CN203902830U - Light and small magnetically actuated bionic robot fish - Google Patents
Light and small magnetically actuated bionic robot fish Download PDFInfo
- Publication number
- CN203902830U CN203902830U CN201420202790.7U CN201420202790U CN203902830U CN 203902830 U CN203902830 U CN 203902830U CN 201420202790 U CN201420202790 U CN 201420202790U CN 203902830 U CN203902830 U CN 203902830U
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- fish
- steering wheel
- tail
- fish body
- small
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Abstract
The utility model discloses a light and small magnetically actuated bionic robot fish which comprises a fish body, a magnetic power fish tail, a U-shaped block and a charging pile, wherein the fish body is connected with the magnetic power fish tail through the U-shaped block; the charging pile is mounted at the lower end of the surface of the fish body, connected with the fish tail; the fish body comprises an infrared sensing probe, a second waterproof housing, a second waterproof housing on the outer surface of the fish body, a control switch and a waterproof soft plug; the magnetic power fish tail comprises a magnetic induction coil, a rotary shaft, a PVC (polyvinyl chloride) bobbin, a round permanent magnet and a flexible fish tail. The bionic robot fish is simple in structure and small in volume; a magnetic power propulsion mechanism does not need to be subjected to any waterproof protection, so that the complexity of the mechanism is greatly lowered; the energy consumption is low and the cruising ability is improved; the energy consumption power of a magnetic power mode is only 1/4 that of a motor and the working voltage range is relatively wide; the robot fish is easy and convenient to control, and the forwarding, acceleration, turning, sinking and floating, and the like of the robot fish can be easily controlled by controlling the current direction and the current of the coil.
Description
Technical field
The utility model relates to a kind of bionic machine fish, is specifically related to the bionic machine fish that a kind of small-sized mangneto swings.
Background technology
Moving about of fish, particularly moving about of Scad section fish, mainly the regular non-stationary motion by soma fluctuation and fin realizes, and comprises startup, cruises, turns to, the action such as acceleration and deceleration and sink-float.The moving about of fish have that sport efficiency is high, resistance is little, manoevreability is high and noise is little, the feature little to the disturbance of environment, and the performance of moving about of these brilliances, has attracted increasing scientific research personnel to put in the middle of the research ranks of bionic machine fish just.And profile and the mechanism of moving about of imitating fish develop that bionic machinery fish system makes it to have efficiently, the ability of cruising flexibly under water, can be applied to the fields such as resource detection, biological study and military surveillance under complex environment.
Current most bionic machine fish all adopts the type of drive of motor joint cascade or artificial-muscle to realize, mainly exist volume redundancy, be difficult to waterproof, control complicated problem, particularly the waterproof problem of kinematic mechanism, brings very large restriction to the development of machine fish.For above problem, the utility model proposes that a kind of novel employing magnetic motive force is gently little as the propelling thrust that advances, volume, the bionic machine fish of low energy consumption, not only do not need to consider the waterproof problem of driver train, but also greatly improved flying power.
Utility model content
The purpose of this utility model is to overcome the problem that prior art exists, the bionic machine fish that provides a kind of small-sized mangneto to swing.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the utility model is achieved through the following technical solutions:
The bionic machine fish that a kind of small-sized mangneto swings, comprise fish body, magnetic motive force fish tail, U-shaped and charging pile, described fish body is connected by described U-shaped with described magnetic motive force fish tail, described charging pile is arranged on described fish body and lower end described fish tail joint face, described fish body comprises infrared sensor probe, the second waterproof case, the second waterproof case of fish body appearance, master cock and waterproof cork, described infrared sensor probe is arranged on the both sides of the first waterproof case, described source switch is arranged on described U-shaped upper end with the joint face of described fish body, and surface cover has described waterproof cork, described magnetic motive force fish tail comprises magnetic induction coil, turning cylinder, PVC bobbin, circular permanent magnet and flexible fish tail, described magnetic induction coil is on described PVC bobbin, and described magnetic induction coil side is provided with turning cylinder, and described turning cylinder has passed described PVC bobbin, the inside of described PVC bobbin is provided with described circular permanent magnet, and described circular permanent magnet is connected with described flexible fish tail.
