CN113320664B - Underwater object taking monitoring bionic fish based on double control systems - Google Patents
Underwater object taking monitoring bionic fish based on double control systems Download PDFInfo
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- CN113320664B CN113320664B CN202110736363.1A CN202110736363A CN113320664B CN 113320664 B CN113320664 B CN 113320664B CN 202110736363 A CN202110736363 A CN 202110736363A CN 113320664 B CN113320664 B CN 113320664B
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- bionic fish
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses an underwater object taking monitoring bionic fish based on a double 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 sinking and floating flow control assembly is arranged on the body part of the bionic fish; 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 formed in the bionic fish head part, and a built-in swinging assembly is arranged in the containing cavity; the bionic fish head part is connected with the bionic fish body part, the built-in swinging component provides frequency amplitude swinging for the bionic fish body part, a sinking and floating flow control component is further arranged in the accommodating cavity of the bionic fish head part, and the sinking and floating flow control component controls the main body weight of the bionic fish head part through water inflow and drainage work; the bionic fish head is characterized in that the two sides of the bionic fish head are symmetrically provided with a bionic fish pectoral fin part, and a balancing weight is further arranged in the bionic 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 double control system.
Background
The research of fish bionics is mainly focused on theory, with the deep research of fish propulsion mechanism, new developments of robot technology, bionics, electronic technology, material science and control technology, a novel underwater robot for simulating fish swimming mechanism, namely a bionic robot fish, receives extensive attention at home and abroad, and the living environment of underwater shoal is monitored and recorded through the bionic fish; in the prior art, the bionic robot fish with two joints is driven by the rotation of the spiral tail fin to submerge underwater, but in a deep diving environment, the body of the bionic robot fish body is easy to shake due to the boosting effect of water flow to cause the whole body to turn over, and cannot be matched with the underwater environment; the motion bionic effect of the spiral tail fin is relatively general, external interference is easy to occur to the fish shoal, and the static monitoring effect is difficult to achieve; therefore, a person skilled in the art provides an underwater object taking monitoring bionic fish based on a dual control system to solve the problems in the background art.
Disclosure of Invention
In order to achieve the above purpose, the present invention provides the following technical solutions: an underwater object taking monitoring bionic fish based on a double 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 and forms a bionic fish main body, a containing cavity is formed 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 component extends out of the bionic fish head part and is connected with the bionic fish body part, and the built-in swinging component provides frequency amplitude swinging for the bionic fish body part, so that the bionic fish body can simulate fish swimming at the water bottom to drive and move;
the sinking and floating flow control assembly is also arranged in the accommodating cavity of the bionic fish head part and controls the weight of the main body of the bionic fish head part through water inflow and drainage work;
bionic fish pectoral fin parts are symmetrically arranged on two sides of the bionic fish head part and are used for assisting turning swimming;
and a balancing weight is also arranged in the bionic fish tail part.
Further, the built-in swinging assembly comprises a mounting support, a miniature motor, a rotating disc piece, an adjusting telescopic rod, a connecting side rod and a hinge seat; the bionic fish head comprises a bionic fish head part, wherein a mounting support is fixed in the bionic fish head part, rotary disc parts are symmetrically arranged on the mounting support in a left-right direction, a micro motor is arranged on the mounting support, and the output end of the micro motor is connected with and driven by the rotary disc parts through a 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 member, 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;
a telescopic guide sleeve is further connected between the bionic fish head part and the bionic fish body part.
Further, the cross section of the adjusting telescopic rod is of a two-section telescopic structure.
Further, the bionic fish body part comprises an outer body part, a universal rotating shaft, an inner joint body, a support link rod and an elastic support part; the outer body parts are coaxially arranged in a plurality, universal rotating shafts are fixed at two inner side positions of the outer body parts, and adjacent outer body parts are connected and driven through the switching action of the universal rotating shafts and the inner connector;
and a plurality of support links are alternately connected in the outer body, and the hinged positions of the support links are connected with the inner wall of the outer body through elastic support pieces.
Further, 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, one end of the inner guide rod is symmetrically fixed with a mounting cushion piece, and one end of the mounting cushion piece is connected and fixed with a corresponding supporting link rod.
