CN115402499A

CN115402499A - Bionic robot cannonball fish driven by wave fin

Info

Publication number: CN115402499A
Application number: CN202211228089.8A
Authority: CN
Inventors: 贾永霞; 许航瑞; 郭立本; 李晴晴; 王悦迪
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2022-10-09
Filing date: 2022-10-09
Publication date: 2022-11-29

Abstract

The invention discloses a bionic robot cannonball fish driven by a waving fin, which has the bionic characteristic of cannonball fish and comprises a fish head, a fish body and a fish tail. The fish body comprises a fish body shell, a fin-shaped swinging generation mechanism and fins, wherein the fish body shell is connected with the fish head, the upper side and the lower side of the fish body shell are respectively provided with the fin-shaped swinging generation mechanism, the fin-shaped swinging generation mechanism is connected with an electronic device module in the fish head, and the fins are arranged on the fin-shaped swinging generation mechanism; the electronic device module drives the fin-shaped light swing generating mechanism to swing in different phases so as to enable the fins to simulate sine waves and further enable the bionic robot cannonball fish driven by the fluctuated fins to swim; the fish tail comprises a steering engine and tail fins, the fish tail is connected with the fish body shell, and the tail fins are connected with the steering engine; the electronic device module controls the operation of the steering engine, and the steering engine drives the tail fin to swing so as to adjust the swimming direction and auxiliary driving of the bionic machinery cannonball fish driven by the fluctuated fin. The invention can realize stable swimming driven in a fluctuation mode.

Description

Bionic robot cannonball fish driven by wave fin

Technical Field

The invention relates to the technical field of bionic robots, in particular to a bionic robot shell fish driven by a wave fin.

Background

Among the currently studied species, more than 85% of the species employ Body/tail Fin propulsion (BCF), while a small fraction of the species are mid and/or Paired Fin propulsion (MPF). Compared with the BCF propulsion mode, the MPF propulsion mode has lower fish movement speed, but has strong maneuverability and good stability. The long fin fluctuation MPF mode takes a dorsal fin, a ventral fin or a hip fin as a main driving part, and generates thrust through fluctuation motion of a long fin surface. The cannonball fish belongs to the fish propelled in the long fin fluctuation MPF mode.

The bionic robot cannonball fish driven in a fluctuation mode has the characteristics of stable swimming and strong maneuverability. In engineering, the bionic robot fish can be used for carrying functional structures and carrying out engineering operation in a water area. In addition, the bionic robot fish can be used for exhibition in a science hall and development of high-end intelligent toys. Therefore, the bionic robot fish has wide application prospect and potential value in the fields of engineering and civil use, but the existing bionic robot fish has fewer varieties.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a bionic robot cannonball fish driven by a waving fin, which can realize stable swimming driven in a waving mode and has multiple functions of advancing, retreating, pitching, turning, accelerating and the like.

The bionic robot cannonball fish driven by the wave fin provided by the embodiment of the invention has the bionic characteristic of cannonball fish, and comprises the following components:

a fish head comprising a fish head housing and an electronics module, the electronics module disposed within the fish head housing;

the fish body comprises a fish body shell, a fin ray swinging generation mechanism and fins, the fish body shell is connected with the fish head shell, the upper side and the lower side of the fish body shell are respectively provided with the fin ray swinging generation mechanism, the fin ray swinging generation mechanism is connected with the electronic device module, and the fins are arranged on the fin ray swinging generation mechanism; the electronic device module drives the fin-ray swinging generation mechanism to swing in different phases so as to enable the fins to simulate sine waves and further enable the bionic robot cannonball fish driven by the fluctuated fins to swim;

the fish tail comprises a fish tail shell, a steering engine and tail fins, the fish tail shell is connected with the fish body shell, the steering engine is fixed at the rear end of the fish tail shell, and the tail fins are connected with the steering engine; the electronic device module controls the operation of the steering engine, and the steering engine drives the tail fin to swing so as to adjust the swimming direction and auxiliary driving of the bionic robot cannonball fish driven by the waving fin.

According to the bionic robot cannonball fish driven by the wave fin, the electronic device module is arranged to drive the fin-ray swinging generation mechanism to swing in different phases, so that the fins simulate sine waves, and the bionic robot cannonball fish driven by the wave fin can move forwards or backwards and perform downward pitching and upward pitching motions; the bionic robot cannonball fish driven by the waving fins can turn left and right and swim in an accelerated manner by arranging the steering engine and the tail fins; the bionic robot cannonball fish has the bionic characteristic of the cannonball fish in appearance by bionic design of the fish head, the fish body and the fish tail according to the physical appearance of the real cannonball fish. In conclusion, the bionic robot cannonball fish driven by the wave fin in the embodiment of the invention has the bionic characteristic of cannonball fish, can drive the cannonball fish to swim in a wave mode, and has multiple functions of advancing, retreating, pitching, turning, accelerating and the like.

In some embodiments, the fish body shell is sealingly connected to the fish head shell by a front coupling assembly, and the fish tail shell is sealingly connected to the fish body shell by a rear coupling assembly.

