CN114771785B - Underwater bionic fish - Google Patents
Underwater bionic fish Download PDFInfo
- Publication number
- CN114771785B CN114771785B CN202210469154.XA CN202210469154A CN114771785B CN 114771785 B CN114771785 B CN 114771785B CN 202210469154 A CN202210469154 A CN 202210469154A CN 114771785 B CN114771785 B CN 114771785B
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- Prior art keywords
- steering engine
- fish
- pectoral fin
- fixed
- hinge
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 170
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 69
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 105
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 230000003592 biomimetic effect Effects 0.000 claims description 17
- 230000005484 gravity Effects 0.000 claims description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 238000007789 sealing Methods 0.000 claims description 8
- 102000004315 Forkhead Transcription Factors Human genes 0.000 claims description 7
- 108090000852 Forkhead Transcription Factors Proteins 0.000 claims description 7
- 235000019688 fish Nutrition 0.000 description 130
- 230000009182 swimming Effects 0.000 description 4
- 210000000038 chest Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 241000269959 Xiphias gladius Species 0.000 description 2
- 235000021335 sword fish Nutrition 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000002445 nipple Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/20—Steering equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The utility model discloses an underwater bionic fish, which comprises a fish head, a fish body, a swing joint, a fish tail driving mechanism and a pectoral fin driving mechanism, wherein the fish tail driving mechanism is arranged at the rear end of the fish body; the electric hinge comprises two hinge forks and a steering engine, and the two hinge forks are hinged through a hinge shaft; the steering engine is fixed on the second articulated fork, and the steering engine shaft is connected with the first articulated fork, and the axis of the steering engine shaft is coaxial with the axis of the articulated shaft. The fish head of the underwater bionic fish can swing through the electric swing joint, the bionic fish turns fast, the turning radius is small, and the flexibility is good.
Description
Technical Field
The utility model relates to a robot fish, in particular to an underwater bionic fish.
Background
The underwater bionic fish is an underwater submersible vehicle which utilizes a fish swimming mechanism to realize propulsion, is provided with various microminiature sensors, and can form a set of sensors similar to a fish body structure and capable of swimming by utilizing advanced control and communication means. The robot fish with different sensors has good maneuverability and concealment, can work in a narrow space and realize low-noise movement. The underwater bionic fish can play a significant role in the aspects of underwater operation in complex environments, marine monitoring, marine organism observation, military reconnaissance, mine expelling, mine distribution and the like.
The patent number CN201720104306.0 discloses a bionic fish head and a bionic fish, wherein the bionic fish head comprises a fish head body with a cavity and a bionic sword at the front end of the fish head body; the upper side and the lower side of the rear end of the bionic sword are in transitional connection with the fish head body through an arc streamline structure; the left side and the right side of the rear end of the bionic sword are in transitional connection with the fish head body through flat bionic cheeks. According to the technical scheme provided by the embodiment of the application, the swordfish is used as a bionic prototype, and the front part of the swordfish extends to form a sword-shaped bionic sword to play a role in splitting water, so that the fluid resistance of the bionic fish during swimming in water is reduced, and the swimming speed and flexibility of the bionic fish are improved. According to some embodiments of the application, the control module, the communication module and the power module are packaged inside the fish head by performing independent waterproof sealing on the fish head structure, so that the difficulty of integral waterproof sealing is reduced, and the sealing effect is enhanced.
The bionic fish head does not have a swinging function, can only realize turning by using the chest and tail fins, is slower in turning, has too large turning radius, and can be buckled when the flexibility of the bionic fish is large.
Disclosure of Invention
The utility model aims to provide the underwater bionic fish with good flexibility.
In order to solve the technical problems, the underwater bionic fish comprises a fish head, a fish body, a swing joint, a fish tail driving mechanism and a pectoral fin driving mechanism, wherein the fish tail driving mechanism is arranged at the rear end of the fish body, the pectoral fin driving mechanism is arranged at the front part of the fish body, the swing joint comprises two electric hinges, a first front connecting disc of the first electric hinge is connected with the fish head, the front end of the second electric hinge is connected with the rear end of the first electric hinge, and the rear end of the second electric hinge comprises a rear connecting disc connected with the fish body; the electric hinge comprises two hinge forks and a steering engine, and the two hinge forks are hinged through a hinge shaft; the steering engine is fixed on the second articulated fork, and the steering engine shaft is connected with the first articulated fork, and the axis of the steering engine shaft is coaxial with the axis of the articulated shaft.
