CN113277052A - Bionic machine shark eating garbage - Google Patents
Bionic machine shark eating garbage Download PDFInfo
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- CN113277052A CN113277052A CN202110633830.8A CN202110633830A CN113277052A CN 113277052 A CN113277052 A CN 113277052A CN 202110633830 A CN202110633830 A CN 202110633830A CN 113277052 A CN113277052 A CN 113277052A
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- Prior art keywords
- steering engine
- shell
- fish
- shark
- fishtail
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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
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
- B63B43/08—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability by transfer of solid ballast
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
Abstract
The invention discloses a bionic mechanical shark for eating garbage, which comprises a fish head, a fish body and a fish tail. The fish head comprises a fish head main shell, a chin shell, a steering engine gear transmission mechanism and a partition plate; the chin shell and the fish head main shell form a fish mouth together; the steering engine gear transmission mechanism is used for realizing the opening and closing of the fish mouth; the baffle is arranged at the rear end of the fish head main shell; the fish body comprises a fish body shell, a steering engine counterweight mechanism and an electronic device module; the fish body shell is hermetically connected with the fish head main shell; the steering engine counterweight mechanism is used for realizing the pitching motion of the bionic machine shark eating garbage; the fishtail comprises a fishtail shell and a steering engine double-joint swing mechanism, and the fishtail shell is hermetically connected with the fishbody shell; the steering engine double-joint swing mechanism is used for driving the fish tail to swing left and right so as to enable the bionic machine shark eating garbage to advance and turn; the electronic device module is used for respectively controlling the operation of the steering engine gear transmission mechanism, the steering engine counterweight mechanism and the double-joint swinging mechanism. The invention can simply realize the function of cleaning the garbage on the water surface.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a bionic robot shark for eating garbage.
Background
Underwater vehicles have been the subject of research by scientists. Because the traditional propeller type underwater vehicle has the defects of low propelling efficiency, low flexibility, high noise and the like, people begin the research of the bionic robot fish. Through the evolution and evolution process of many years, underwater organisms have high-efficiency, high-speed and high-maneuverability swimming skills to adapt to various severe underwater environments. Compared with the traditional underwater vehicle, the bionic robot fish has the characteristics of higher propelling efficiency, good maneuvering performance, good hiding performance and the like, and is suitable for underwater exploration, fish swarm leading, underwater military use and the like. The technical background of the bionic robot fish is developed, and many colleges and universities have own underwater robot fish and can realize various functions such as floating and diving, automatic obstacle avoidance, underwater detection and the like. In the prior art, the robot fish mainly obtains the driving force of the forward travel by the reciprocating motion of a motor and a steering engine. At present, a few schemes for improving and designing the fish mouth are provided, some robotic fishes realize the sucking action in a pressure difference mode, but the robotic fishes realizing the opening and closing of the mouth do not have too many technical references at present.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a bionic machine shark eating garbage, which has the functions of swimming, floating and submerging, opening and closing a fish mouth and the like and can simply realize the function of cleaning the garbage on the water surface.
According to the embodiment of the invention, the bionic machinery shark eating garbage has the bionic characteristics of shark, and comprises the following components:
the fish head comprises a fish head main shell, a chin shell, a steering engine gear transmission mechanism and a partition plate; the chin shell and the fish head main shell jointly form a fish mouth; the steering engine gear transmission mechanism is positioned in the fish head main shell and used for driving the chin shell to rotate relative to the fish head main shell so as to realize opening and closing of the fish mouth; the baffle is arranged at the rear end of the fish head main shell and is connected with the fish head main shell in a sealing way;
the fish body comprises a fish body shell, a steering engine counterweight mechanism and an electronic device module; the fish body shell is hermetically connected with the fish head main shell; the steering engine counterweight mechanism and the electronic device module are both positioned in the fish body shell; the steering engine counterweight mechanism is used for changing the gravity center position of the bionic machine shark eating garbage so as to enable the bionic machine shark eating garbage to do pitching motion;
the fishtail comprises a fishtail shell and a steering engine double-joint swinging mechanism, and the fishtail shell is hermetically connected with the fishbody shell; the steering engine double-joint swing mechanism is positioned in the fishtail shell and used for driving the fishtail to swing left and right so as to enable the bionic machine shark eating the garbage to advance and turn;
the electronic device module is used for respectively controlling the operation of the steering engine gear transmission mechanism, the steering engine counterweight mechanism and the double-joint swinging mechanism.