In some embodiments, the fin-ray oscillation generating mechanism comprises a fixed rod, a moving rod and a plurality of fin rays; the front end and the rear end of the fixed rod are respectively and correspondingly fixed on the front connecting assembly and the rear connecting assembly; many the fin is arranged at a distance from each other around, many the fin with decide the pole and rotate and link to each other, move the pole and include anterior segment, a plurality of eccentric sections and back end that consecutive from beginning to end, the anterior segment with the coaxial setting of back end, the anterior segment with the electron device module links to each other, the back end supports with rotating on the back coupling assembling, and is a plurality of the eccentricity of eccentric section is given by required sine wave, and is adjacent have the phase difference between the eccentric section, every the root of fin all is provided with the slot, and is a plurality of the eccentric section is corresponding movably to be set up many in the slot of fin.

In some embodiments, the front section, the plurality of eccentric sections and the rear section are sequentially connected through connecting sections in the front-rear direction, and two adjacent connecting sections limit the axial movement of the fin.

In some embodiments, the connecting section and the eccentric section are both cylindrical sections, and the radial dimension of the connecting section is greater than the radial dimension of the eccentric section.

In some embodiments, the fish head further comprises a fish head weight disposed on an interior underside of the fish head housing; the fish body further comprises a fish body counterweight, and the fish body counterweight is arranged on two sides of the interior of the fish body shell; the fishtail further comprises a fishtail counterweight, and the fishtail counterweight is arranged on the left side and the right side of the steering engine.

In some embodiments, the electronics module includes bluetooth module, two motors and Arduino board, bluetooth module and two the motor respectively with Arduino board electricity is connected, two the motor respectively with two the mechanism takes place in the fin strip swing the front end of moving the pole is connected, arduino board pass through the electric wire with the steering wheel electricity is connected.

In some embodiments, the front connection assembly includes a first sealing fin, a front connecting plate, and a second sealing fin; the first sealing piece is arranged between the fish head shell and the front connecting plate, the front connecting plate is fixed with the fish head shell in a threaded manner, and a gap between the front connecting plate and the fish head shell is sealed through the first sealing piece; the second sealing sheet is arranged between the front connecting plate and the fish body shell; the fish body shell is fixed with the front connecting plate through threads, and a gap between the front connecting plate and the fish body shell is sealed through the second sealing sheet;

the rear connecting assembly comprises a third sealing piece, a fourth sealing piece and a rear connecting plate; the third sealing piece, the rear connecting plate and the fourth sealing piece are sequentially arranged between the fish body shell and the fish tail shell in the front-rear direction; the fish body casing the back connecting plate with fish tail casing thread tightening, and through the third gasket is sealed the fish body casing with gap between the back connecting plate, through the fourth gasket is sealed the back connecting plate with clearance between the fish tail casing.

In some embodiments, the moving rod passes through the front connecting plate and the first sealing sheet to be connected with a motor shaft of the motor, and a dynamic sealing structure is arranged between the moving rod and the front connecting plate.

In some embodiments, the dynamic sealing structure comprises a heat shrink tube, a first sealing ring and a second sealing ring, and a convex cylindrical hole is formed in the rear side of the front connecting plate; the front end of the heat shrinkable tube is sleeved on the periphery of the convex cylindrical hole, and the first sealing ring is arranged between the periphery of the convex cylindrical hole and the inner periphery of the front end of the heat shrinkable tube; the front end of the moving rod penetrates through the heat shrink tube and the convex cylindrical hole and then is connected with a motor shaft of the motor, and the second sealing ring is arranged between the outer periphery of the front end of the moving rod and the inner periphery of the heat shrink tube.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a bionic robot cannonball fish driven by a wave fin in an embodiment of the invention.

Fig. 2 is a structural schematic diagram of a fish head in a bionic robot cannonball fish driven by a wave fin in the embodiment of the invention.

Fig. 3 is a structural schematic diagram of a fish body shell in a bionic robot cannonball fish driven by a wave fin in the embodiment of the invention.

Fig. 4 is a schematic structural diagram of a fish tail in a bionic mechanical cannonball fish driven by a wave fin in the embodiment of the invention.

Fig. 5 is a schematic structural diagram of a fin-ray oscillation generating mechanism in a biomimetic robotic cannonball fish driven by a waving fin according to an embodiment of the present invention.

Fig. 6 is an exploded view of a front connecting assembly in a simulated robotic shell fish driven by a wave fin according to an embodiment of the invention.

Fig. 7 is an explosion schematic diagram of a dynamic sealing structure in a bionic mechanical cannonball fish driven by a wave fin in the embodiment of the invention.

Fig. 8 is a structural block diagram of an electronic device module in a simulated robotic cannonball fish driven by a wave fin according to an embodiment of the invention.

Reference numerals are as follows:

bionic robot cannonball fish 1000 driven by wave fin

Fish head 1

Fish head housing 101 electronics module 102 Bluetooth module 1021 motor 1022

Arduino board 1023 battery module 1024 fish head weight 103

Fish body 2

The fin swing generating mechanism 202 of the fish body 201 fixed rod 2021 moving rod 2022 front section 20221 eccentric section 20222 rear section 20223 connecting section 20224 fin 2023 fin 203 of the fin 2023 of the fish body housing 2022

Fish body weight 204

Fish tail 3

Tail fin connector 3032 of tail fin 303 of steering engine 302 of fishtail shell 301

Fishtail counterweight 304

Front connecting assembly 4

Front connecting plate 402 convex cylindrical hole 4021 of first sealing piece 401 and second sealing piece 403

Rear connection assembly 5 rear connection plate 501

Dynamic sealing structure 6

Heat shrinkable tube 601, first sealing ring 602 and second sealing ring 603

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

The present invention will be described with reference to fig. 1 to 8, in which a biomimetic robotic cannonball fish 1000 driven by a heave fin is shown.