Further, the sinking and floating flow control assembly comprises a built-in shell, a sealing cavity piece, a connecting piston, an external connection branch pipe, a bearing disc seat and an electric telescopic rod; the middle part of the accommodating cavity of the bionic fish head part is fixedly provided with a built-in shell, a plurality of sealing cavity parts are symmetrically arranged on the inner circumference of the built-in shell in an array manner, and connecting pistons are coaxially arranged in the sealing cavity parts in a relatively sliding manner;
the built-in shell is internally symmetrically provided with a plurality of electric telescopic rods, 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 connection branch pipe, and one end of the external connection branch pipe extends out of the bionic fish head part.
Further, 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,
an adapter sphere is embedded in 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 receiving disc piece.
Compared with the prior art, the invention has the following beneficial effects:
in the invention, the bionic fish head part, the bionic fish body part and the bionic fish tail part are connected to form the bionic fish trunk main body, the sinking and floating flow control assembly and the 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 trunk main body is controlled through the sinking and floating flow control assembly and the balancing weight, so that the bionic fish can keep 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 inlet and outlet amount, thereby realizing the directional regulation and control of the floating or sedimentation of the bionic fish; and the 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 the corresponding telescopic adjusting action of the adjusting telescopic rod, so that the environmental adaptability of the device is improved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a second embodiment of the present invention;
FIG. 3 is a schematic diagram of a built-in swing assembly according to the present invention;
FIG. 4 is a partial schematic view of a bionic fish body member of the present invention;
FIG. 5 is a schematic view of the structure of the elastic support member of the present invention;
FIG. 6 is a schematic diagram of a sink-float flow control assembly according to the present invention;
in the figure: the bionic fish head comprises a bionic fish head part 1, a bionic fish body part 2, an external body part 201, a universal rotating shaft 202, an elastic supporting part 203, an elastic supporting part 204, a supporting spring 205, a 206 mounting cushion part, a bionic fish tail part 3, a bionic fish pectoral fin part 4, a 5-sink-float flow control assembly, a 501 built-in shell, a 502 sealing cavity part, a 503 external connection branch pipe, a 504 connecting piston, a 505 bearing disc seat, a 506 electric telescopic rod, a 507 top seat, a 508 telescopic guide rod, a 6 built-in swinging assembly, a 601 mounting support, a 602 micro motor, a 603 rotating disc part, a 604 adjusting telescopic rod, a 605 hinge seat, a 606 connecting side rod and a 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 and floating flow control assembly 5 and a built-in swing 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, a bionic fish main body is formed, a containing cavity is formed 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 part 1 and is connected with the bionic fish body part 2, and the built-in swinging component 6 provides frequency amplitude swinging for the bionic fish body part, so that the bionic fish body can simulate fish swimming at the water bottom to drive and move;
the sinking and floating flow control assembly 5 is further arranged in the accommodating cavity of the bionic fish head part 1, and the sinking and floating flow control assembly 5 controls the weight of the main body of the bionic fish head part 1 through water inflow and drainage; 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;
the bionic fish pectoral fin parts 4 are symmetrically arranged on two sides of the bionic fish head part 1, and the bionic fish pectoral fin parts 4 are used for assisting turning and swimming;
and, still be provided with the balancing weight (not shown in the figure) in the bionical fish tail part 3, wherein the balancing weight is installed in bionical fish tail part's middle part and is inclined downward to cooperation sink and float accuse flow subassembly makes bionical fish main part reach balanced stability, can cooperate built-in swing subassembly to bionical fish body part's swing motion simultaneously, thereby improves bionical fish and moves about the effect.
Referring to fig. 3, in this embodiment, the built-in swing assembly 6 includes a mounting bracket 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; the bionic fish head part 1 is internally fixed with a mounting support 601, rotary disc parts 603 which can rotate relative to the mounting support 601 are symmetrically arranged on the left side and the right side, a micro motor 602 is arranged on the mounting 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;
and the middle part of one side of the mounting support 601 is provided with a hinge seat 605, and the hinge seat 605 is rotationally connected with the bionic fish body part 2,
an adjusting telescopic rod 604 is fixed on the rotating disc 603, a connecting side rod 606 is hinged at one end of the adjusting telescopic rod 604, and one end of the connecting side rod 606 is hinged with the bionic fish body part 2; it should be noted that the connecting side bars positioned at the left and right sides are in a high-low state under the rotary driving action of the rotary disc, so that the swinging of the bionic fish body part is realized;
the 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 has higher sealing and waterproof effects.
