CN116002021A - Rope-driven type X-shaped parallel structure stretching whole flexible bionic fish - Google Patents
Rope-driven type X-shaped parallel structure stretching whole flexible bionic fish Download PDFInfo
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- CN116002021A CN116002021A CN202211678497.3A CN202211678497A CN116002021A CN 116002021 A CN116002021 A CN 116002021A CN 202211678497 A CN202211678497 A CN 202211678497A CN 116002021 A CN116002021 A CN 116002021A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
A rope-driven type X-shaped parallel structure stretch-draw whole flexible bionic fish relates to a bionic fish. Install MCU controller, battery and servo motor in the fish head shell, waterproof switch control MCU controller is installed at the top, servo motor fixed wobble plate, first fish body joint, second fish body joint, third fish body joint and fish tail joint arrange in proper order at fish head shell rear and wrap up with bionical fish skin, first fish body joint passes through two spring coupling with the fish tail joint, first fish body joint is articulated through last connecting rod and lower connecting rod respectively between first fish body joint and the second fish body joint, second fish body joint and third fish body joint and the fish tail joint, corresponding last connecting rod and lower connecting rod are X shape and arrange, the wobble plate passes through two initiative drive ropes and fish tail joint connection, the tail fin passes through the stretch-draw joint and installs at fish tail joint rear end. The defects that the hinge mechanism has low rotation rigidity and cannot absorb transverse impact load are overcome, and the swimming process of the bionic fish is more real and stable.
Description
Technical Field
The invention relates to a bionic fish, in particular to a rope-driven type X-shaped parallel structure stretching integral flexible bionic fish, and belongs to the technical field of bionic robot structures.
Background
The existing mechanical bionic fish can only realize the rotation of tail fins or fish fins, the bionic fish with partial fish bodies capable of moving also basically adopts the traditional hinge mechanism, the rotation rigidity is low, the transverse impact load cannot be absorbed, the synchronous movement of each joint and tail fin of the fish bodies cannot be realized, the stability is lower when the fish bodies move in water, the high-frequency movement is difficult to keep, and the simple stiffness of the movement mode is difficult to meet the requirements of underwater reconnaissance and biological detection.
The invention patent application with the application number of CN202111502794.8 and the name of "a scientific education type underwater bionic robot fish" controls the left pectoral fin and the right pectoral fin to move through a left pectoral fin motor and a right pectoral fin motor, the movement of a fish body main body is realized through a submersible pump, the appearance is in bionic design according to a tiger whale, but the joint movement form is relatively single and stiff;
the invention patent application with the application number of CN202111501196.9 and the name of intelligent bionic robot fish for science popularization education of teenagers and children is convenient to mount and dismount, the mechanical structure inside the fish body can be clearly seen, but the fish body part of the intelligent bionic robot fish has only one driving joint, the motion mode of the tail fin is finished by only one revolute pair, and the bionic motion process is also relatively dead.
In view of the above-mentioned drawbacks of the bionic fish using the conventional hinge mechanism at present, there is a need to optimize and improve the problem of synchronous movement of each joint and tail fin of the fish body, so as to improve the stability and amplitude of the movement mode and meet the use requirements of underwater operation and scientific and teaching display.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the rope-driven X-shaped parallel structure stretch-draw integral flexible bionic fish, which can solve the defects that the traditional hinge mechanism has low rotation rigidity and can not absorb transverse impact load, so that the swimming process of the bionic fish is more real and stable, and has good application value.