As shown in fig. 1 to 8, a fin-driven biomimetic robotic cannonball fish 1000 according to an embodiment of the present invention has cannonball fish biomimetic properties. The bionic characteristic of the shell fish means that on one hand, the swimming mode of the bionic robot shell fish 1000 driven by the fluctuated fin is designed according to the swimming mode of the real shell fish, and the swimming can be carried out in a long fin fluctuation propelling mode similar to the real shell fish; on the other hand, the shape of the bionic robot cannonball fish 1000 driven by the wave fin of the invention is designed to simulate the physical shape of a real cannonball fish, and comprises a fish head 1, a fish body 2, a fish tail 3, tail fins 303, fins 203 and the like.

As shown in fig. 1, a biomimetic robotic cannonball fish 1000 driven by a waving fin according to an embodiment of the present invention includes a fish head 1, a fish body 2, and a fish tail 3, the fish head 1 includes a fish head housing 101 and an electronics module 102, the electronics module 102 is disposed within the fish head housing 101; the fish body 2 comprises a fish body shell 201, a fin-ray swing generating mechanism 202 and fins 203 (shown in fig. 5), the fish body shell 201 is connected with the fish head shell 101, the upper side and the lower side of the fish body shell 201 are respectively provided with the fin-ray swing generating mechanism 202, the fin-ray swing generating mechanism 202 is connected with the electronic device module 102, and the fins 203 (shown in fig. 5) are arranged on the fin-ray swing generating mechanism 202; the electronic device module 102 drives the fin-shaped swing generating mechanism 202 to swing in different phases, so that the fins 203 simulate sine waves, namely sine waves of the back/hip fins of the cannonball fish, thrust can be generated, and the bionic robot cannonball fish 1000 driven by the fin waves swim; the fish tail 3 comprises a fish tail shell 301, a steering engine 302 and tail fins 303, the fish tail shell 301 is connected with the fish body shell 201, the steering engine 302 is fixed at the rear end of the fish tail shell 301, and the tail fins 303 are connected with the steering engine 302; the electronic device module 102 controls the operation of the steering engine 302, and the steering engine 302 drives the tail fin 303 to swing left and right so as to adjust the swimming direction and auxiliary driving of the bionic machinery cannonball fish 1000 driven by the waving fin.

Specifically, as shown in fig. 1, the fish head 1 includes a fish head housing 101 and an electronics module 102, the electronics module 102 being disposed within the fish head housing 101. It can be understood that the fish head housing 101 is used for mounting and fixing the electronic device module 102, and the fish head housing 101 is sealed and waterproof, so that water cannot enter the fish head housing 101, and the electronic device module 102 is prevented from being affected by damp and entering water.

The fish body 2 comprises a fish body shell 201, a fin-shaped swinging generation mechanism 202 and fins 203, the fish body shell 201 is connected with the fish head shell 101, and it can be understood that the joint between the fish body shell 201 and the fish head shell 101 is sealed and waterproof, so that the phenomenon that the water enters the fish body shell 201 and the fish head shell 101 to influence the swimming of the bionic robot cannonball fish 1000 of the invention can be avoided. The upper side and the lower side of the fish body shell 201 are respectively provided with a fin ray swing generating mechanism 202, the fin ray swing generating mechanism 202 is connected with the electronic device module 102, and the fin ray swing generating mechanism 202 is provided with a fin 203 so as to simulate dorsal fins and gluteal fins of cannonball fish; the electronic device module 102 drives the fin-fin oscillation generating mechanism 202 to oscillate in different phases so that the fins 203 simulate a sine wave to swim the fin-driven biomimetic robotic cannonball fish 1000, where the swimming includes swimming forward or backward, and pitching up and pitching down. That is to say, the fin-shaped vibration generating mechanism 202 can drive the fins 203 to move, so that the fins 203 generate sine waves to drive the bionic machinery cannonball fish 1000 of the present invention to swim, and therefore, the bionic machinery cannonball fish 1000 of the present invention is the bionic machinery cannonball fish 1000 driven in a wave mode, and has the characteristics of stable swimming and strong maneuverability.

The fish tail 3 comprises a fish tail shell 301, a steering engine 302 and tail fins 303, the fish tail shell 301 is connected with the fish body shell 201, and it can be understood that the joint between the fish tail shell 301 and the fish body shell 201 is of a sealed waterproof design, so that the phenomenon that the water enters the fish body shell 201 and the fish tail shell 301 to influence the swimming of the bionic robot cannonball fish 1000 is avoided. The steering engine 302 is fixed at the rear end of the fishtail shell 301, for example, connected by screws and nuts, and the tail fin 303 is connected with the steering engine 302; the electronic device module 102 controls the operation of the steering engine 302, and the steering engine 302 drives the tail fin 303 to swing left and right so as to adjust the swimming direction of the bionic machinery cannonball fish 1000 driven by the wave fin and assist in driving, such as turning left or right, and improve the swimming speed of the bionic machinery cannonball fish 1000 driven by the wave fin.