As a preferred embodiment, the cross section of the adjusting telescopic rod 604 is in a two-section telescopic structure, and the single swing amplitude of the bionic fish body part is controlled by adjusting the telescopic adjusting action of the adjusting telescopic rod, so that the bionic fish body part is suitable for 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 body, a support link 204, and an elastic support 203; wherein, the outer body 201 is coaxially arranged with a plurality of outer bodies, universal rotating shafts 202 are fixed at two inner sides of the outer body 201, and adjacent outer bodies 201 are connected and driven by the switching action of the universal rotating shafts 202 and the inner switching body;
a plurality of support links 204 are alternately connected in the outer body 201, and the hinge joint of the support links 204 is connected with the inner wall of the outer body 201 through an elastic support 203; it should be noted that the material of this outside body is the plastic material that can elastically deform, improves bionic fish swing effect.
Referring to fig. 5, in this embodiment, an inner guide rod is coaxially disposed in the elastic supporting member 203 and capable of sliding relatively, a supporting spring 205 is connected between the inner guide rod and the elastic supporting member 204, one end of the inner guide rod is symmetrically fixed with a mounting pad 206, and one end of the mounting pad 206 is connected and fixed with the corresponding supporting link 204.
Referring to fig. 6, in this embodiment, the sinking and floating flow control assembly 5 includes a built-in housing 501, a sealing cavity 502, a connecting piston 504, an external connection branch 503, a bearing disc 505, and an electric telescopic rod 506; the middle part of the accommodating cavity of the bionic fish head part 1 is fixedly provided with a built-in shell 501, a plurality of sealing cavity pieces 502 are symmetrically arranged on the inner circumference of the built-in shell 501 in an array manner, and connecting pistons 504 are coaxially arranged in the sealing cavity pieces 502 in a relatively sliding manner;
a plurality of electric telescopic rods 506 are symmetrically arranged in the built-in 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;
the end of each sealing cavity piece 502 far away from the bearing disc seat 505 is connected with an external connection branch pipe 503, and one end of the external connection branch pipe 503 extends out of the bionic fish head part 1.
As a preferred embodiment, a driving motor (not shown in the figure) 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,
an adapter ball is embedded in the end surface of one side of the top seat 507, which can roll relatively, and a sliding guide rail is arranged on the bearing disc seat;
and, electric telescopic rod 506 with it is equipped with a plurality of coupling springs to accept between the disk 505, make the top position seat carry out local roof pressure deflection to accepting the disk by the flexible effect of flexible guide arm to control one of them sealed chamber piece and carry out drainage work, other sealed chamber pieces are intake, thereby realize the local offset of bionical fish head piece, in order to reach the accurate control effect of swimming direction.