The underwater bionic fish, wherein the hinge shaft comprises two sets of bolt type roller bearings; the roller bearing of the bolt type roller bearing is fixed in the fork hole of one hinged fork head, and the bolt of the bolt type roller bearing is fixed in the fork hole of the other hinged fork; the steering engine comprises a rudder arm, wherein the rudder arm is fixed on a steering engine shaft and is connected with a fork head of the first articulated fork.
The underwater bionic fish comprises a hollow shell, sonar and a camera which are arranged in the shell, wherein the rear part of the shell is connected with the first front receiving disc; the shell includes sonar window and camera window, and the sonar is installed at the rear of sonar window, and the transparent cover is equipped with at the front portion of camera window, and the rear at the camera window is installed to the camera. .
The underwater bionic fish comprises a first front receiving disc, a middle receiving disc, two first front fork heads and two first rear fork heads, wherein the first front receiving disc is connected with the middle receiving disc; the first front tray is connected with the fish head, two first front fork heads and the first front tray form a first hinging fork of the first electric hinge, and two first rear fork heads and the middle tray form a second hinging fork of the first electric hinge; the second electric hinge comprises a second front tray, the rear tray, two second front fork heads and two second rear fork heads; the second front tray is arranged on the back surface of the middle tray, the two second front fork heads and the second front tray form a first hinge fork of a second electric hinge, and the two second rear fork heads and the rear tray form a second hinge fork of the second electric hinge.
Above the bionical fish under water, the swing joint includes that the fish head rotates the steering wheel, and the second front flange includes the shaft hole, and the fish head rotates the steering wheel and fixes the rear portion at the front flange of second, and the front end that the steering wheel rudder shaft was rotated to the fish head passes the shaft hole of second front flange and fixes on the middle flange.
The underwater bionic fish, wherein the first electric hinge comprises a first steering engine bracket, and the first steering engine bracket is fixed on a first rear fork head of the first electric hinge; the steering engine of the first electric hinge is fixed on the first steering engine bracket and positioned between the two second front fork heads of the first electric hinge, and the steering engine shaft faces the outside of the first electric hinge; the second electric hinge comprises a second steering engine bracket, the second steering engine bracket is fixed on the rear receiving disc, a steering engine of the second electric hinge is fixed on the second steering engine bracket, and a steering engine shaft faces the inside of the second electric hinge; the first electric hinge comprises two elastic pieces, and the rear end of the first rear fork head is connected with the middle receiving disc through the elastic pieces.
The underwater bionic fish comprises a pectoral fin driving mechanism, a fish body and a fish body, wherein the pectoral fin driving mechanism comprises a mounting frame and two pectoral fin mechanisms symmetrically extending out along two transverse ends of the mounting frame; the pectoral fin mechanism comprises a first pectoral fin steering engine, a transverse shaft, a sealing ring, a second pectoral fin steering engine and pectoral fins; the first pectoral fin steering engine is fixed on the mounting frame, the first end of the transverse shaft is fixed on the steering engine shaft of the first pectoral fin steering engine, and the second end of the transverse shaft is fixed on the steering engine shaft of the second pectoral fin steering engine; the pectoral fin is fixed on the second pectoral fin steering engine; the transverse two ends of the front part of the fish body shell respectively comprise a transverse shaft hole, the transverse shaft penetrates through the transverse shaft holes, and the sealing ring is arranged between the transverse shaft and the transverse shaft holes.