According to the bionic machinery shark eating garbage, the fishtail can continuously swim and the gravity center of the shark can be adjusted to avoid sinking into the water bottom. When garbage on the water surface needs to be eaten, the fish mouth is close to the water surface by utilizing the steering engine counterweight mechanism in the fish body, the fish mouth is opened through the steering engine gear transmission mechanism, the fish tail swings back and forth left and right through the steering engine double-joint swing mechanism, the bionic machine shark eating the garbage swims to the garbage position, the garbage is ensured to enter the fish mouth, and then the fish mouth is closed through the steering engine gear transmission mechanism. Therefore, the bionic machine shark eating garbage has the functions of swimming, floating, submerging, opening and closing a fish mouth and the like, and can simply realize the function of cleaning the garbage on the water surface.
According to one embodiment of the invention, the steering engine gear transmission mechanism comprises a first steering engine and a gear transmission mechanism, the first steering engine is connected with the gear transmission mechanism, and the gear transmission mechanism is connected with the chin shell; first steering wheel drive gear drive, gear drive drives the chin casing for the rotation of fish head main casing body is in order to realize opening and closing of fish mouth.
According to a further embodiment of the present invention, the gear transmission mechanism includes a first gear, a second gear, a rotating shaft, and a connecting arm; the first steering gear is connected with the first gear and used for driving the first gear to rotate, the first gear is meshed with the second gear, the second gear is fixed on the rotating shaft, two ends of the rotating shaft are rotatably supported on the left side wall and the right side wall of the main fish head shell, the rotating shaft is fixed with one end of the connecting arm, and the other end of the connecting arm is fixed with the chin shell; when the first steering engine drives the first gear to rotate, the first gear drives the second gear to rotate, so that the rotating shaft, the connecting arm and the chin shell are driven to rotate.
According to a further embodiment of the invention, the first steering engine is a waterproof custom steering engine of RDS 30.
According to one embodiment of the invention, the left side and the right side of the fish head main shell are provided with gills.
According to one embodiment of the invention, the inner edge of the chin shell is provided with lower teeth.
According to one embodiment of the invention, the fish head main shell is provided with an infrared obstacle avoidance sensor.
According to a further embodiment of the invention, the steering engine counterweight mechanism comprises a second steering engine and a counterweight block, and the second steering engine drives the counterweight block to rotate on a vertical plane so as to change the gravity center position of the bionic machine shark eating garbage.
According to one embodiment of the invention, the steering engine double-joint swinging mechanism comprises a third steering engine, a first swinging joint, a first gasket, a fourth steering engine, a second swinging joint and a second gasket which are arranged in sequence from front to back; the fish tail device is characterized in that a third steering engine is fixed on the fish body and connected with the front end of a first swing joint for driving the first swing joint to swing left and right, the rear end of the first swing joint is fixed on a first gasket, the first gasket is fixed with the fish tail shell, a fourth steering engine is fixed on the first gasket and connected with the front end of a second swing joint for driving the second swing joint to swing left and right, the rear end of the second swing joint is fixed on a second gasket, and the second gasket is fixed with the fish tail shell.
According to a further embodiment of the present invention, the fishtail housing comprises a front fishtail housing and a rear fishtail housing, the front fishtail housing is connected with the fishbody housing in a sealing manner, the rear fishtail housing is connected with the front fishtail housing in a sealing manner, the first gasket is fixed in the front fishtail housing, and the second gasket is fixed in the rear fishtail housing.