The method for controlling the bionic robot cannonball fish 1000 to realize various swimming states is described below. When the bionic robot cannonball fish 1000 needs to move forward, the fin swing generating mechanism 202 is controlled to enable sine waves simulated by the fins 203 to be transmitted from the fish head 1 to the fish tail 3, and then the bionic robot cannonball fish 1000 moves forward; when the bionic robot cannonball fish 1000 needs to move backwards, the fin swing generating mechanism 202 is controlled to enable sine waves simulated by the fins 203 to be transmitted to the fish head 1 from the fish tail 3, and then the bionic robot cannonball fish 1000 moves backwards; when the bionic robot cannonball fish 1000 needs to do downward and downward movement, the swinging speed of the fin-shaped ray swinging generation mechanism 202 on the upper side is controlled to be higher than that of the fin-shaped ray swinging generation mechanism 202 on the lower side, and then the bionic robot cannonball fish 1000 can do downward and downward movement; when the bionic robot cannonball fish 1000 needs to do a pitch-up motion, the swing speed of the fin-shaped ray swing generating mechanism 202 on the upper side is controlled to be smaller than that of the fin-shaped ray swing generating mechanism 202 on the lower side, and then the bionic robot cannonball fish 1000 can do the pitch-up motion; when the bionic robot cannonball fish 1000 needs to turn, the steering engine 302 is controlled, the tail fin 303 is controlled to swing asymmetrically through the steering engine 302, and then the bionic robot cannonball fish 1000 turns; when the bionic robot cannonball fish 1000 needs to move in an accelerated way, the steering engine 302 controls the tail fins 303 to symmetrically swing, so that the bionic robot cannonball fish 1000 can accelerate the movement speed. Therefore, the bionic robot cannonball fish 1000 provided by the embodiment of the invention can realize multiple motion modes such as forward moving, backward moving, pitching, turning, accelerating and the like.

According to the bionic robot cannonball fish 1000 driven by the waving fin provided by the embodiment of the invention, the electronic device module 102 is arranged to drive the fin-shaped swinging generation mechanism 202 to swing in different phases, so that the fins 203 simulate sine waves, and further the bionic robot cannonball fish 1000 driven by the waving fin can swim forwards or backwards and perform downward-pitching and upward-pitching motions; by arranging the steering engine 302 and the tail fin 303, the bionic robot cannonball fish 1000 driven by the fluctuated fin can turn left and right and swim in an accelerated manner; the bionic robot cannonball fish 1000 of the invention has the bionic characteristic of the cannonball fish in appearance by bionic design of the fish head 1, the fish body 2 and the fish tail 3 according to the physical appearance of the real cannonball fish. In summary, the bionic robot cannonball fish 1000 driven by the wave fin in the embodiment of the invention has the bionic property of cannonball fish, can realize the self swimming driven by the wave mode, and has multiple functions of advancing, retreating, pitching, turning, accelerating and the like.

In some embodiments, the fish body housing 201 is sealingly connected to the fish head housing 101 by the front connection assembly 4 such that water does not enter the fish head housing 101 and the fish body housing 201 from the connection between the fish head housing 101 and the fish body housing 201; the fishtail housing 301 is connected to the fishbody housing 201 in a sealing manner by the rear connecting assembly 5, so that water cannot enter the fishtail housing 301 and the fishbody housing 201 from the connection between the fishtail housing 301 and the fishbody housing 201. Thus, on one hand, the electronic device module 102 can be prevented from being filled with water, and on the other hand, the bionic robot cannonball fish 1000 can be ensured to stably and normally swim.

Specifically, as shown in fig. 3 and 6, the front connection assembly 4 includes a first sealing piece 401, a front connection plate 402, and a second sealing piece 403; the first sealing sheet 401 is arranged between the fish head shell 101 and the front connecting plate 402, the front connecting plate 402 is fixed with the fish head shell 101 in a threaded manner, and a gap between the front connecting plate 402 and the fish head shell 101 is sealed by the first sealing sheet 401; a second sealing sheet 403 is arranged between the front connecting plate 402 and the fish body shell 201; the fish body shell 201 is fixed with the front connecting plate 402 by screw thread, and the gap between the front connecting plate 402 and the fish body shell 201 is sealed by the second sealing sheet 403.

Preferably, the edge of the fish head shell 101 is provided with a pre-embedded nut, and a bolt with a small silica gel piece is used for sequentially connecting the front connecting plate 402, the first sealing piece 401 and the fish head shell 101 through a connecting hole at the edge of the front connecting plate 402 and a connecting hole on the first sealing piece 401; the front connecting plate 402, the second sealing plate 403 and the fish body shell 201 are sequentially connected through a connecting hole in the central area of the front connecting plate 402 and a connecting hole in the second sealing plate 403 by using a bolt and nut combination with a small silica gel piece, the first sealing plate 401, the second sealing plate 403 and the small silica gel piece on the screw are deformed by using the pressure of the bolt, the effect of blocking a connecting gap is achieved, and the sealing and waterproof functions are realized.