The underwater bionic fish comprises a steering engine fixing frame, a first steering wheel, a second steering wheel, a first receiving disc and a second receiving disc, wherein the steering engine fixing frame is fixed at one transverse end of the mounting frame, and the first pectoral fin steering engine is fixed on the steering engine fixing frame; the first rudder disk is fixed on the rudder shaft of the first pectoral fin steering engine, and the second rudder disk is fixed on the rudder shaft of the second pectoral fin steering engine; the first receiving disc is fixed at the first end of the transverse shaft and is coaxial with the transverse shaft; the second receiving disc is fixed at the second end of the transverse shaft and is orthogonal to the transverse shaft; the first receiving disc is connected with the first rudder disc, and the second receiving disc is connected with the second rudder disc.
In the underwater bionic fish, the pectoral fin is in four states of upward stroke, downward stroke, backward stroke and forward stroke, and the two pectoral fins stroke in opposite directions or one pectoral fin strokes and the other pectoral fin does not move, so as to assist the bionic fish to turn; the two pectoral fins simultaneously downwards stroke the auxiliary bionic fish to float upwards, the two pectoral fins simultaneously upwards stroke the auxiliary bionic fish to sink downwards, and the two pectoral fins simultaneously stroke backwards to assist the bionic fish to move forwards; the pectoral fin mechanism scoring comprises the following steps: at the initial position, the second pectoral fin steering engine rotates, and pectoral fins are outwards opened; the first pectoral fin steering engine rotates from an initial angle to a termination angle, the open pectoral fin pushes water, and when the pectoral fin pushes water to finish the action, the second pectoral fin steering engine rotates, and the pectoral fin is folded inwards; the first pectoral fin steering engine reversely rotates, and the folded pectoral fin returns to the initial position; the included angle between the initial angle and the final angle, namely the pectoral fin rowing angle is less than or equal to 90 degrees.
The underwater bionic fish comprises a gravity center moving mechanism, wherein the gravity center moving mechanism comprises a base, a stepping motor, a linear guide rail pair, a screw-nut pair and a balancing weight, wherein a guide rail of the linear guide rail pair is fixed on the base, and a screw rod of the screw-nut pair is arranged on the base and is parallel to the guide rail of the linear guide rail pair; the balancing weight is fixed on the sliding block of the linear guide rail pair and is connected with the nut of the screw-nut pair; the gravity center moving mechanism is arranged in the fish body along the longitudinal direction of the fish body and is positioned at the lower part of the fish body, and the base of the gravity center moving mechanism is fixed on the fish body shell.
The fish head of the underwater bionic fish can swing through the electric swing joint, the bionic fish turns fast, the turning radius is small, and the flexibility is good.
Drawings
The utility model will be described in further detail with reference to the drawings and the detailed description.
Fig. 1 is a perspective view of an underwater biomimetic fish according to an embodiment of the present utility model.
Fig. 2 is a front view of an underwater biomimetic fish according to an embodiment of the present utility model.
Fig. 3 is a left side view of an underwater biomimetic fish in an embodiment of the present utility model.
Fig. 4 is a cross-sectional view A-A in fig. 3.
Fig. 5 is a front view of the head structure of the underwater biomimetic fish in the embodiment of the present utility model.
Fig. 6 is a top view of an underwater biomimetic fish head structure according to an embodiment of the present utility model.
Fig. 7 is a C-C cross-sectional view of fig. 6.
Fig. 8 is a perspective view of a head structure of an underwater biomimetic fish in accordance with an embodiment of the present utility model.
Fig. 9 is a perspective view of another view of the head structure of the underwater biomimetic fish in accordance with the embodiment of the present utility model.
Fig. 10 is a B-B cross-sectional view in fig. 2.
Fig. 11 is a front view of an underwater bionic fish pectoral fin driving mechanism according to an embodiment of the present utility model.
Fig. 12 is a rear view of an underwater bionic fish pectoral fin driving mechanism according to an embodiment of the present utility model.
Fig. 13 is a partial perspective view of an underwater biomimetic fish pectoral fin driving mechanism according to an embodiment of the present utility model.
Fig. 14 is a perspective view of a center of gravity shifting mechanism of an underwater biomimetic fish in accordance with an embodiment of the present utility model.
Fig. 15 is a front view of a center of gravity shifting mechanism of an underwater biomimetic fish in accordance with an embodiment of the present utility model.
