CN113320664A - Underwater object taking monitoring bionic fish based on dual-control system - Google Patents
Underwater object taking monitoring bionic fish based on dual-control system Download PDFInfo
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- CN113320664A CN113320664A CN202110736363.1A CN202110736363A CN113320664A CN 113320664 A CN113320664 A CN 113320664A CN 202110736363 A CN202110736363 A CN 202110736363A CN 113320664 A CN113320664 A CN 113320664A
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- bionic fish
- bionic
- built
- fish
- fish head
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
Abstract
The invention discloses an underwater object taking monitoring bionic fish based on a dual-control system, which comprises a bionic fish head part, a bionic fish body part, a bionic fish tail part, a bionic fish pectoral fin part, a sinking and floating flow control assembly and a built-in swinging assembly, wherein the bionic fish head part is connected with the bionic fish body part through the built-in swinging assembly; one end of the bionic fish head part is connected with the bionic fish body part, one end of the bionic fish body part is connected with the bionic fish tail part, a containing cavity is arranged in the bionic fish head part, and a built-in swinging assembly is arranged in the containing cavity; the built-in swinging assembly provides frequency amplitude swinging for the bionic fish body component, a sinking and floating flow control assembly is further arranged in a containing cavity of the bionic fish head component, and the sinking and floating flow control assembly controls the weight of a main body of the bionic fish head component through water inflow and drainage work; the bilateral symmetry of bionical fish head part is provided with bionical fish pectoral fin part, just, still be provided with the balancing weight in the bionical fish tail part.
Description
Technical Field
The invention relates to the technical field of bionic fish equipment, in particular to an underwater object taking monitoring bionic fish based on a dual-control system.
Background
The research of fish bionics mainly focuses on the theoretical aspect, with the deepening of the research of the fish propulsion mechanism, the new development of the robot technology, bionics, electronic technology, material science and control technology, the novel underwater robot for simulating the swimming mechanism of fish, namely the bionic robot fish, receives wide attention at home and abroad, and the bionic fish is used for monitoring and recording the living environment of the underwater fish school; in the prior art, the structure of the bionic robot fish is mainly that the bionic robot fish with two joints performs underwater diving through the rotation drive of a spiral tail wing, but in a deep diving environment, a trunk body of the bionic fish is easy to shake under the boosting action of water flow to cause integral turning, and cannot be matched with the underwater environment; the motion bionic effect of the spiral tail wing is relatively general, external interference is easily generated on fish schools, and the static monitoring effect is difficult to achieve; therefore, the technical personnel in the field provide a bionic fish for underwater fetching monitoring based on a dual control system to solve the problems in the background technology.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: an underwater object taking monitoring bionic fish based on a dual-control system comprises a bionic fish head part, a bionic fish body part, a bionic fish tail part, a bionic fish pectoral fin part, a sinking and floating flow control assembly and a built-in swinging assembly; one end of the bionic fish head part is connected with the bionic fish body part, one end of the bionic fish body part is connected with the bionic fish tail part, a bionic fish main body is formed, a containing cavity is arranged in the bionic fish head part, and a built-in swinging assembly is arranged in the containing cavity;
one end of the built-in swinging assembly extends out of the bionic fish head part and is connected with the bionic fish body part, and the built-in swinging assembly provides frequency amplitude swinging for the bionic fish body part, so that the bionic fish body can simulate fish swimming to move under water;
a sinking-floating flow control assembly is further arranged in the accommodating cavity of the bionic fish head component, and the sinking-floating flow control assembly controls the weight of the main body of the bionic fish head component through water inflow and drainage work;
bionic fish pectoral fin components are symmetrically arranged on two sides of the bionic fish head component and are used for assisting turning swimming;
and a balancing weight is also arranged in the bionic fish tail part.
Furthermore, the built-in swinging assembly comprises an installation support, a micro motor, a rotating disc piece, an adjusting telescopic rod, a connecting side rod and a hinge shaft seat; the bionic fish head component is characterized in that an installation support is fixed in the bionic fish head component, rotary disc pieces are symmetrically arranged on the installation support in a left-right mode and can rotate relatively, a micro motor is installed on the installation support, and the output end of the micro motor is connected with each rotary disc piece for transmission through the gear meshing effect;
and a hinge seat is arranged in the middle of one side of the mounting support and is rotationally connected with the bionic fish body part through the hinge seat,
an adjusting telescopic rod is fixed on the rotary disc piece, one end of the adjusting telescopic rod is hinged with a connecting side rod, and one end of the connecting side rod is hinged with the bionic fish body part;
and a telescopic guide sleeve is also connected between the bionic fish head part and the bionic fish body part.