Specifically, as shown in fig. 4, the rear connection assembly 5 includes a third sealing piece, a fourth sealing piece, and a rear connection plate 501; the third sealing strip, the rear connecting plate 501 and the fourth sealing strip are sequentially arranged between the fish body shell 201 and the fish tail shell 301 in the front-rear direction; fish body casing 201, back connecting plate 501 and fish tail casing 301 threaded fixation to through the gap between the sealed fish body casing 201 of third gasket and the back connecting plate 501, through the clearance between the sealed back connecting plate 501 of fourth gasket and the fish tail casing 301.

Preferably, at the pre-buried nut of fish body casing 201 edge, use the bolt that has the silica gel piece, connecting hole through back connecting plate 501 edge, the connecting hole of third gasket, the connecting hole of fourth gasket and the connecting hole of fish body casing 201 rear end edge department connect gradually fish body casing 201, the third gasket, back connecting plate 501, fourth gasket and fish tail casing 301, the pressure that utilizes the bolt makes the third gasket, the little silica gel piece that has on fourth gasket and the screw warp, reach the effect of blockking up the connection gap, thereby realize waterproof sealing function.

Further, waterproof grease is smeared on two sides of the first sealing piece 401, the second sealing piece 403, the third sealing piece and the fourth sealing piece, two layers of small silica gel pieces are sleeved on bolts, gaps are further blocked, and therefore the waterproof effect is further improved.

In some embodiments, as shown in fig. 5, the fin oscillation generating mechanism 202 includes a fixed bar 2021, a moving bar 2022, and a plurality of fins 2023; the front end and the rear end of the fixed bar 2021 are respectively fixed to the front connection component 4 and the rear connection component 5, so that the fixed bar 2021 cannot move, and it should be noted that the fixed bar 2021 is a rotation center of the plurality of fins 2023, and the plurality of fins 2023 swing around the fixed bar 2021 but do not move along the fixed bar 2021. The front end of the fixed rod 2021 is fixed to the front connection assembly 4, specifically, a nut is embedded at the front end of the fixed rod 2021, and a bolt with a silica gel gasket penetrates through a connection hole in the front connection plate 402 and then is hermetically connected with the embedded nut at the front end of the fixed rod 2021.

The plurality of fins 2023 are arranged spaced apart one behind the other, the plurality of fins 2023 having different lengths, the length of the fins 2023 being given by the desired sinusoidal waveform. The fins 203 are flexible and fixed on the fins 2023 for simulating dorsal fins or hip fins of cannonball fish, the fins 203 are arranged between two adjacent fins 2023, and the size of the fins 203 is determined by the height of the fins 2023 and the distance between the adjacent fins 2023. The fins 203 are trapezoidal in whole, so that smooth movement of the fin swing generation mechanism 202 can be guaranteed, and waveform simulation is complete, and therefore the fin swing generation mechanism 202 and the fins 203 can simulate sine waveforms required by movement of the bionic robot cannonball fish 1000 accurately together.

The plurality of fins 2023 are rotatably connected to the fixed bar 2021, the moving bar 2022 includes a front section 20221, a plurality of eccentric sections 20222 and a rear section 20223, the front section 20221 and the rear section 20223 are coaxially disposed, the front section 20221 is connected to the electronic device module 102, so that the electronic device module 102 can drive the moving bar 2022 to rotate via the front section 20221, the rear section 20223 is rotatably supported on the rear connection assembly 5, the eccentricity of the plurality of eccentric sections 20222 is determined by a desired sine wave, i.e., a sine wave to be simulated, a phase difference is formed between adjacent eccentric sections 20222, a slot is formed at the root of each fin 2023, and the plurality of eccentric sections 20222 are correspondingly movably disposed in the slots of the plurality of fins 2023. When the moving rod 2022 rotates, the eccentric sections 20222 on the moving rod 2022 do eccentric motion, and when the eccentric sections 20222 do eccentric motion, the eccentric sections 2023 move back and forth in the slots on the fins 2023, so that the fins 2023 swing back and forth and left and right around the fixed rod 2021, and because of the phase difference between the adjacent eccentric sections 20222, the multiple fins 2023 swing with the phase difference, so that the fins 203 can simulate sine wave, and further the bionic machine cannonball fish 1000 of the present invention can swim.

Optionally, as shown in fig. 5, each of the fins 2023 and the eccentric section 20222 is six, the six fins 2023 and the six eccentric sections 20222 are correspondingly connected, and the phase difference between adjacent eccentric sections 20222 is 90 degrees, so that as the moving rod 2022 rotates, the upper eccentric section 20222 thereof can drive the six fins 2023 to swing, thereby realizing a swinging motion with three-half period and 90 degrees phase difference.

It can be understood that the forward and backward swimming of the biomimetic robotic cannonball fish 1000 can be realized by controlling the rotation direction of the upper moving rod 2022 and the lower moving rod 2022, specifically, the rotation direction of the upper moving rod 2022 and the lower moving rod 2022 causes the sine wave simulated by the fins 203 to be propagated from the fish head 1 to the fish tail 3, so that the biomimetic robotic cannonball fish 1000 swims forward, and if the rotation direction of the upper moving rod 2022 and the lower moving rod 2022 causes the sine wave simulated by the fins 203 to be propagated from the fish tail 3 to the fish head 1, the biomimetic robotic cannonball fish 1000 swims backward; the pitching motion of the bionic robot cannonball fish 1000 can be realized by controlling different rotating speeds of the upper moving rod 2022 and the lower moving rod 2022, specifically, if the rotating speed of the upper moving rod 2022 is greater than that of the lower moving rod 2022, the bionic robot cannonball fish 1000 of the invention generates a downward pitching motion, and if the rotating speed of the upper moving rod 2022 is less than that of the lower moving rod 2022, the bionic robot cannonball fish 1000 of the invention generates an upward pitching motion.