Fig. 16 is a top view of a center of gravity shifting mechanism of an underwater biomimetic fish in accordance with an embodiment of the present utility model.
Fig. 17 is a block diagram of a control circuit of the underwater biomimetic fish according to the embodiment of the present utility model.
Detailed Description
The structure and principle of the underwater bionic fish according to the embodiment of the utility model are shown in fig. 1 to 17, and the underwater bionic fish comprises a fish head 10, a fish body 20, a swing joint 100, a pectoral fin driving mechanism 50, a gravity center moving mechanism 60, a fish tail driving mechanism 70, a power supply and a control circuit.
The principle of the control circuit is shown in fig. 17, and the control circuit consists of a main control board, a communication module, a head camera and a motor driver and is used for controlling movements of the bionic fish such as straight-swimming, turning, pitching and the like. The main control board controls the DC motor of the fish tail driving mechanism 70 and the stepping motor of the gravity center moving mechanism 60 through the motor driving circuit, and outputs PWM control signals to control 7 steering engines.
The fish tail driving mechanism 70 adopts a mode of combining an eccentric wheel mechanism and a linear bearing, and the motor does not need to rotate positively and negatively when driving the fish tail to swing, and only needs to rotate continuously in the same direction. The motor continuously rotates in the same direction, so that the vibration of the fish body caused by frequent positive and negative rotation of the motor can be avoided, and the motion of the bionic fish is more stable.
The fish tail driving mechanism 70 is installed at the rear end of the fish body 20, the pectoral fin driving mechanism 50 is installed at the front of the fish body 20, and the center of gravity shifting mechanism 60 is installed in the abdomen of the fish body 20.
The fish head 10 comprises a hollow housing 11, sonar 12 and camera 13 mounted in the housing 11, the rear of the housing 11 being connected to a first front hub 31. The housing 11 comprises a sonar window 15 and a camera window 16, the sonar 12 is arranged at the rear of the sonar window 15, a transparent cover 17 is arranged at the front part of the camera window 16, and the camera 13 is arranged at the rear of the transparent cover 17.
The swing joint 100 includes two electric hinges 30 and 40, a first front joint disc 31 of the first electric hinge 30 is connected with the rear end of the fish head 10, a front end of the second electric hinge 40 is connected with the rear end of the first electric hinge 30, and a rear joint disc 42 of the second electric hinge 40 is connected with the front end of the fish body 20; the outer surface of the swing joint 100 is sleeved with a waterproof telescopic sleeve 80, the front end of the telescopic sleeve 80 is fixed at the rear end of the fish head 10, and the rear end of the telescopic sleeve 80 is fixed at the front end of the fish body 20.
The first and second electric hinges 30 and 40 each include two hinge forks hinged by a hinge shaft and a steering engine. The steering engine is fixed on the second hinge fork of the electric hinge, the steering engine shaft is connected with the first hinge fork of the electric hinge, and the axis of the steering engine shaft is coaxial with the axis of the hinge shaft of the electric hinge.
The first electric hinge 30 comprises a first front hub 31, a middle hub 32, two first front prongs 33, two first rear prongs 34, a first steering engine 36 and a first steering engine bracket 37. The first front joint disc 31 is connected with the fish head 10, two first front fork heads 33 and the first front joint disc 31 form a first hinge fork of the first electric hinge 30, and two first rear fork heads 34 and the middle joint disc 32 form a second hinge fork of the first electric hinge 30. The first hinge fork and the second hinge fork of the first electric hinge 30 are hinged by a hinge shaft. The hinge shaft includes two sets of bolt-type roller bearings 35. The roller bearing of the bolt-type roller bearing 35 is fixed in the fork hole of the first front fork 33, and the bolt of the bolt-type roller bearing is fixed in the fork hole of the first rear fork 34.
The two first rear prongs 34 of the first electric hinge 30 are respectively fixed to the front end surface of the intermediate joint 32 through two elastic pieces 38. The first steering engine mount is secured to a first rear fork 34 of the first electric hinge 30.