According to one embodiment of the invention, the fish body is provided with a dorsal fin; a bottleneck structure is fixed on the back of the fish body shell and used for extending a charging port of the electronic device module outwards so as to be connected with an external power line; and a bottle cap structure is fixed on the dorsal fin, and the bottle cap is detachably connected to the bottle mouth structure in a sealing manner.
According to some embodiments of the invention, the fish head main housing, the chin housing, the fish body housing and the fish tail housing are respectively 3D printed with photosensitive resin.
According to a further embodiment of the present invention, the fishtail is made of a flexible photosensitive resin material.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic overall view of a bionic shark robot for eating garbage according to the invention;
FIG. 2 is a schematic view of the head of a shark drawn by a bionic machine for eating garbage according to the present invention;
FIG. 3 is a schematic view of parts of a body of a bionic shark, which is a machine for eating garbage, according to the present invention, wherein a dorsal fin is not shown.
Fig. 4 is a front view of the body shell of the bionic shark of machine for eating garbage, wherein the pectoral fins are not shown.
FIG. 5 is a schematic view of the dorsal fin of the bionic shark of machine for eating garbage.
FIG. 6 is a schematic view of the tail of a shark produced by the bionic machine for eating garbage according to the present invention.
FIG. 7 is a schematic view of an electronic device module of the bionic machine shark eating garbage.
Reference numerals:
bionic mechanical shark 1000 for eating garbage
Fish head main casing 101
Chin shell 102
Steering engine gear transmission mechanism 103
Steering engine counterweight mechanism 202
Second steering engine 2021 counterweight 2022 second steering engine frame 2023
Waterproof terminal box 2031 chip 2032 steering engine control board 2033 IMU module 2034
The fishtail shell body 3011 in front of the fishtail shell body 301 and the fishtail shell body 3012 behind the fishtail shell body 3011
Steering engine double-joint swing mechanism 302
Third steering gear rack 3027 fourth steering gear rack 3028
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A bionic robotic shark 1000 for eating refuse according to an embodiment of the invention is described below with reference to FIGS. 1 to 7.
As shown in figures 1 to 6, a bionic robot shark 1000 eating garbage according to the embodiment of the invention has the bionic characteristics of shark. The shark bionics characteristic means that the shape of the bionic machine shark 1000 eating garbage in the embodiment of the invention comprises a shape curve, a pectoral fin 204, a dorsal fin 205, a crescent tail fin and the like which are designed according to the physical shape of a real shark. The bionic machinery shark 1000 eating garbage can be modeled by Solidworks 3D and designed by referring to the solid shape of a real shark.
The bionic mechanical shark 1000 eating garbage provided by the embodiment of the invention structurally comprises three major parts, namely a fish head 1, a fish body 2 and a fish tail 3.
The fish head 1 comprises a fish head main shell 101, a chin shell 102, a steering engine gear transmission mechanism 103 and a partition plate 104. The chin shell 102 and the fish head main shell 101 together form a fish mouth; the steering engine gear transmission mechanism 103 is located in the fish head main shell 101 and used for driving the chin shell 102 to rotate relative to the fish head main shell 101 so as to open and close the fish mouth, and therefore the fish head 1 can have the function of eating garbage. The baffle 104 sets up at the rear end of the first main casing body 101 of fish and with the first main casing body 101 of fish sealing connection, for example, can adopt waterproof silica gel to bond baffle 104 and the first main casing body 101 of fish fixed, like this, baffle 104 can separate fish head 1 and fish body 2, prevents in the rivers income fish body 2 of fish head 1 to in the electron device module 203 in the harm fish body 2.