In some embodiments, as shown in fig. 5, the front section 20221, the plurality of eccentric sections 20222, and the rear section 20223 are sequentially connected by the connecting section 20224 in the front-rear direction, and the adjacent two connecting sections 20224 restrict the fin 2023 from moving axially. It will be appreciated that the connecting section 20224 serves to connect the adjacent two eccentric sections 20222 on the one hand and also to fix the position of the fin 2023 on the other hand.

In some embodiments, as shown in fig. 5, the connecting section 20224 and the eccentric section 20222 are both cylindrical sections, and the radial dimension of the connecting section 20224 is larger than the radial dimension of the eccentric section 20222, and the ratio of the radial dimension of the connecting section 20224 to the radial dimension of the eccentric section 20222 is proper. Therefore, on one hand, the required strength of the moving rod 2022 in the moving process can be ensured, and on the other hand, the static stability of the moving rod 2022 is better, and the large deformation caused by gravity can not be generated, so that the moving rod 2022 has good bending resistance and torsion resistance, and is suitable for the underwater working environment.

In some embodiments, as shown in fig. 2, the fish head 1 further comprises a fish head weight 103, the fish head weight 103 being arranged at the lower side inside the fish head housing 101; as shown in fig. 3, the fish body 2 further comprises a fish body weight 204, and the fish body weight 204 is arranged at two sides inside the fish body shell 201; as shown in fig. 4, the fishtail 3 further includes fishtail weights 304, and the fishtail weights 304 are disposed on the left and right sides of the steering engine 302. It is understood that the fish head weight 103, the fish body weight 204 and the fish tail weight 304 are arranged to maintain the underwater attitude balance of the biomimetic robotic cannonball fish 1000 of the present invention, and to jointly maintain the pitch stability of the biomimetic robotic cannonball fish 1000.

Particularly, the fish head counter weight 103 comprises a plurality of first counter weight strips, and a plurality of first counter weight strips are fixed at the inside downside of fish head casing 101 through the mode that bonds, and the symmetry axis of a plurality of first counter weight strips and the coincidence of the symmetry axis of fish head casing 101 for reduce the focus, make focus antedisplacement, keep the stability of moving about of bionic machine shell fish 1000. The fish body weight 204 is composed of a plurality of second weight strips, and the second weight strips are symmetrically fixed on two sides in the fish body shell 201 in a bonding mode and are used for maintaining the rolling stability of the bionic robot shell fish 1000. The fishtail counterweight 304 is two foam plates with proper sizes, and the two foam plates are symmetrically stuck to the two sides of the steering engine 302 through sponge rubber and used for enabling the floating core to move backwards.

Specifically, the weight and the setting position of the fish head weight 103, the fish body weight 204 and the fish tail weight 304 are obtained by the following method: calculating the volumes of the fish head shell 101, the fish body shell 201 and the fish tail shell 301 through Solidworks software, and determining the integral floating center of the bionic robot cannonball fish 1000; the whole gravity center of the bionic robot cannonball fish 1000 can be obtained by weighing the fish head 1, the fish body 2 and the fish tail 3. The gravity center and the floating center of the bionic robot cannonball fish 1000 are determined, and the posture of the bionic robot cannonball fish 1000 in water is stable by adjusting the fish head counterweight 103, the fish body counterweight 204 and the fish tail counterweight 304.

Preferably, the entire structure of the biomimetic robotic cannonball fish 1000 is bilaterally symmetrical, so that the yaw stability of the biomimetic robotic cannonball fish 1000 can be disregarded.

In some embodiments, as shown in fig. 2, the electronic device module 102 includes a bluetooth module 1021, two motors 1022 and an Arduino board 1023, wherein the bluetooth module 1021 is used for bluetooth communication with the outside, the bluetooth module 1021 and the two motors 1022 are respectively electrically connected with the Arduino board 1023, the two motors 1022 are respectively connected with the front ends of the moving bars 2022 of the two fin oscillation generating mechanisms 202 to drive the moving bars 2022 to rotate, and the Arduino board 1023 is electrically connected with the steering engine 302 through an electric wire to control the operation of the steering engine 302. Specifically, during control, an instruction can be input into mobile phone software, the instruction is input into the bluetooth module 1021 through bluetooth transmission, then the Arduino board 1023 and a program stored on the Arduino board 1023 are input, and the Arduino board 1023 runs the program according to the input instruction to change the motion states of the motor 1022 and the steering engine 302, so that the aim of controlling the moving state of the bionic machine cannonball fish 1000 is fulfilled, for example, the moving postures of straight travel, acceleration, turning, floating, diving and the like of the bionic machine cannonball fish 1000 of the invention are controlled.