The first steering engine 36 is fixed on the first steering engine bracket 37 and is located between the two second front fork heads 43 of the first electric hinge 30, the steering engine shaft of the first steering engine 36 faces the outside of the second electric hinge 40, and the steering engine shaft of the first steering engine 36 is coaxial with the hinge shaft of the first electric hinge 30. Rudder arms 39 are fixed to the steering shaft of the first steering engine 36, and the rudder arms 39 are connected to a first front fork 33, so that when the first steering engine 36 rotates, the first electric hinge 30 can rotate around its hinge shaft.
The second electric hinge 40 comprises a second front catch 41, a rear catch 42, two second front prongs 43, two second rear prongs 44, a second steering engine 45 and a second steering engine bracket 46. The second front tray 41 is mounted on the back of the middle tray 32, two second front prongs 43 and the second front tray 41 form a first hinge fork of the second electric hinge 40, and two second rear prongs 44 and the rear tray 42 form a second hinge fork of the second electric hinge 40. The first hinge fork and the second hinge fork of the second electric hinge 40 are hinged by a hinge shaft. The hinge shaft includes two sets of bolt-type roller bearings 35. The roller bearing of the bolt-type roller bearing 35 is fixed in the fork hole of the second front fork 43, and the bolt of the bolt-type roller bearing is fixed in the fork hole of the second rear fork 44.
The second steering wheel support 46 is fixed in front of the rear connecting disc 42, the second steering wheel 45 is fixed on the second steering wheel support 46, and the steering wheel shaft of the second steering wheel 45 faces the inside of the second electric hinge 40. The steering shaft of the second steering engine 45 is coaxial with the hinge shaft of the second electric hinge 40. Rudder arms 49 are fixed on the steering shaft of the second steering engine 45, and the rudder arms 49 are connected with a second front fork 43, so that when the second steering engine 45 rotates, the second electric hinge 40 can rotate around the joint shaft of the hinge itself.
The swing joint 100 comprises a fish head rotating steering gear 48, a shaft hole 411 is formed in the middle of the second front connecting plate 41, the fish head rotating steering gear 48 is fixed on a bracket 412 at the rear of the second front connecting plate 41, the front end of a rudder shaft of the fish head rotating steering gear 48 passes through the shaft hole 411 of the second front connecting plate 41, and a connecting plate 481 at the front end of the rudder shaft of the fish head rotating steering gear 48 is fixed on the middle connecting plate 32. When the fish head steering gear 48 rotates, the intermediate joint 32 rotates relative to the second front joint 41, i.e., the first electric hinge 30 rotates relative to the second electric hinge 30.
The first electric hinge 30 and the second electric hinge 30 can rotate around the hinge shaft of the first electric hinge 30, and the first electric hinge 30 can rotate around the axis of the fish body relative to the second electric hinge 30, so that the fish head 10 can swing in different directions relative to the fish body 20, can rotate relative to the fish body 20, and has high flexibility, thereby bringing great convenience for the steering of the bionic fish in water.
The pectoral fin driving mechanism 50 includes a mounting frame 51 and two sets of pectoral fin mechanisms 50A extending symmetrically outward along both lateral ends of the mounting frame 51. The mounting bracket 51 is fixed inside the fish body 20.
The pectoral fin mechanism 50A includes a steering engine mount 52, a first pectoral fin steering engine 53, a second pectoral fin steering engine 54, a transverse shaft 55, a seal ring 56, a first steering wheel 531, a second steering wheel 541, a first flange 551, a second flange 552, and a pectoral fin 57.
The steering wheel mount 52 is fixed in the horizontal one end of mounting bracket 51, and first pectoral fin steering wheel 53 is fixed on steering wheel mount 52. The first rudder plate 531 is fixed to the rudder shaft of the first pectoral fin steering engine 53, and the second rudder plate 541 is fixed to the rudder shaft of the second pectoral fin steering engine 54. The first flange 551 is fixed to a first end of the transverse shaft 55 and is coaxial with the transverse shaft 55. The second nipple 552 is fixed to a second end of the transverse shaft 55, orthogonal to the transverse shaft 55. The first flange 551 is connected to the first rudder disk 531, and the second flange 552 is connected to the second rudder disk 541.