Furthermore, the cross section of the adjusting telescopic rod is of a two-section type telescopic structure.
Furthermore, the bionic fish body part comprises an external body part, a universal rotating shaft, an internal rotating body, a support link rod and an elastic support part; the outer body parts are coaxially arranged in rows, universal rotating shafts are fixed at two inner sides of the outer body parts, and the adjacent outer body parts are connected and driven through the switching action of the universal rotating shafts and the inner switching body;
and a plurality of support link rods are connected in the outer body part in a staggered manner, and the hinged parts of the support link rods are connected with the inner wall of the outer body part through elastic supporting parts.
Furthermore, an inner guide rod is coaxially arranged in the elastic supporting piece in a relatively sliding manner, a supporting spring is connected between the inner guide rod and the elastic supporting piece, mounting pad pieces are symmetrically fixed at one ends of the inner guide rod, and one ends of the mounting pad pieces are connected and fixed with the corresponding supporting link rod.
Furthermore, the sinking-floating flow control assembly comprises a built-in shell, a sealing cavity part, a connecting piston, an external branch pipe, a bearing disc seat and an electric telescopic rod; the bionic fish head comprises a bionic fish head part, a plurality of sealing cavity pieces and a connecting piston, wherein a built-in shell is fixed in the middle of an accommodating cavity of the bionic fish head part, a plurality of sealing cavity pieces are symmetrically arranged on the inner circumference of the built-in shell in an array mode, and the connecting piston is coaxially arranged in the sealing cavity pieces in a relatively sliding mode;
a plurality of electric telescopic rods are symmetrically arranged in the built-in shell, the output ends of the electric telescopic rods are connected with the bearing disc seat, and one end of the connecting piston is hinged with the bearing disc seat through a main shaft piece;
and one end of each sealing cavity piece, which is far away from the bearing disc seat, is connected with an external branch pipe, and one end of each external branch pipe extends out of the bionic fish head part.
Furthermore, a driving motor is fixed in the bionic fish head part, a telescopic guide rod is coaxially fixed at the output end of the driving motor, a top seat is fixed on the telescopic guide rod,
a switching ball body is embedded into the end face of one side of the top seat in a relatively rolling manner, and a sliding guide rail is arranged on the bearing disc seat;
and a plurality of connecting springs are connected between the electric telescopic rod and the bearing disc piece.
Compared with the prior art, the invention has the following beneficial effects:
in the invention, a bionic fish body main body is formed by a bionic fish head part, a bionic fish body part and a bionic fish tail part which are connected, a sinking and floating flow control assembly and a balancing weight are respectively and correspondingly arranged in the bionic fish head part and the bionic fish tail part, and the balance of the bionic fish body main body is controlled by the sinking and floating flow control assembly and the balancing weight, so that the bionic fish can be kept stable in general diving; the sinking and floating flow control assembly can adjust the gravity of the bionic fish head part by controlling the water inflow and outflow amount, so that the direction of floating or sinking of the bionic fish is adjusted and controlled; and moreover, the bionic fish head device is also provided with a built-in swinging assembly, the joint of the bionic fish body part and the bionic fish head part is driven by the built-in swinging assembly to realize the integral swinging of the bionic fish body, and meanwhile, the swinging amplitude can be controlled by adjusting the corresponding telescopic adjustment function of the telescopic rod, so that the environmental adaptability of the bionic fish head device is improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural view of the present invention;
FIG. 3 is a schematic diagram of the construction of the internal oscillating assembly of the present invention;
FIG. 4 is a partial schematic view of a biomimetic fish body part according to the present invention;
FIG. 5 is a schematic view of the elastic support of the present invention;
FIG. 6 is a schematic structural diagram of a sink-float flow control assembly according to the present invention;
in the figure: 1 bionic fish head part, 2 bionic fish body part, 201 external body part, 202 universal rotating shaft, 203 elastic supporting part, 204 elastic supporting part, 205 supporting spring, 206 mounting pad part, 3 bionic fish tail part, 4 bionic fish pectoral fin part, 5 sinking and floating flow control component, 501 built-in machine shell, 502 sealed cavity part, 503 external connecting branch pipe, 504 connecting piston, 505 bearing disc seat, 506 electric telescopic rod, 507 top seat, 508 telescopic guide rod, 6 built-in swinging component, 601 mounting seat, 602 micro motor, 603 rotating disc part, 604 adjusting telescopic rod, 605 hinge shaft seat, 606 connecting side rod and 607 telescopic guide sleeve.