Arduino board 1023 is electrically connected to steering engine 302 via wires. Specifically, the electric wire starts from Arduino board 1023 in fish head casing 101, passes through the cavity of fish body casing 201, reaches steering wheel 302 through the wire hole of fish tail casing 301, uses waterproof glue sealed fish tail casing 301's wire hole in order to realize waterproofly. The electric wires pass through the fish body shell 201 and the fish tail shell 301, so that the bionic robot cannonball fish 1000 is more attractive in appearance on one hand, and the electric wires can be protected on the other hand.

Further, as shown in fig. 2, the electronic device module 102 further includes a battery module 1024, the battery module 1024 is connected to the Arduino board 1023 through the bread board, and the two motors 1022, the steering engine 302 and the bluetooth module 1021 are powered through the battery module 1024 via the Arduino board 1023. In a specific example, the output voltage of the battery module 1024 is 5V and 12V, the battery module 1024 includes a 9V battery, a voltage boosting module, and a voltage reducing module, the 9V battery is used for supplying power, and the voltage boosting module and the voltage reducing module respectively obtain 12V and 5V voltages for supplying power. Wherein, the 12V voltage of output is used for supplying power for motor 1022, and the 5V voltage of output is used for supplying power for Arduino board 1023 and steering wheel 302.

In some embodiments, as shown in fig. 6, the front connection assembly 4 includes a first sealing piece 401, a front connecting plate 402, and a second sealing piece 403; the first sealing sheet 401 is arranged between the fish head shell 101 and the front connecting plate 402, the front connecting plate 402 is fixed with the fish head shell 101 in a threaded manner, and a gap between the front connecting plate 402 and the fish head shell 101 is sealed by the first sealing sheet 401; a second sealing sheet 403 is arranged between the front connecting plate 402 and the fish body shell 201; the fish body shell 201 and the front connecting plate 402 are fixed in a threaded manner, and a gap between the front connecting plate 402 and the fish body shell 201 is sealed through a second sealing sheet 403;

as shown in fig. 4, the rear connection assembly 5 includes a third sealing piece, a fourth sealing piece, and a rear connection plate 501; the third sealing strip, the rear connecting plate 501 and the fourth sealing strip are sequentially arranged between the fish body shell 201 and the fish tail shell 301 in the front-rear direction; fish body casing 201, back connecting plate 501 and fishtail casing 301 threaded fixation to through the sealed gap between fish body casing 201 and the back connecting plate 501 of third gasket, through the sealed clearance between back connecting plate 501 and the fishtail casing 301 of fourth gasket.

In some embodiments, the moving rod 2022 passes through the front connecting plate 402 and the first sealing sheet 401 to be connected to the motor shaft of the motor 1022, specifically, the moving rod 2022 is connected to the motor shaft of the motor 1022 through a coupler, and a dynamic sealing structure 6 is disposed between the moving rod 2022 and the front connecting plate 402, it can be understood that the dynamic sealing structure 6 is used for sealing the gap between the moving rod 2022 and the front connecting plate 402, so as to ensure that the moving rod 2022 is still sealed and waterproof between the moving rod 2022 and the front connecting plate 402 during the rotation process.

In some embodiments, as shown in fig. 7, the dynamic seal structure 6 includes a heat shrinkable tube 601, a first seal ring 602, and a second seal ring 603, wherein the heat shrinkable tube 601 is a tube body that can be shrunk after heating. The rear side of the front connecting plate 402 is provided with a convex cylindrical hole 4021; the front end of the heat shrink tube 601 is sleeved on the outer periphery of the convex cylindrical hole 4021, and the first sealing ring 602 is arranged between the outer periphery of the convex cylindrical hole 4021 and the inner periphery of the front end of the heat shrink tube 601; the front end of the moving rod 2022 passes through the heat shrink tube 601 and the convex cylindrical hole 4021 and then is connected with the motor shaft of the motor 1022, the second sealing ring 603 is arranged between the outer periphery of the front end of the moving rod 2022 and the inner periphery of the heat shrink tube 601, and it should be noted that the heat shrink tube 601 is closely attached to the outer periphery of the front end of the moving rod 2022. Thus, when the moving rod 2022 rotates, the dynamic seal structure 6 can seal and waterproof between the moving rod 2022 and the front connection plate 402. Preferably, grease is coated on the convex cylindrical hole 4021 and the moving rod 2022, and waterproof white glue is coated at the joint of the heat shrinkable tube 601 and the moving rod 2022, so as to achieve better sealing and waterproof effects.

In some embodiments, as shown in fig. 2, a partition is disposed in the fish head housing 101, the partition is connected to the fish head housing 101 through an insertion layer disposed inside the fish head housing 101, optionally, the bluetooth module 1021, the Arduino board 1023, and the battery module 1024 are fixed to the partition by using studs, so that a distance is kept between the bluetooth module 1021, the Arduino board 1023, and the battery module 1024 and the partition, thereby further reducing the possibility of the bluetooth module 1021, the Arduino board 1023, and the battery module 1024 getting damp. The motor 1022 is symmetrically fixed on the inner sides of the upper plate and the lower plate of the partition plate through a motor frame and a stud bolt structure.

In some embodiments, the first sealing piece 401, the second sealing piece 403, the third sealing piece, the fourth sealing piece, and the fins 203 are all silicone pieces, and the silicone pieces have good toughness and ductility and can adapt to the working states and working environments of the first sealing piece 401, the second sealing piece 403, the third sealing piece, the fourth sealing piece, and the fins 203.