The second pectoral fin steering engine 54 is fixed to the back of the pectoral fin. The front part of the fish body 20 is provided with a transverse shaft hole 21 at two transverse ends respectively, a transverse shaft 55 passes through the transverse shaft hole 21, and a sealing ring 56 is arranged between the transverse shaft 55 and the transverse shaft hole 21 to prevent water outside the fish body from penetrating into the fish body.
The pectoral fin driving mechanism 50 of the embodiment of the utility model has two degrees of freedom of a swing wing and a flapping wing, can realize the pectoral fin rowing action, and the pectoral fin rowing action comprises four states of upward rowing, downward rowing, backward rowing and forward rowing, and the combined rowing action of the two pectoral fin mechanisms 50A not only carries out horizontal steering assistance and vertical sinking and floating assistance, but also can provide power for the advancing of the bionic fish. The pectoral fin driving mechanism 50 can improve the agility of actions such as advancing, turning, ascending and descending of the bionic fish through the combined rowing action of the two pectoral fin mechanisms 50A, and increase the power for the advancing of the bionic fish. When the movements of the two pectoral fin mechanisms 50A are inconsistent, a turning movement of the bionic fish can be achieved, for example, two pectoral fins can stroke in opposite directions, or one pectoral fin can stroke while the other pectoral fin is stationary, and the turning movement of the bionic fish can be assisted.
When the two pectoral fin mechanisms 50A simultaneously stroke backward, the power for the bionic fish to move forward can be increased. When the pectoral fin mechanism 50A is stroked backward, in the initial state, the pectoral fin 57 is positioned in front of the transverse shaft 55, and the second pectoral fin steering engine 54 rotates to expand the pectoral fin 57 outward, so that the pectoral fin 57 is parallel or substantially parallel to the axis of the transverse shaft 55. The first pectoral fin steering engine 53 rotates from an initial angle to a final angle, the first pectoral fin steering engine 53 rotates to enable the opened pectoral fin 57 to move backwards to push water, and the counterforce of the water enables the bionic fish to generate forward power; when the backward stroke is completed, the second pectoral fin steering gear 54 rotates to retract the pectoral fin 57 inwardly, and when the pectoral fin 57 is orthogonal or substantially orthogonal to the axis of the transverse shaft 55, the first pectoral fin steering gear 53 rotates reversely to return the retracted pectoral fin 57 to the initial state. The angle of the pectoral fin stroke is preferably 90 ° or less from the initial state of the stroke to the completion of the stroke operation, i.e., the angle of the pectoral fin stroke is preferably 90 ° or less, which is the angle of the first pectoral fin steering engine 53 (the angle between the initial angle and the end angle).
Changing the starting and ending angles of the first pectoral fin steering engine 53 stroke may change the stroke state of the pectoral fin.
The gravity center moving mechanism 60 comprises a base 61, a stepping motor 62, a linear guide pair 63, a screw nut pair 64, a balancing weight 65 and two U-shaped photoelectric sensors 66, wherein the guide rail of the linear guide pair 63 is fixed on the base 61, and the screw of the screw nut pair 64 is installed on the base 61 and parallel to the guide rail of the linear guide pair 63. The nut of the screw-nut pair 64 is fixed to the slider of the linear guide pair 63, and the weight 65 is on the nut of the screw-nut pair 64. The base 61 of the gravity center moving mechanism 60 is fixed to the body 20 housing in the longitudinal direction of the body 20, and is located at the lower portion of the body 20. Two U-shaped photoelectric sensors 66 are installed at two ends of the base 61 along the direction of the linear guide rail pair 63, and the light blocking sheet of the U-shaped photoelectric sensors 66 is fixed on the sliding block of the linear guide rail pair 63. The control end of the stepping motor 62 and the signal output end of the U-shaped photoelectric sensor 66 are respectively connected with a control circuit, and the control circuit adjusts the longitudinal position of the balancing weight 65 in the fish body through the stepping motor, so that the elevation angle of the bionic fish in water can be changed, and the upward or downward movement of the bionic fish in the forward direction is changed, the movement of the pectoral fin, the caudal fin and the head of the bionic fish is assisted, and a better pitching movement effect is achieved.