The fish body 2 comprises a fish body shell 201, a steering engine counterweight mechanism 202 and an electronic device module 203. The fish body shell 201 is hermetically connected with the fish head main shell 101, for example, the fish body shell 201 can be bonded with the fish head main shell 101 through glue, so that external water can be prevented from entering the fish body 2 through the joint of the fish body shell 201 and the fish head main shell 101, that is, water does not enter the fish body 2, and the electronic device module 203 in the fish body 2 is prevented from being damaged; the steering engine counterweight mechanism 202 and the electronic device module 203 are both positioned in the fish body shell 201, that is, the fish body shell 201 can play a role in containing the steering engine counterweight mechanism 202 and the electronic device module 203; the steering engine counterweight mechanism 202 is used for changing the gravity center position of the bionic machine shark 1000 eating garbage so as to enable the bionic machine shark 1000 eating garbage to do pitching motion, thereby enabling the bionic machine shark 1000 eating garbage to have the function of realizing submergence or floating. As shown in fig. 1, the steering engine counterweight mechanism 202 may be located near the front end of the fish body 2.
The fishtail 3 comprises a fishtail shell 301 and a steering engine double-joint swing mechanism 302, the fishtail shell 301 is hermetically connected with the fishbody shell 201, for example, the fishtail shell 301 can be bonded by glue, so that external water can be prevented from entering the fishtail 3 through the joint of the fishbody shell 201 and the fishtail shell 301; the steering engine double-joint swing mechanism 302 is positioned in the fishtail shell 301 and used for driving the fishtail 3 to swing left and right so as to enable the bionic machine shark 1000 eating garbage to advance and turn. When the fish tail 3 swings symmetrically back and forth left and right, the bionic machine shark 1000 eating garbage can move forward and move straight, and when the fish tail 3 swings asymmetrically back and forth left and right, the bionic machine shark 1000 eating garbage can turn. That is, the fishtail 3 is a portion where main forward and turning driving forces are obtained. The fish tail 3 enables the bionic machine shark 1000 eating garbage to have the swimming characteristic closer to real shark through the steering engine double-joint swinging mechanism 302.
The electronic device module 203 is used for respectively controlling the operation of the steering engine gear transmission mechanism 103, the steering engine counterweight mechanism 202 and the steering engine double-joint swing mechanism 302 so as to control the functions of the bionic machinery shark 1000 eating garbage, such as swimming, floating and diving, opening and closing of a fish mouth and the like in water.
According to the bionic machinery shark 1000 eating garbage provided by the embodiment of the invention, the tail 3 can continuously swim and the gravity center of the shark can be adjusted to avoid sinking into the water bottom. When the garbage on the water surface needs to be eaten, the steering engine counterweight mechanism 202 in the fish body 2 is utilized to enable the fish mouth to be close to the water surface, the fish mouth is enabled to be opened through the steering engine gear transmission mechanism 103, the fish tail 3 is enabled to swing back and forth left and right through the steering engine double-joint swing mechanism 302, the bionic machine shark 1000 eating the garbage can swim to the position of the garbage, and after the garbage enters the fish mouth, the fish mouth is enabled to be closed through the steering engine gear transmission mechanism 103. Therefore, the bionic machine shark 1000 for eating garbage has the functions of swimming, floating, submerging, opening and closing a fish mouth and the like, and can simply realize the function of cleaning garbage on the water surface.
As shown in fig. 1 and 2, according to an embodiment of the present invention, the steering gear transmission mechanism 103 includes a first steering gear 1031 and a gear transmission mechanism, the first steering gear 1031 is connected to the gear transmission mechanism, and the gear transmission mechanism is connected to the chin housing 102; first steering wheel 1031 drives gear drive mechanism, and gear drive mechanism drives chin casing 102 and rotates for fish head main casing 101 to realize opening and closing of fish mouth. That is to say, in the steering gear transmission mechanism 103, the first steering gear 1031 provides a rotational driving force, and the gear transmission mechanism transmits the power to the chin housing 102, so that the chin housing 102 can rotate relative to the fish head main housing 101, and the fish mouth can be opened and closed.