In order to achieve the above purpose, the invention adopts the following technical scheme: the rope-driven X-shaped parallel structure stretching integral flexible bionic fish comprises a fish head shell, a first fish body joint, a second fish body joint, a third fish body joint, a fish tail joint, a tail fin and a bionic fish skin, wherein the rear end of the fish head shell is sealed by a support plate, an MCU controller, a battery serving as a power supply and a servo motor controlled by the MCU controller to rotate positively and negatively are fixedly arranged in the fish head shell, a waterproof switch is arranged at the top of the fish head shell to control the MCU controller to open or close, a swinging disc is fixed on an output shaft of the servo motor and positioned in the middle position inside the fish head shell to swing left and right, the first fish body joint, the second fish body joint, the third fish body joint and the fish tail joint are sequentially arranged behind the fish head shell at intervals and are wrapped with the bionic fish skin, the bionic fishskin front end is fixed with the edge of the support plate in a sealing manner, the left side and the right side of the middle of the first fishbody joint and the fishtail joint are connected through two springs which are horizontally arranged in parallel, the middle section of each of the two springs penetrates through the second fishbody joint and the third fishbody joint, the upper connecting rod and the lower connecting rod which are respectively arranged at the upper and lower parts of the two springs and are respectively inclined horizontally are arranged between the first fishbody joint and the second fishbody joint, between the second fishbody joint and the third fishbody joint and between the third fishbody joint and the fishtail joint, each upper connecting rod and each lower connecting rod which correspond up and down are arranged in an X shape, the two ends of the swinging plate are connected with the left side and the right side of the front end of the fishtail joint through two driving ropes which are arranged in parallel, perforations for the driving ropes to extend out are formed in the corresponding positions of the support plate, and the tail fin is arranged at the rear end of the fishtail joint through the tensioning joint.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the upper connecting rod and the lower connecting rod which are arranged in an X shape are combined through the two springs to be connected with the fish body joints, the servo motor drives the swinging disc to swing, the swinging of the fish body and the fish tail is realized through the two active driving ropes, the left and right sides of the fish body joints are equivalent to a revolute pair, each joint can rotate by taking the previous section as a base point, the defects that the traditional hinge mechanism is low in rotation rigidity and can not absorb transverse impact load are overcome, the swimming process of the bionic fish is more truly stable, the locking sleeve is arranged between the first fish body joint and the second fish body joint and between the first fish body joint and the third fish body joint, the corresponding position of the active driving rope can be locked and fixed, so that the swinging position of the bionic fish is adjusted, the swimming modes of more kinds of fish are simulated, in addition, the swinging frequency of the swinging disc can be controlled, the swimming speed of the bionic fish is controlled, the product is integrally and stably carried by a camera to perform a surveying task, the swimming mechanism of the bionic fish can be simulated, and various forms of science and demonstration can be performed by using the teaching aid as a teaching tool, and has good application value.
Drawings
FIG. 1 is an isometric view of the overall structure of a rope-driven X-type parallel structure tensegrity flexible bionic fish of the present invention;
FIG. 2 is a schematic diagram of the internal structure of the rope-driven X-shaped parallel structure stretch-draw whole flexible bionic fish of the invention;
FIG. 3 is a front view in cross section of FIG. 1;
FIG. 4 is a top cross-sectional view of FIG. 1;
FIG. 5 is a diagram of the connection of the tail fin to the fish tail joint of the present invention;
FIG. 6 is a spatial layout of 8 elastic connecting lines of the tension joint of the present invention;
fig. 7 is a schematic view of the limiting direction of the elastic connecting rope in fig. 6.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are all within the protection scope of the present invention.
As shown in fig. 1 to 4, a rope-driven type X-shaped parallel structure stretch-draw whole flexible bionic fish comprises a fish head shell 1, a first fish body joint 4, a second fish body joint 6, a third fish body joint 7, a fish tail joint 8, a tail fin 9 and a bionic fish skin 17.
Referring to fig. 2 to 4, the rear end of the fish head shell 1 is closed by a support plate 3, an MCU controller 14, a battery 15 and a servo motor 16 are fixedly installed in the fish head shell, the battery 15 is used as a power source to supply power to the MCU controller 14 and the servo motor 16, a waterproof switch 2 is installed at the top of the fish head shell 1 to control the MCU controller 14 to be opened or closed, the MCU controller 14 is used for controlling the servo motor 16 to rotate in a forward and backward mode, a swinging disc is fixed on an output shaft of the servo motor 16, and further the swinging disc swings in a left and right reciprocating mode, and the swinging disc is located in the middle position inside the fish head shell 1. Preferably, the wobble angle of the wobble plate is + -30 deg.. In addition, in order to further control the swimming speed of the bionic fish, an electric regulator is preferably added between the MCU controller 14 and the servo motor 16, and the MCU controller 14 is provided with a remote controller, when the MCU controller 14 is started, the current of the servo motor 16 can be changed through the electric regulator by using the remote controller, so that the change of the swinging frequency of the swinging disc is realized.
Referring to fig. 1-2, the first body joint 4, the second body joint 6, the third body joint 7 and the tail joint 8 are sequentially arranged at intervals behind the fish head shell 1 and wrapped with a bionic fish skin 17, and the front end of the bionic fish skin 17 is fixed with the edge of the support plate 3 in a sealing manner.