The underwater bionic fish of the above embodiment of the utility model has the following characteristics:
1. the swing joint of the head of the bionic fish uses three steering engines, has the head steering function of three degrees of freedom, can realize more flexible movement in water, is provided with a camera and a sound receiving module, and is convenient for the bionic fish to realize path planning and tracking in water.
2. The fish tail driving mechanism adopts a mode of combining an eccentric wheel mechanism and a linear bearing, and the motor does not need to rotate positively and negatively when driving the fish tail to swing, and only needs to rotate continuously and directionally. The directional rotation of the motor can avoid the vibration of the fish body caused by the frequent forward and reverse rotation of the motor, so that the motion is more stable. The fish motion device can realize the motion of the fish by using a BCF pushing mode (namely pushing the tail fin), and has the advantages of high efficiency, low cost and simple structure.
3. The pectoral fin driving mechanism adopts pectoral fins with two degrees of freedom, can realize the rowing action of the pectoral fins, and provides auxiliary power for turning, floating, sinking or advancing of the bionic fish. The sensitivity of the bionic fish motion is high.
4. The bionic fish is difficult to realize pitching action only by leaning on the deflection of the chest and tail fins and the head, the gravity center moving mechanism realizes the adjustment of the gravity center position in the length direction of the bionic fish, and the good pitching movement effect is achieved by matching with the movements of the chest and tail fins and the head.
Claims (9)
1. The underwater bionic fish comprises a fish head, a fish body, a fish tail driving mechanism and a pectoral fin driving mechanism, wherein the fish tail driving mechanism is arranged at the rear end of the fish body, and the pectoral fin driving mechanism is arranged at the front part of the fish body; the electric hinge comprises two hinge forks and a steering engine, and the two hinge forks are hinged through a hinge shaft; the steering engine is fixed on the second hinge fork, the steering engine shaft is connected with the first hinge fork, and the axis of the steering engine shaft is coaxial with the axis of the hinge shaft; the hinge shaft comprises two sets of bolt type roller bearings; the roller bearing of the bolt type roller bearing is fixed in the fork hole of one hinged fork head, and the bolt of the bolt type roller bearing is fixed in the fork hole of the other hinged fork; the steering engine comprises a rudder arm, wherein the rudder arm is fixed on a steering engine shaft and is connected with a fork head of the first articulated fork.
2. The underwater biomimetic fish of claim 1, wherein the fish head comprises a hollow housing, a sonar and a camera mounted in the housing, the rear of the housing being connected to said first front hub; the shell includes sonar window and camera window, and the sonar is installed at the rear of sonar window, and the transparent cover is equipped with at the front portion of camera window, and the rear at the camera window is installed to the camera.
3. The underwater biomimetic fish of claim 1, wherein the first electric hinge comprises the first front hub, the middle hub, two first front prongs and two first rear prongs; the first front tray is connected with the fish head, two first front fork heads and the first front tray form a first hinging fork of the first electric hinge, and two first rear fork heads and the middle tray form a second hinging fork of the first electric hinge; the second electric hinge comprises a second front tray, the rear tray, two second front fork heads and two second rear fork heads; the second front tray is arranged on the back surface of the middle tray, the two second front fork heads and the second front tray form a first hinge fork of a second electric hinge, and the two second rear fork heads and the rear tray form a second hinge fork of the second electric hinge.
4. An underwater bionic fish as claimed in claim 3 wherein the swinging joint comprises a fish head rotation steering engine, the second front receiving disc comprises an axle hole, the fish head rotation steering engine is fixed at the rear part of the second front receiving disc, and the front end of the shaft of the fish head rotation steering engine rudder passes through the axle hole of the second front receiving disc and is fixed on the middle receiving disc.
5. The underwater biomimetic fish of claim 3, wherein the first electric hinge comprises a first steering engine bracket, the first steering engine bracket being fixed to a first rear fork of the first electric hinge; the steering engine of the first electric hinge is fixed on the first steering engine bracket and positioned between the two second front fork heads of the first electric hinge, and the steering engine shaft faces the outside of the first electric hinge; the second electric hinge comprises a second steering engine bracket, the second steering engine bracket is fixed on the rear receiving disc, a steering engine of the second electric hinge is fixed on the second steering engine bracket, and a steering engine shaft faces the inside of the second electric hinge; the first electric hinge comprises two elastic pieces, and the rear end of the first rear fork head is connected with the middle receiving disc through the elastic pieces.
