31) is detachably connected with the top end of the mounting bottom plate (114) through a screw;
the rotary steering engine (32) is fixedly connected with one side of the rotary steering engine support (31), and the driving end of the rotary steering engine (32) penetrates through the lower covering shell (1222) of the front body of the fish;
one side of the U-shaped swinging steering engine mounting seat (33) is fixedly connected with the driving ends of the seemingly rotating steering engines (32), the two driving ends of the pectoral fin front-back swinging driving part (4) are detachably connected with the two sides of the U-shaped swinging steering engine mounting seat (33) respectively, and the rotating steering engines (32) are electrically connected with the controller and the battery;
first connection ear (51) are equipped with respectively in pectoral fin (5) both sides, pectoral fin back and forth movement drive division (4) are first swing steering wheel, two drive ends on the first swing steering wheel with the connection can be dismantled through the screw respectively in the both sides of U type swing steering wheel mount pad (33), two first connection ear (51) press from both sides respectively and establish and can dismantle the connection on the both sides wall of first swing steering wheel, first swing steering wheel all with the controller the battery electricity is connected.
2. The bionic robotic fish with cooperative propelling tail pectoral fin according to claim 1, wherein the tail fin left-right swinging driving part (6) comprises:
one side of the first swing steering engine support (61) is detachably connected with the rear cover plate (115) through a screw;
the second swing steering engine (62) is detachably connected with the first swing steering engine support (61) through screws, and the second swing steering engines (62) are electrically connected with the controller and the battery;
one side of the second swing steering engine support (63) is detachably connected with the driving end of the second swing steering engine (62) through a screw;
the third swinging steering engine (64) is detachably connected with the second swinging steering engine bracket (63) through screws, the tail fin (7) is detachably connected with the driving end of the third swinging steering engine (64) through screws, and the third swinging steering engine (64) is electrically connected with the controller and the battery.
3. A tail-pectoral fin co-propelled biomimetic robotic fish according to claim 2, wherein said tail fin (7) comprises:
one side of the tail fin fixing plate (71) is detachably connected with the driving end of the third swinging steering engine (64) through a screw;
tail fin body (72), tail fin body (72) one side interval is equipped with two second engaging lug (721), two second engaging lug (721) press from both sides respectively and establish and can dismantle the connection through the screw and be in tail fin fixed plate (71) the opposite side.
4. The bionic robotic fish with the cooperative propelling function of the tail pectoral fin as claimed in any one of claims 1-3, wherein the fish head shell (121) is provided with a video sensor wirelessly connected with a user control end, and the video sensor is electrically connected with the controller and the battery.
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Effective date of registration: 20230329 Address after: Hainan Tropical Ocean College National University Science Park Entrepreneurship Incubation Base, No.1 Yucai Road, Jiyang District, Sanya City, Hainan Province, 572022 Patentee after: Hainan Exploration Technology Equipment Co.,Ltd. Address before: No.1 Yucai Road, Sanya City, Hainan Province, 572022 Patentee before: HAINAN TROPICAL OCEAN University |