Detailed Description
Referring to fig. 1 and 2, in an embodiment of the present invention, an underwater object-taking monitoring bionic fish based on a dual-control system includes a bionic fish head part 1, a bionic fish body part 2, a bionic fish tail part 3, a bionic fish pectoral fin part 4, a sinking-floating flow control assembly 5, and a built-in swinging assembly 6; one end of the bionic fish head part 1 is connected with the bionic fish body part 2, one end of the bionic fish body part 2 is connected with the bionic fish tail part 3 to form a bionic fish main body, a containing cavity is arranged in the bionic fish head part 1, and a built-in swinging assembly 6 is arranged in the containing cavity;
one end of the built-in swinging component 6 extends out of the bionic fish head component 1 and is connected with the bionic fish body component 2, and the built-in swinging component 6 provides frequency amplitude swinging for the bionic fish body component, so that the bionic fish body can simulate fish swimming to move under water;
a sinking and floating flow control assembly 5 is further arranged in the accommodating cavity of the bionic fish head component 1, and the sinking and floating flow control assembly 5 controls the weight of the main body of the bionic fish head component 1 through water inflow and drainage work; the double-control driving of the bionic fish is realized by the combined work of the sinking and floating flow control assembly and the built-in swinging assembly;
bionic fish pectoral fin components 4 are symmetrically arranged on two sides of the bionic fish head component 1, and the bionic fish pectoral fin components 4 are used for assisting turning swimming;
and, still be provided with the balancing weight (not shown in the figure) in the bionical fish tail part 3, this well balancing weight is installed in the middle part of bionical fish tail part below to the cooperation is floated accuse and is flowed the subassembly and make the bionical fish main part reach the equilibrium stability, can cooperate the swing motion of built-in swing subassembly to bionical fish body part simultaneously, thereby improves bionical fish effect of swimming.
Referring to fig. 3, in the present embodiment, the built-in swinging assembly 6 includes a mounting base 601, a micro motor 602, a rotating disc 603, an adjusting telescopic rod 604, a connecting side rod 606, and a hinge shaft seat 605; an installation support 601 is fixed in the bionic fish head part 1, rotary disc parts 603 are symmetrically arranged on the installation support 601 in a left-right mode and can rotate relatively, a micro motor 602 is installed on the installation support 601, and the output end of the micro motor 602 is connected with each rotary disc part 603 for transmission through a gear meshing effect;
moreover, a hinge seat 605 is arranged in the middle of one side of the mounting support 601, and is rotatably connected with the bionic fish body part 2 through the hinge seat 605,
an adjusting telescopic rod 604 is fixed on the rotating disc 603, one end of the adjusting telescopic rod 604 is hinged with a connecting side rod 606, and one end of the connecting side rod 606 is hinged with the bionic fish body part 2; it is noted that the connecting side rods positioned at the left side and the right side are in a state of 'one high and one low' under the rotation driving action of the rotating disc piece, so that the bionic fish body part swings;
and a telescopic guide sleeve 607 is also connected between the bionic fish head part 1 and the bionic fish body part 2, so that the bionic fish head has a high sealing and waterproof effect.
As a preferred embodiment, the cross section of the adjusting telescopic rod 604 is a two-section type telescopic structure, and the single swing amplitude of the bionic fish body component is controlled by adjusting the telescopic adjustment function of the telescopic rod, so as to adapt to the underwater environment.
Referring to fig. 4, in the present embodiment, the bionic fish body part 2 includes an outer body 201, a universal shaft 202, an inner joint, a support link 204, and an elastic support 203; a plurality of external body parts 201 are coaxially arranged, universal rotating shafts 202 are fixed at two inner sides of each external body part 201, and the adjacent external body parts 201 are connected and driven with the switching function of the internal switching body through the universal rotating shafts 202;
moreover, a plurality of support links 204 are connected in the external body member 201 in a staggered manner, and the hinged parts of the support links 204 are connected with the inner wall of the external body member 201 through elastic supporting members 203; it should be noted that the material of this outside trunk spare is the plastic material that can elastically deform, improves bionical fish swing effect.