Optionally, the first steering gear 1031 is fixed to the first steering gear frame 1032, and the first steering gear frame 1032 is fixed to the fish head main housing 101.
According to a further embodiment of the present invention, the gear transmission mechanism includes a first gear 1033, a second gear 1034, a rotation shaft 1035, and a connection arm 1036; a first steering engine 1031 is connected with the first gear 1033 and used for driving the first gear 1033 to rotate, the first gear 1033 is meshed with the second gear 1034, the second gear 1034 is fixed on a rotating shaft 1035, two ends of the rotating shaft 1035 are rotatably supported on the left side wall and the right side wall of the fish head main shell 101, the rotating shaft 1035 is fixed with one end of a connecting arm 1036, and the other end of the connecting arm 1036 is fixed with the chin shell 102; when the first steering engine 1031 drives the first gear 1033 to rotate, the first gear 1033 drives the second gear 1034 to rotate, so as to drive the rotating shaft 1035, the connecting arm 1036 and the chin shell 102 to rotate. Therefore, the gear transmission mechanism is simple and reliable in structure.
According to a further embodiment of the invention, the first steering engine 1031 is a waterproof custom made steering engine for RDS 30. This is because first steering wheel 1031 can often soak in aqueous, in order to avoid water harm first steering wheel 1031, requires first steering wheel 1031 itself to have waterproof function, consequently, can first steering wheel 1031 can select the waterproof customization steering wheel of RDS 30.
According to one embodiment of the present invention, gills 1011 are provided on both left and right sides of the main housing 101 of the fish head. It can be understood that by arranging the gill 1011, water can flow out of the fish head 1 through the gap when the fish mouth is closed, thereby reducing backflow.
Alternatively, the number of gills 1011 on the left and right sides of the fish head main housing 101 may be selected according to actual requirements, and may be two or three, for example.
According to an embodiment of the present invention, the lower teeth 1021 are formed on the inner edge of the chin shell 102, so that it is ensured that the trash in the fish mouth does not fall out. Further, the inner edge of the main housing 101 of the fish head at the fish mouth may be provided with upper teeth 1012, which may ensure that the garbage in the fish mouth will not fall out.
According to an embodiment of the present invention, the fish head main housing 101 is provided with an infrared obstacle avoidance sensor (not shown in fig. 1 and fig. 2), and the infrared obstacle avoidance sensor can communicate with the electronic device module 203, so as to implement an obstacle avoidance function. Optionally, three infrared obstacle avoidance sensors are installed on the left and right sides and the top of the fish head main casing 101. Specifically, the left side, the right side and the top of the fish head main housing 101 are provided with sensor mounting holes 1013, and the three infrared obstacle avoidance sensors are respectively mounted in the corresponding sensor mounting holes 1013.
As shown in fig. 1, 3 and 4, according to an embodiment of the present invention, the steering engine counterweight mechanism 202 includes a second steering engine 2021 and a counterweight block 2022, the second steering engine 2021 may be fixed on the second steering engine 2023 by glue, and the second steering engine 2021 drives the counterweight block 2022 to rotate on a vertical plane (see a rotation arrow B in fig. 3), so as to change a position of a center of gravity of the bionic machine shark 1000 eating garbage. For example, when the bionic machine shark 1000 eating garbage flatly travels, the second steering engine 2021 drives the counterweight block 2022 to rotate, so that the counterweight block 2011 is in a middle position, and the middle position can be directly above the rotation center; when the bionic machine shark 1000 eating garbage dives (i.e. goes forward), the second steering engine 2021 drives the counterweight block 2022 to rotate, so that the counterweight block 2022 moves to the front edge position of the rotation center; when the bionic machine shark 1000 eating garbage floats upwards (travels upwards), the second steering engine 2021 drives the balancing weight 2022 to rotate, so that the balancing weight 2022 moves the rear position of the rotation center, the moment at the tail part of the balancing weight is increased, and the bionic machine shark floats upwards.