Specifically, in the bionic fish drive based on double drive, the bionic fish body part swings in amplitude by the built-in swinging component arranged in the bionic fish head part, so that the bionic fish body can efficiently simulate the fish swimming motion and relatively adapt to the underwater environment, the single swinging amplitude of the bionic fish body part can be changed by adjusting the corresponding telescopic adjustment effect of the telescopic rod, the normal motion of the bionic fish body part in the severe rapid-flow environment is ensured, and meanwhile, the body weight of the bionic fish head part can be driven and controlled by the sinking and floating flow control component, so that the adjustment of the swimming direction of the bionic fish is realized.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, 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 may be embodied in 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 disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (1)
1. An underwater object taking monitoring bionic fish based on a double 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 spare (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: a containing cavity is formed 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 part (1) and is connected with the bionic fish body part (2), and the built-in swinging component (6) provides frequency amplitude swinging for the bionic fish body part so that the bionic fish body can simulate fish swimming at the water bottom to drive and move;
the bionic fish head part (1) is characterized in that a sinking and floating flow control assembly (5) is further arranged in the accommodating cavity of the bionic fish head part (1), and the sinking and floating flow control assembly (5) controls the weight of the main body of the bionic fish head part (1) through water inflow and drainage;
the bionic fish pectoral fin comprises a bionic fish head part (1), wherein bionic fish pectoral fin parts (4) are symmetrically arranged on two sides of the bionic fish head part (1), and the bionic fish pectoral fin parts (4) are used for assisting turning swimming;
and a balancing weight is also arranged in the bionic fish tail part (3);
the built-in swing assembly (6) comprises a mounting support (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); the bionic fish head part (1) is internally fixed with a mounting support (601), rotary disc parts (603) are symmetrically arranged on the mounting support (601) in a left-right mode and capable of rotating relatively, a micro motor (602) is arranged on the mounting support (601), and the output end of the micro motor (602) is connected with and driven by each rotary disc part (603) through a gear meshing effect;
and a hinge seat (605) is arranged in the middle of one side of the mounting support (601), and the hinge seat (605) is rotationally connected with the bionic fish body part (2),
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);
a telescopic guide sleeve (607) is also connected between the bionic fish head part (1) and the bionic fish body part (2);
the cross section of the adjusting telescopic rod (604) is of a two-section telescopic structure;
the bionic fish body part (2) comprises an outer body part (201), a universal rotating shaft (202), an inner joint body, a support link rod (204) and an elastic supporting part (203); the outer body pieces (201) are coaxially arranged in a plurality, universal rotating shafts (202) are fixed at two inner sides of the outer body pieces (201), and adjacent outer body pieces (201) are connected and driven through the switching action of the universal rotating shafts (202) and the inner switching body;
a plurality of support links (204) are connected in the outer body (201) in a staggered manner, and the hinged positions of the support links (204) are connected with the inner wall of the outer body (201) through elastic supporting pieces (203);
an inner guide rod is coaxially arranged in the elastic supporting piece (203) and can slide relatively, a supporting spring (205) is connected between the inner guide rod and the elastic supporting piece (203), one end of the inner guide rod is symmetrically fixed with a mounting cushion piece (206), and one end of the mounting cushion piece (206) is connected and fixed with a corresponding supporting link rod (204);
the sinking and floating flow control assembly (5) comprises a built-in shell (501), a sealing cavity piece (502), a connecting piston (504), an external connection branch pipe (503), a bearing disc seat (505) and an electric telescopic rod (506); the middle part of the accommodating cavity of the bionic fish head part (1) is fixedly provided with a built-in shell (501), a plurality of sealing cavity parts (502) are symmetrically arranged on the inner circumference array of the built-in shell (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 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 part;
one end, far away from the bearing disc seat (505), of each sealing cavity piece (502) is connected with an external connection branch pipe (503), and one end of the external connection branch pipe (503) extends out of the bionic fish head piece (1);
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),
an adapter sphere is embedded in the end face of one side of the top seat (507) and can roll relatively, 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 seat (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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| CN114919724B (en) * | 2022-03-15 | 2024-03-15 | 中国科学院自动化研究所 | Robot fish system driven by bionic tendons and operation control method |
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| CN102267552A (en) * | 2011-07-11 | 2011-12-07 | 卢小平 | Drive and control method for bionic fish and bionic fish |
| KR101488979B1 (en) * | 2013-11-27 | 2015-02-02 | 오태헌 | Robot fish with buoyancy regulation and rotation function |
| CN104149954B (en) * | 2014-07-25 | 2017-06-13 | 苏州大学应用技术学院 | A kind of intelligence views and admires Biomimetic Fish and its control method |
| CN109491407B (en) * | 2019-01-24 | 2024-06-25 | 广东海洋大学 | Intelligent bionic fish for realizing image matching and group cooperative work system thereof |
| CN212556730U (en) * | 2020-06-02 | 2021-02-19 | 大连海事大学 | Bionic fish with adjustable mass center |
| CN111746767A (en) * | 2020-07-07 | 2020-10-09 | 国网安徽省电力有限公司电力科学研究院 | Bionic robotic fish based on bionic fin and pump combined propulsion |
| CN112249286B (en) * | 2020-10-27 | 2022-03-01 | 吕梁学院 | Bionic robot fish with multiple driving systems |
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