Further, the inside of described fish body is provided with steering wheel, steering wheel connecting rod, circuit card, support, clump weight and high-capacity lithium cell and L-type plate, described steering wheel and described clump weight have formed gravity centre adjustment mechanism, and described clump weight is fixed on described steering wheel, described steering wheel is connected with described steering wheel connecting rod, described steering wheel below is provided with described circuit card, between described circuit card and described L-type plate, by described support, is connected, and below described L-type plate, be a large amount of lithium celies.
Further, the drive pattern of described machine fish is that magnetic motive force swings propulsion mode, and propulsive mechanism itself has water-proof function.
Preferably, the fish body waterproofing design of described machine fish adopts split thread connecting mode, and described the first waterproof case and described the second waterproof case employing PVC work material.
Further, all gaps of described machine fish all adopt water-proof silica-gel to seal.
Further, described flexible fish tail is half moon-shaped flexible latex plate.
The beneficial effects of the utility model:
The utility model is simple in structure, and volume is gently little; Magnetic motive force propulsive mechanism, without any need for waterproofing protection, greatly reduces the complexity of mechanism; Energy consumption is low, has improved flying power; Compare as drive source with conventional steering wheel, the energy consumption power of magnetic motive force pattern is only 1/4 of motor, and operating voltage range is wider; Control simple and conveniently, by direction of current and the size of current of control coil, just can control like a cork that machine fish advances, acceleration, turning and sink-float etc.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of small-sized mangneto pendulum bionic machine fish of the utility model.
Fig. 2 is the sectional structure schematic diagram of the fish body part of the utility model machine fish;
Fig. 3 is the structural representation of the magnetic motive force fish tail part of the utility model machine fish.
Number in the figure explanation: 1, infrared pickoff probe, the 2, first waterproof case, the 3, second waterproof case, 4, master cock, 5, waterproof cork, 6, U-shaped, 7, magnetic induction coil, 8, turning cylinder, 9, PVC bobbin, 10, circular permanent magnet, 11, flexible fish tail, 12, charging pile, 13, steering wheel, 14, steering wheel connecting rod, 15, circuit card, 16, between, 17, clump weight, 18, a large amount of lithium cell, 19, L-type plate.
The specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the utility model in detail.
Shown in Fig. 1-Fig. 3, the bionic machine fish that a kind of small-sized mangneto swings, comprise fish body, magnetic motive force fish tail, U-shaped 6 and charging pile 12, described fish body is connected by described U-shaped 6 with described magnetic motive force fish tail, described charging pile 12 is arranged on described fish body and lower end described fish tail joint face, described fish body comprises infrared sensor probe 1, the second waterproof case 2, the second waterproof case 3 of fish body appearance, master cock 4 and waterproof cork 5, described infrared sensor probe 1 is arranged on the both sides of the first waterproof case 2, described source switch 4 is arranged on described U-shaped 6 upper end with the joint face of described fish body, and surface cover has described waterproof cork 5, described magnetic motive force fish tail comprises magnetic induction coil 7, turning cylinder 8, PVC bobbin 9, circular permanent magnet 10 and flexible fish tail 11, described magnetic induction coil 7 is on described PVC bobbin 9, and described magnetic induction coil 7 sides are provided with turning cylinder 8, and described turning cylinder 8 has passed described PVC bobbin 9, the inside of described PVC bobbin 9 is provided with described circular permanent magnet 10, and described circular permanent magnet 10 is connected with described flexible fish tail 11.
Further, the inside of described fish body is provided with steering wheel 13, steering wheel connecting rod 14, circuit card 15, support 16, clump weight 17 and high-capacity lithium cell 18 and L-type plate 19, described steering wheel 13 and described clump weight 17 have formed gravity centre adjustment mechanism, and described clump weight 17 is fixed on described steering wheel 13, described steering wheel 13 is connected with described steering wheel connecting rod 14, described steering wheel 13 belows are provided with described circuit card 15, between described circuit card 15 and described L-type plate 19, by described support 16, are connected, and described L-type plate below is a large amount of lithium cell 18.
Further, the drive pattern of described machine fish is that magnetic motive force swings propulsion mode, and propulsive mechanism itself has water-proof function.