Referring to fig. 5, in the embodiment, the elastic support member 203 is coaxially provided with an inner guide rod capable of sliding relatively, a support spring 205 is connected between the inner guide rod and the elastic support member 204, one end of the inner guide rod is symmetrically fixed with an installation pad 206, and one end of the installation pad 206 is connected and fixed with the support link 204.
Referring to fig. 6, in the present embodiment, the sinking-floating flow control assembly 5 includes an internal housing 501, a sealing cavity 502, a connecting piston 504, an external branch pipe 503, a bearing tray 505, and an electric telescopic rod 506; a built-in shell 501 is fixed in the middle of a containing cavity of the bionic fish head component 1, a plurality of sealing cavity pieces 502 are symmetrically arranged on the inner circumference of the built-in shell 501 in an array mode, and connecting pistons 504 are coaxially arranged in the sealing cavity pieces 502 in a relatively sliding mode;
a plurality of electric telescopic rods 506 are symmetrically arranged in the built-in machine shell 501, the output ends of the electric telescopic rods 506 are connected with the bearing disk seat 505, and one end of the connecting piston 504 is hinged with the bearing disk seat 505 through a main shaft piece;
as the best embodiment of the present invention, four external branch pipes 503 are connected to one end of each of the sealed cavity members 502 away from the bearing tray seat 505, and one end of each of the external branch pipes 503 extends out of the bionic fish head component 1, and the connecting pistons are controlled to perform pumping and draining operations through the telescopic adjustment of the electric telescopic rods, so as to adjust the water storage capacity in the sealed cavity members, change the main weight of the bionic fish head component, and realize the sinking and floating direction control of the end portion of the fish head.
In a preferred embodiment, a driving motor (not shown) is fixed in the bionic fish head component 1, a telescopic guide rod 508 is coaxially fixed at the output end of the driving motor, a top seat 507 is fixed on the telescopic guide rod 508,
a switching ball body is embedded into the end face of one side of the top seat 507 in a relatively rolling manner, and a sliding guide rail is arranged on the bearing disc seat;
and a plurality of connecting springs are connected between the electric telescopic rod 506 and the bearing disc 505, the jacking seat can locally jack and deflect the bearing disc under the telescopic action of the telescopic guide rod so as to control one of the sealed cavity pieces to perform drainage work, and the other sealed cavity pieces perform water inlet, so that the local deviation adjustment of the bionic fish head part is realized, and the accurate control effect of the moving direction is achieved.
Specifically, in the bionical fish drive based on the dual drive, bionical fish body part carries out the range swing by the built-in swing subassembly that sets up in bionical fish head part for the bionical fish main part reaches high-efficient imitation effect to fish swimming motion, and adapt to the environment under water relatively, and here, can change the single swing range of bionical fish body part through the flexible adjustment effect of the correspondence of adjusting the telescopic link, thereby guarantee its normal motion under the adverse circumstances of torrent, and simultaneously, can drive the main part weight of control bionical fish head part by the heavy and floating accuse stream subassembly, thereby realize the adjustment of the direction of swimming of bionical fish.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. An underwater object taking and monitoring bionic fish based on a dual-control system comprises a bionic fish head part (1), a bionic fish body part (2), a bionic fish tail part (3), a bionic fish pectoral fin part (4), a sinking and floating flow control assembly (5) and a built-in swinging assembly (6); wherein, the one end of bionical fish head part (1) with bionical fish body part (2) are connected, the one end of bionical fish body part (2) with bionical fish tail part (3) are connected to form bionical fish main part, its characterized in that: an accommodating cavity is arranged in the bionic fish head part (1), and a built-in swinging assembly (6) is arranged in the accommodating cavity;
one end of the built-in swinging component (6) extends out of the bionic fish head component (1) and is connected with the bionic fish body component (2), and the built-in swinging component (6) provides frequency amplitude swinging for the bionic fish body component, so that the bionic fish body can simulate fish swimming on the water bottom for driving and moving;
a sinking-floating flow control assembly (5) is further arranged in the accommodating cavity of the bionic fish head component (1), and the sinking-floating flow control assembly (5) controls the weight of the main body of the bionic fish head component (1) through water inflow and drainage work;
bionic fish pectoral fin components (4) are symmetrically arranged on two sides of the bionic fish head component (1), and the bionic fish pectoral fin components (4) are used for assisting turning and swimming;
and a balancing weight is also arranged in the bionic fish tail part (3).