Referring to fig. 2 and 4, the left and right sides of the middle of the first fish body joint 4 and the fish tail joint 8 are connected by two springs 12 horizontally arranged in parallel, and the middle section of the two springs 12 penetrates through the second fish body joint 6 and the third fish body joint 7. The upper and lower parts of the two springs 12, which are respectively arranged above and below the two springs 12, are hinged through an upper connecting rod 5 and a lower connecting rod 11 which are horizontally inclined, and each upper connecting rod 5 and each lower connecting rod 11 which are vertically corresponding are arranged in an X shape. Two ends of the swinging plate are connected with the left side and the right side of the front end of the fish tail joint 8 through two active driving ropes 18 which are arranged in parallel, and perforations for the active driving ropes 18 to extend out are formed in corresponding positions of the support plates 3.
Further, the middle positions of the left side and the right side of the first fish body joint 4, the second fish body joint 6 and the third fish body joint 7 are respectively and internally integrally provided with a locking sleeve 13, the locking sleeves 13 respectively penetrate through holes for the corresponding driving ropes 18 to penetrate through along the front-back direction, and the outer ends of the locking sleeves 13 are in threaded connection and matched with fastening bolts to lock and fix the corresponding driving ropes 18. The structure can selectively fix the active driving rope 18 with the first fish body joint 4, the second fish body joint 6 and the third fish body joint 7, so that the swing position of the bionic fish is adjusted, and the swimming modes of more fish are simulated.
Referring to fig. 5 to fig. 6, the tail fin 9 is mounted at the rear end of the fish tail joint 8 through a tension joint 19, specifically, the tension joint 19 includes two U-shaped connectors fixed at the rear end of the fish tail joint 8 and the front end of the tail fin 9, the two U-shaped connectors are vertically and crosswise arranged in opposite directions, the two ends of the opening of the two U-shaped connectors and the two ends of the opening of each U-shaped connector are respectively connected with the middle section of the other U-shaped connector through 8 elastic connecting ropes 20, and the design of the elastic connecting ropes 20 can avoid the problem that the conventional hinge is corroded due to long-term contact with water.
In detail, as shown in fig. 6, the tensioning joint 19 is provided with 6 holes at the two ends and the middle section of the opening of the two U-shaped connectors (the two U-shaped connectors can correspondingly move outwards to the fish tail joint 8 and the tail fin 9), and 8 elastic connecting ropes 20 are penetrated and fixed according to the arrangement mode of 3 dotted lines in fig. 6 to form a complete tensioning mechanism, and in detail, as shown in fig. 7, the limiting function corresponding to the 8 elastic connecting ropes 20 in fig. 6 can be seen.
In order to realize the connection of the upper connecting rod 5 and the lower connecting rod 11 to the first fish body joint 4, the second fish body joint 6, the third fish body joint 7 and the fish tail joint 8, pin shafts are pre-installed at the corresponding hinge point positions, and the positions of the first fish body joint 4, the second fish body joint 6, the third fish body joint 7 and the fish tail joint 8 for installing the pin shafts are respectively integrally provided with limit sleeves matched with the upper end and the lower end of the pin shafts, so that waterproof plugs 10 are preferably plugged outside the limit sleeves to prevent the pin shafts from rusting.