It should be noted that the second steering engine 2021 is a waterproof custom steering engine using RDS 30.
As shown in fig. 1 and 6, according to an embodiment of the present invention, the steering engine double-joint swing mechanism 302 includes a third steering engine 3021, a first swing joint 3022, a first pad 3023, a fourth steering engine 3024, a second swing joint 3025, and a second pad 3026, which are arranged in this order from front to back; a third steering engine 3021 is fixed on the fish body 2, for example, the rear end portion (as shown in fig. 3 and a in fig. 4 a) of the fish body 2, the third steering engine 3021 is connected to the front end of the first swing joint 3022 to drive the first swing joint 3022 to swing left and right, the rear end of the first swing joint 3022 is fixed to a first pad 3023, the first pad 3023 is fixed to the fishtail housing 301, the fourth steering engine 3024 is fixed to the first pad 3023, the fourth steering engine 3024 is connected to the front end of the second swing joint 3025 to drive the second swing joint 3025 to swing left and right, the rear end of the second swing joint 3025 is fixed to a second pad 3026, and the second pad 3026 is fixed to the fishtail housing 301. Therefore, the steering engine double-joint swing mechanism 302 enables the bionic machine shark 1000 eating garbage to be closer to the real shark when swimming, and meanwhile, the steering engine double-joint swing mechanism 302 can also realize a dynamic waterproof function.
Further, the steering engine double-joint swinging mechanism 302 further comprises a third steering engine rack 3027 and a fourth steering engine rack 3028, the third steering engine rack 3027 is fixed on the end part of the rear end of the fish body 2, and the third steering engine 3021 is fixed on the third steering engine rack 3027; a fourth steering engine rack 3028 is fixed to the first pad 3023, and a fourth steering engine 3024 is fixed to the fourth steering engine rack 3028. It can be understood that the third steering engine 3021 and the fourth steering engine 3024 can be conveniently and fixedly mounted by providing the third steering engine rack 3027 and the fourth steering engine rack 3028.
Note that RDS25 steering engine is used for the third steering engine 3027 and the fourth steering engine 3028.
According to a further embodiment of the present invention, the fishtail housing 301 comprises a front fishtail housing 3011 and a rear fishtail housing 3012, the front fishtail housing 3011 is sealingly connected to the fishbody housing 201, the rear fishtail housing 3012 is sealingly connected to the front fishtail housing 3011, a first gasket 3023 is fixed in the front fishtail housing 3011, and a second gasket 3026 is fixed in the rear fishtail housing 3012. That is, the fishtail shell 301 is divided into a front fishtail shell 3011 and a rear fishtail shell 3012 which are separately manufactured, so that each part of the steering engine double-joint swing mechanism 302 can be conveniently installed; the front fish tail casing 3011 is connected to the fish body casing 201 in a sealing manner, so that external water can be prevented from entering the fish tail 3.
As shown in fig. 1, 3 and 5, according to an embodiment of the present invention, the fish body 2 is provided with a dorsal fin 205; a bottleneck structure 206 is fixed on the back of the fish body shell 201, and the bottleneck structure 206 is used for extending the charging port of the electronic device module 203 outwards so that the charging port is connected with an external power line; a cap structure 207 is secured to dorsal fin 205 and is removably and sealingly attached to finish structure 206. It can be understood that the bottle mouth structure 206 and the bottle cap structure 207 can be matched to achieve better sealing, so as to prevent external water from entering the fish body 2, when the power supply in the electronic device module 203 needs to be charged, the bottle cap structure 207 is unscrewed, the dorsal fin 205 is taken away from the fish body shell 201, and the charging port is pulled out of the bottle mouth structure 206 and connected with an external power supply line, so that the power supply of the electronic device module 203 can be charged. That is, through the sealing engagement of the bottle mouth structure 206 and the bottle cap structure 207, both waterproofing and charging of the power supply of the electronic device module 203 can be achieved. Moreover, the bottle mouth structure 206 and the bottle cap structure 207 are arranged at the dorsal fin 205, so that the appearance of the bionic machine shark 1000 eating garbage is not affected.