In some embodiments, the fish head housing 101, the partition, the fish body housing 201, the front connecting plate 402, the fin oscillation generating mechanism 202, the fish tail housing 301, the rear connecting plate 501, and the tail fin 303 are all made of photosensitive resin by 3D printing. The rigidity and the strength performance are good, and the bionic shell fish is suitable for the swimming state and the swimming environment of the bionic shell fish 1000.

In some embodiments, as shown in fig. 4, the tail fin 303 includes a tail fin connector 3031 and a tail fin connector 3032, the tail fin connector 3032 is connected to the moving end of the steering engine 302 by a screw-nut combination, and the tail fin 3031 is connected to the tail fin connector 3032 by a screw-nut combination.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A biomimetic robotic cannonball fish driven by a waving fin, having cannonball fish biomimetic properties, comprising:

the fish tail comprises a fish tail shell, a steering engine and tail fins, the fish tail shell is connected with the fish body shell, the steering engine is fixed at the rear end of the fish tail shell, and the tail fins are connected with the steering engine; the electronic device module controls the operation of the steering engine, and the steering engine drives the tail fin to swing so as to adjust the swimming direction and auxiliary driving of the bionic machinery cannonball fish driven by the fluctuated fin.

2. The fin-powered biomimetic robotic cannonball fish of claim 1, wherein the body shell is sealingly attached to the head shell by a front attachment assembly, and the tail shell is sealingly attached to the body shell by a rear attachment assembly.

3. The fin-powered biomimetic robotic cannonball fish of claim 2, wherein the fin-swing generating mechanism includes a stationary bar, a moving bar, and a plurality of fins; the front end and the rear end of the fixed rod are respectively and correspondingly fixed on the front connecting assembly and the rear connecting assembly; many the fin is around the interval ground arranges, many the fin with decide the pole and rotate and link to each other, move the pole and include anterior segment, a plurality of eccentric section and the back end that links to each other in proper order from beginning to end, the anterior segment with the coaxial setting of back end, the anterior segment with the electron device module links to each other, the back end supports with rotating on the back coupling assembling, and is a plurality of the eccentricity of eccentric section is given by required sine wave, and is adjacent have the phase difference between the eccentric section, every the root of fin all is provided with the slot, and is a plurality of the eccentric section is corresponding movably to be set up many in the slot of fin.

4. The fin-driven biomimetic robotic cannonball fish of claim 3, wherein the front section, the plurality of eccentric sections, and the rear section are sequentially connected by connecting sections in a front-rear direction, and two adjacent connecting sections limit the fin-shaped strip from moving axially.

5. The waved fin-driven biomimetic robotic cannonball fish of claim 4, wherein the connecting section and the eccentric section are both cylindrical sections, and the radial dimension of the connecting section is greater than the radial dimension of the eccentric section.

6. The fin-powered biomimetic robotic cannonball fish of any of claims 1-5, wherein the fish head further comprises a fish head weight, the fish head weight disposed on an underside of an interior of the fish head housing; the fish body further comprises a fish body counterweight, and the fish body counterweight is arranged on two sides of the interior of the fish body shell; the fishtail further comprises a fishtail counterweight, and the fishtail counterweight is arranged on the left side and the right side of the steering engine.

7. The simulated robotic cannonball fish of claim 3, wherein the electronics module comprises a bluetooth module, two motors and an Arduino plate, the bluetooth module and the two motors are respectively electrically connected to the Arduino plate, the two motors are respectively connected to the front ends of the moving rods of the fin-swinging generation mechanism, and the Arduino plate is electrically connected to the steering engine through wires.

8. The fin-driven biomimetic robotic cannonball fish of claim 7, wherein the front attachment assembly includes a first sealing piece, a front attachment plate, and a second sealing piece; the first sealing piece is arranged between the fish head shell and the front connecting plate, the front connecting plate is fixed with the fish head shell in a threaded manner, and a gap between the front connecting plate and the fish head shell is sealed through the first sealing piece; the second sealing sheet is arranged between the front connecting plate and the fish body shell; the fish body shell is fixed with the front connecting plate through threads, and a gap between the front connecting plate and the fish body shell is sealed through the second sealing sheet;

9. The fin-driven biomimetic robotic cannonball fish of claim 8, wherein the moving rod is connected to a motor shaft of the motor through the front connection plate and the first sealing fin, and a dynamic sealing structure is provided between the moving rod and the front connection plate.

10. The fin-powered biomimetic robotic cannonball fish of claim 9, wherein the dynamic seal structure comprises a heat shrink tube, a first seal ring and a second seal ring, and wherein a convex cylindrical hole is formed in a rear side of the front connecting plate; the front end of the heat shrinkable tube is sleeved on the periphery of the convex cylindrical hole, and the first sealing ring is arranged between the periphery of the convex cylindrical hole and the inner periphery of the front end of the heat shrinkable tube; the front end of the moving rod penetrates through the heat shrink tube and the convex cylindrical hole and then is connected with a motor shaft of the motor, and the second sealing ring is arranged between the outer periphery of the front end of the moving rod and the inner periphery of the heat shrink tube.