2. The double-control-system-based underwater object taking monitoring bionic fish as claimed in claim 1, wherein: the built-in swinging assembly (6) comprises a mounting support (601), a micro motor (602), a rotating disc piece (603), an adjusting telescopic rod (604), a connecting side rod (606) and a hinge shaft seat (605); the bionic fish head component comprises a bionic fish head component (1), wherein an installation support (601) is fixed in the bionic fish head component (1), rotary disc pieces (603) are symmetrically arranged on the installation support (601) in the left and right directions and can rotate relatively, a micro motor (602) is installed on the installation support (601), and the output end of the micro motor (602) is connected with each rotary disc piece (603) for transmission through a gear meshing effect;
moreover, a hinge shaft seat (605) is arranged in the middle of one side of the mounting support (601), and is rotationally connected with the bionic fish body component (2) through the hinge shaft seat (605),
an adjusting telescopic rod (604) is fixed on the rotary disc piece (603), one end of the adjusting telescopic rod (604) is hinged with a connecting side rod (606), and one end of the connecting side rod (606) is hinged with the bionic fish body part (2);
and a telescopic guide sleeve (607) is also connected between the bionic fish head part (1) and the bionic fish body part (2).
3. The double-control-system-based underwater fetching monitoring bionic fish as claimed in claim 2, characterized in that: the cross section of the adjusting telescopic rod (604) is of a two-section type telescopic structure.
4. The double-control-system-based underwater object taking monitoring bionic fish as claimed in claim 1, wherein: the bionic fish body part (2) comprises an external body part (201), a universal rotating shaft (202), an internal transfer body, a support link rod (204) and an elastic support part (203); the outer body parts (201) are coaxially arranged in rows, universal rotating shafts (202) are fixed at two inner sides of the outer body parts (201), and the adjacent outer body parts (201) are connected and driven with the switching function of the inner switching body through the universal rotating shafts (202);
and a plurality of support links (204) are connected in the outer body member (201) in a staggered manner, and the hinged parts of the support links (204) are connected with the inner wall of the outer body member (201) through elastic supporting pieces (203).
5. The double-control-system-based underwater object taking monitoring bionic fish as claimed in claim 3, wherein: the elastic support piece (203) is internally and coaxially provided with an inner guide rod capable of sliding relatively, a support spring (205) is connected between the inner guide rod and the elastic support piece (204), one end of the inner guide rod is symmetrically fixed with an installation pad piece (206), and one end of the installation pad piece (206) is connected and fixed with the support link rod (204).
6. The double-control-system-based underwater object taking monitoring bionic fish as claimed in claim 1, wherein: the sinking-floating flow control assembly (5) comprises a built-in shell (501), a sealed cavity piece (502), a connecting piston (504), an external connecting branch pipe (503), a bearing disc seat (505) and an electric telescopic rod (506); wherein, a built-in casing (501) is fixed in the middle of the accommodating cavity of the bionic fish head part (1), a plurality of sealing cavity parts (502) are symmetrically arranged on the inner circumference array of the built-in casing (501), and connecting pistons (504) are coaxially arranged in the sealing cavity parts (502) in a relatively sliding manner;
a plurality of electric telescopic rods (506) are symmetrically arranged in the built-in machine shell (501), the output ends of the electric telescopic rods (506) are connected with the bearing disc seat (505), and one end of the connecting piston (504) is hinged with the bearing disc seat (505) through a main shaft piece;
one end of each sealing cavity piece (502) far away from the bearing disc seat (505) is connected with an external branch pipe (503), and one end of each external branch pipe (503) extends out of the bionic fish head component (1).
7. The double-control-system-based underwater fetching monitoring bionic fish as claimed in claim 6, wherein: a driving motor is fixed in the bionic fish head part (1), a telescopic guide rod (508) is coaxially fixed at the output end of the driving motor, a top seat (507) is fixed on the telescopic guide rod (508),
a switching ball body is embedded into the end face of one side of the top seat (507) in a relatively rolling manner, and a sliding guide rail is arranged on the bearing disc seat;
and a plurality of connecting springs are connected between the electric telescopic rod (506) and the bearing disc piece (505).
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| CN202110736363.1A CN113320664B (en) | 2021-06-30 | 2021-06-30 | Underwater object taking monitoring bionic fish based on double control systems |
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| CN202110736363.1A CN113320664B (en) | 2021-06-30 | 2021-06-30 | Underwater object taking monitoring bionic fish based on double control systems |
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| CN113320664B (en) | 2023-06-06 |
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