Further, a bottleneck structure mounting hole is formed in the back of the fish body shell 201, and the bottleneck structure 206 is fixed in the bottleneck structure mounting hole in a bonding mode through glue; a bottle cap structure mounting hole is formed in the dorsal fin 205, and the bottle cap structure 207 is fixed in the bottle cap structure 207 mounting hole by gluing.
Note that the pectoral fins 204 of the fish body 2 are integrally formed with the body shell 201.
According to some embodiments of the invention, the fish head main shell 101, the chin shell 102, the fish body shell 201 and the fish tail shell 301 are respectively formed by 3D printing of photosensitive resin, and have the characteristics of high precision, high filling degree, firmness, temperature resistance and the like, and are waterproof and attractive.
According to the further implementation of the invention, the fishtail 3 is made of flexible photosensitive resin material, which can provide certain flexibility for the fishtail 3 and is beneficial to realizing the swinging of the fishtail 3 joint.
It should be noted that the wall thickness of the fish head main housing 101, the chin housing 102, the fish body housing 201 and the fish tail housing 301 are all 5mm to ensure that the fish wall has sufficient supporting strength to support the functional components in the garbage eating biomimetic robotic shark 1000.
As shown in fig. 7, according to some embodiments of the invention, the electronics module 203 includes a waterproof terminal box 2031, a chip 2032 (the chip 2032 may be an Arduino Uno chip), and a steering engine control board 2033, an IMU module 2034, a handle bluetooth module 2035, a power supply 2036, and a bread board 2037, which are located inside the waterproof terminal box 2031; the chip 2032 stores a steering engine program, the chip 2032 is connected with a steering engine control panel 2033 through serial port communication, the steering engine control panel 2033 respectively controls the operation of a first steering engine 1031, a second steering engine 2021, a third steering engine 3021 and a fourth steering engine 3024, the steering engine control panel 2033 and the chip 2032 are respectively connected with a bread board 2037, a power supply 2036 is connected to the chip 2032 through the bread board 2037, an IMU module 2034 is connected with the chip for acquiring pose information of a bionic machine shark 1000 eating garbage, a handle Bluetooth module 2035 is connected with the chip 2032 for receiving control instructions of a ps handle, and an infrared obstacle avoidance sensor is also connected with the chip 2032 and the bread board 2037 respectively.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (13)
1. A biomimetic robotic shark eating waste, having shark biomimetic properties, comprising:
the fish head comprises a fish head main shell, a chin shell, a steering engine gear transmission mechanism and a partition plate; the chin shell and the fish head main shell jointly form a fish mouth; the steering engine gear transmission mechanism is positioned in the fish head main shell and used for driving the chin shell to rotate relative to the fish head main shell so as to realize opening and closing of the fish mouth; the baffle is arranged at the rear end of the fish head main shell and is connected with the fish head main shell in a sealing way;
the fish body comprises a fish body shell, a steering engine counterweight mechanism and an electronic device module; the fish body shell is hermetically connected with the fish head main shell; the steering engine counterweight mechanism and the electronic device module are both positioned in the fish body shell; the steering engine counterweight mechanism is used for changing the gravity center position of the bionic machine shark eating garbage so as to enable the bionic machine shark eating garbage to do pitching motion;
the fishtail comprises a fishtail shell and a steering engine double-joint swinging mechanism, and the fishtail shell is hermetically connected with the fishbody shell; the steering engine double-joint swing mechanism is positioned in the fishtail shell and used for driving the fishtail to swing left and right so as to enable the bionic machine shark eating the garbage to advance and turn;
the electronic device module is used for respectively controlling the operation of the steering engine gear transmission mechanism, the steering engine counterweight mechanism and the double-joint swinging mechanism.