6. The underwater bionic fish according to claim 1, wherein the pectoral fin driving mechanism comprises a mounting frame and two pectoral fin mechanisms symmetrically extending along two lateral ends of the mounting frame, and the mounting frame is fixed in the fish body; the pectoral fin mechanism comprises a first pectoral fin steering engine, a transverse shaft, a sealing ring, a second pectoral fin steering engine and pectoral fins; the first pectoral fin steering engine is fixed on the mounting frame, the first end of the transverse shaft is fixed on the steering engine shaft of the first pectoral fin steering engine, and the second end of the transverse shaft is fixed on the steering engine shaft of the second pectoral fin steering engine; the pectoral fin is fixed on the second pectoral fin steering engine; the transverse two ends of the front part of the fish body shell respectively comprise a transverse shaft hole, the transverse shaft penetrates through the transverse shaft holes, and the sealing ring is arranged between the transverse shaft and the transverse shaft holes.
7. The underwater bionic fish of claim 6, wherein the pectoral fin mechanism comprises a steering engine fixing frame, a first steering wheel, a second steering wheel, a first receiving disc and a second receiving disc, the steering engine fixing frame is fixed at one transverse end of the mounting frame, and the first pectoral fin steering engine is fixed on the steering engine fixing frame; the first rudder disk is fixed on the rudder shaft of the first pectoral fin steering engine, and the second rudder disk is fixed on the rudder shaft of the second pectoral fin steering engine; the first receiving disc is fixed at the first end of the transverse shaft and is coaxial with the transverse shaft; the second receiving disc is fixed at the second end of the transverse shaft and is orthogonal to the transverse shaft; the first receiving disc is connected with the first rudder disc, and the second receiving disc is connected with the second rudder disc.
8. The underwater biomimetic fish of claim 6, wherein the pectoral fin stroke action comprises four states of upward stroke, downward stroke, backward stroke and forward stroke, two pectoral fins stroke in opposite directions, or one pectoral fin strokes, the other pectoral fin is immobilized, assisting the biomimetic fish in cornering; the two pectoral fins simultaneously downwards stroke the auxiliary bionic fish to float upwards, the two pectoral fins simultaneously upwards stroke the auxiliary bionic fish to sink downwards, and the two pectoral fins simultaneously stroke backwards to assist the bionic fish to move forwards; the pectoral fin mechanism scoring comprises the following steps: at the initial position, the second pectoral fin steering engine rotates, and pectoral fins are outwards opened; the first pectoral fin steering engine rotates from an initial angle to a termination angle, the open pectoral fin pushes water, and when the pectoral fin pushes water to finish the action, the second pectoral fin steering engine rotates, and the pectoral fin is folded inwards; the first pectoral fin steering engine reversely rotates, and the folded pectoral fin returns to the initial position; the included angle between the initial angle and the final angle, namely the pectoral fin rowing angle is less than or equal to 90 degrees.
9. The underwater bionic fish according to claim 1, comprising a gravity center moving mechanism comprising a base, a stepping motor, a linear guide rail pair, a screw-nut pair and a balancing weight, wherein the guide rail of the linear guide rail pair is fixed on the base, and the screw of the screw-nut pair is mounted on the base in parallel with the guide rail of the linear guide rail pair; the balancing weight is fixed on the sliding block of the linear guide rail pair and is connected with the nut of the screw-nut pair; the gravity center moving mechanism is arranged in the fish body along the longitudinal direction of the fish body and is positioned at the lower part of the fish body, and the base of the gravity center moving mechanism is fixed on the fish body shell.
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| US10336420B2 (en) * | 2017-04-28 | 2019-07-02 | BOYA GONGDAO (Beijing) ROBOT Technology Co., Ltd. | Single-joint underwater robot fish |
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