The bionic fish disclosed by the invention is designed by taking the blue-fin tuna as a sample, the overall size of the fish body is smaller, the total length is about 35cm, the bionic effect is better in 0.5 m-class fish, the bionic fish skin adopts transparent TPU fish skin so as to display the motion principle of an internal mechanism in detail, the driving mode adopts single servo motor for driving, the driving circuit is simpler and more convenient, a camera can be accommodated in the fish head so as to conveniently carry out underwater surveying tasks, the motion mode is more flexible and changeable, the performance is excellent, the swinging frequency of the fish tail can be controlled, the swimming efficiency is improved, the swinging positions can be fixedly adjusted through different joints and driving ropes, and the bionic fish skin is convenient to carry out scientific and teaching display in various forms as a mechanism for simulating fish swimming by using a teaching tool.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (5)
1. A rope-driven X-shaped parallel structure stretch-draw whole flexible bionic fish is characterized in that: including fish head shell (1), first fish body joint (4), second fish body joint (6), third fish body joint (7), fish tail joint (8), tail fin (9) and bionical fish skin (17), fish head shell (1) rear end is closed and its inside fixed mounting has MCU controller (14), battery (15) and receive as the power MCU controller (14) control positive and negative reciprocating rotation's servo motor (16), opening or closing of waterproof switch (2) control MCU controller (14) is installed at fish head shell (1) top, servo motor (16) output shaft is fixed with the wobble plate and is located inside intermediate position of fish head shell (1) and can control reciprocating swing, first fish body joint (4) second fish body joint (6) third fish body joint (7) and fish tail joint (8) interval arrangement in proper order are at fish head shell (1) rear and are wrapped up in bionical fish skin (17), bionical fish skin (17) front end and fish head shell (3) front end and two side-to-side joint (8) are fixed through two middle joint (12) side-to-side connection two side spring (12), the novel fish tail joint comprises a first fish body joint (4) and a second fish body joint (6), a second fish body joint (6) and a third fish body joint (7) and a fish tail joint (8), wherein an upper connecting rod (5) and a lower connecting rod (11) which are arranged in a horizontal inclined mode are respectively arranged above and below the two springs (12), each upper connecting rod (5) and each lower connecting rod (11) are arranged in an X-shaped mode, two ends of a swinging disc are connected with the left side and the right side of the front end of the fish tail joint (8) through two active driving ropes (18) which are arranged in parallel, a through hole through which the active driving ropes (18) extend is formed in the corresponding position of a supporting plate (3), and a tail fin (9) is arranged at the rear end of the fish tail joint (8) through a tensioning joint (19).
2. A rope-driven X-shaped parallel structure tensegrity flexible bionic fish according to claim 1, characterized in that: an electric regulator is arranged between the MCU controller (14) and the servo motor (16), the MCU controller (14) is provided with a remote controller, and when the MCU controller (14) is started, the remote controller is utilized to change the current of the servo motor (16) through the electric regulator so as to further realize the change of the swinging frequency of the swinging disc.
3. A rope-driven X-shaped parallel structure tensegrity flexible bionic fish according to claim 1 or 2, characterized in that: the novel fish body comprises a first fish body joint (4), a second fish body joint (6) and a third fish body joint (7), wherein locking sleeves (13) are respectively and internally integrally arranged at middle positions of the left side and the right side of the first fish body joint, the locking sleeves (13) respectively penetrate through holes for corresponding driving ropes (18) to penetrate through along the front-back direction, and fastening bolts are in threaded connection with the outer ends of the locking sleeves (13) to lock and fix the corresponding driving ropes (18).
4. A rope-driven X-shaped parallel structure tensegrity flexible bionic fish according to claim 1, characterized in that: the tensioning joint (19) comprises two U-shaped connecting pieces which are respectively fixed at the rear end of the fish tail joint (8) and the front end of the tail fin (9), the two U-shaped connecting pieces are oppositely and vertically crossed, and the two ends of the opening of each U-shaped connecting piece and the middle section of the other U-shaped connecting piece are respectively connected through 8 elastic connecting ropes (20).
5. A rope-driven X-shaped parallel structure tensegrity flexible bionic fish according to claim 1, characterized in that: the swing angle of the swinging disc is +/-30 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211678497.3A CN116002021A (en) | 2022-12-26 | 2022-12-26 | Rope-driven type X-shaped parallel structure stretching whole flexible bionic fish |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211678497.3A CN116002021A (en) | 2022-12-26 | 2022-12-26 | Rope-driven type X-shaped parallel structure stretching whole flexible bionic fish |
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| CN116002021A true CN116002021A (en) | 2023-04-25 |
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| CN202211678497.3A Pending CN116002021A (en) | 2022-12-26 | 2022-12-26 | Rope-driven type X-shaped parallel structure stretching whole flexible bionic fish |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116588292A (en) * | 2023-05-23 | 2023-08-15 | 北京大学 | Underwater operation robot |
| CN117687060A (en) * | 2024-02-04 | 2024-03-12 | 广东海洋大学 | Wireless underwater tracking equipment based on Beidou positioning |
-
2022
- 2022-12-26 CN CN202211678497.3A patent/CN116002021A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116588292A (en) * | 2023-05-23 | 2023-08-15 | 北京大学 | Underwater operation robot |
| CN116588292B (en) * | 2023-05-23 | 2024-02-20 | 北京大学 | Underwater operation robot |
| CN117687060A (en) * | 2024-02-04 | 2024-03-12 | 广东海洋大学 | Wireless underwater tracking equipment based on Beidou positioning |
| CN117687060B (en) * | 2024-02-04 | 2024-04-12 | 广东海洋大学 | Wireless underwater tracking equipment based on Beidou positioning |
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