2. The bionic robot shark eating garbage according to claim 1, wherein the steering engine gear transmission mechanism comprises a first steering engine and a gear transmission mechanism, the first steering engine is connected with the gear transmission mechanism, and the gear transmission mechanism is connected with the chin shell; first steering wheel drive gear drive, gear drive drives the chin casing for the rotation of fish head main casing body is in order to realize opening and closing of fish mouth.
3. A garbage eating biomimetic robotic shark according to claim 2, wherein the gear drive mechanism comprises a first gear, a second gear, a shaft, and a connecting arm; the first steering gear is connected with the first gear and used for driving the first gear to rotate, the first gear is meshed with the second gear, the second gear is fixed on the rotating shaft, two ends of the rotating shaft are rotatably supported on the left side wall and the right side wall of the main fish head shell, the rotating shaft is fixed with one end of the connecting arm, and the other end of the connecting arm is fixed with the chin shell; when the first steering engine drives the first gear to rotate, the first gear drives the second gear to rotate, so that the rotating shaft, the connecting arm and the chin shell are driven to rotate.
4. A bionic robotic shark eating waste according to claim 2, wherein the first steering engine is a waterproof custom made steering engine for RDS 30.
5. A spammed biomimetic robotic shark of claim 1, wherein gills are provided on both left and right sides of the main housing of the fish head.
6. A garbage eating biomimetic robotic shark according to claim 1, wherein an inner edge of the chin shell is provided with lower teeth.
7. A bionic robotic shark eating waste according to claim 1, wherein the main housing of the fish head is provided with an infrared obstacle avoidance sensor.
8. The bionic robot shark eating garbage of claim 1, wherein the steering engine counterweight mechanism comprises a second steering engine and a counterweight block, and the second steering engine drives the counterweight block to rotate on a vertical plane so as to change the gravity center position of the bionic robot shark eating garbage.
9. The bionic robot shark eating garbage according to claim 8, wherein the steering engine double-joint swing mechanism comprises a third steering engine, a first swing joint, a first gasket, a fourth steering engine, a second swing joint and a second gasket which are arranged from front to back in sequence; the fish tail device is characterized in that a third steering engine is fixed on the fish body and connected with the front end of a first swing joint for driving the first swing joint to swing left and right, the rear end of the first swing joint is fixed on a first gasket, the first gasket is fixed with the fish tail shell, a fourth steering engine is fixed on the first gasket and connected with the front end of a second swing joint for driving the second swing joint to swing left and right, the rear end of the second swing joint is fixed on a second gasket, and the second gasket is fixed with the fish tail shell.
10. The garbage-eating biomimetic robotic shark of claim 9, wherein the fishtail housing comprises a front fishtail housing and a back fishtail housing, the front fishtail housing sealingly connected to the fishbody housing, the back fishtail housing sealingly connected to the front fishtail housing, the first gasket secured within the front fishtail housing, the second gasket secured within the back fishtail housing.
11. A spammed biomimetic robotic shark according to claim 1, wherein said fish body is provided with dorsal fins; a bottleneck structure is fixed on the back of the fish body shell and used for extending a charging port of the electronic device module outwards so as to be connected with an external power line; and a bottle cap structure is fixed on the dorsal fin, and the bottle cap is detachably connected to the bottle mouth structure in a sealing manner.
12. The garbage-eating biomimetic robotic shark of any of claims 1-11, wherein the fish head main housing, the chin housing, the fish body housing, and the fish tail housing are each 3D printed with photosensitive resin.
13. The garbage-eating biomimetic robotic shark of claim 12, wherein the material of the fish tail is a flexible photosensitive resin material.
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