Preferably, the fish body waterproofing design of described machine fish adopts split thread connecting mode, and described the first waterproof case 2 and described the second waterproof case 3 employing PVC work materials.
Further, all gaps of described machine fish all adopt water-proof silica-gel to seal.
Further, described flexible fish tail 11 is half moon-shaped flexible latex plates.
Principle of the present utility model:
As shown in Figure 1, charging pile 12 is for to be accommodated in high-capacity 18 lithium cell chargings in fish body, and source switch 4 surfaces have put waterproof cork 5, and anti-sealing enters into fish body effectively.Fish body part appearance is by the first waterproof case 2 and the second waterproof case 3 water-tights.After master cock 4 is opened, machine fish just can swing by flexible tail fin and obtain the power of pushing ahead.
As shown in Figure 2, waterproof case adopts PVC material to process by rapid laser-shaping technique, and waterproof case adopts split design, is threaded connection, effectively waterproof, again conveniently assemble and disassemble by the first waterproof case 2 and 3 two somatotypes of the second waterproof case.Infrared pickoff probe 1 is used for detecting obstacle, realizes and independently cruising.Gravity centre adjustment mechanism is controlled 17 of counterweights by steering wheel 13 and is moved forward and backward, and realizes the adjustment of machine fish center of gravity.When clump weight 17 is during at front end, upside down, flexible fish tail 11 is pushing away machine fish to fish; When clump weight 17 is during in rear end, head-up, machine fish upwards floats fish.
As shown in Figure 3, magnetic induction coil 7 adopts enamel wire coiling on PVC bobbin 9 that string diameter is 0.5mm to form, and has very strong galvanomagnetic effect performance and good water resistance.Circular permanent magnet 10 is selected the strong magnetic of Ru-Fe-Mn material, and magnetic is strong, is difficult for demagnetization.Permanent magnet and a flexible fish tail 11 of crescent latex link together, and when magnetic induction coil 7 has exchange current, flexible fish tail 11 just can swing around turning cylinder under the effect in magnetic field.Magnetic motive force afterbody, in the middle of swinging, because it has good elasticity, can form the suitable angle of striking waters, for bionic machine fish provides larger propulsive force.By adjusting the signal of control module, export, can control the amplitude of oscillation, the frequency of fish tail in water, thus the speed of moving about of control biomimetics machine fish.In addition, the angle and the scope that by controlling flexible fish tail 11, swing, machine fish can be realized two-way turning.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (6)
1. the bionic machine fish that small-sized mangneto swings, it is characterized in that, comprise fish body, magnetic motive force fish tail, U-shaped (6) and charging pile (12), described fish body is connected by described U-shaped (6) with described magnetic motive force fish tail, described charging pile (12) is arranged on described fish body and lower end described fish tail joint face, described fish body comprises infrared sensor probe (1), the second waterproof case (2), second waterproof case (3) of fish body appearance, master cock (4) and waterproof cork (5), described infrared sensor probe (1) is arranged on the both sides of the first waterproof case (2), described source switch (4) is arranged on the upper end of the joint face of described U-shaped (6) and described fish body, and surface cover has described waterproof cork (5), described magnetic motive force fish tail comprises magnetic induction coil (7), turning cylinder (8), PVC bobbin (9), circular permanent magnet (10) and flexible fish tail (11), described magnetic induction coil (7) is on described PVC bobbin (9), described magnetic induction coil (7) side is provided with turning cylinder (8), and described turning cylinder (8) has passed described PVC bobbin (9), the inside of described PVC bobbin (9) is provided with described circular permanent magnet (10), and described circular permanent magnet (10) is connected with described flexible fish tail (11).
2. the bionic machine fish that small-sized mangneto according to claim 1 swings, it is characterized in that, the inside of described fish body is provided with steering wheel (13), steering wheel connecting rod (14), circuit card (15), support (16), clump weight (17) and high-capacity lithium cell (18) and L-type plate (19), described steering wheel (13) and described clump weight (17) have formed gravity centre adjustment mechanism, and described clump weight (17) is fixed on described steering wheel (13), described steering wheel (13) is connected with described steering wheel connecting rod (14), described steering wheel (13) below is provided with described circuit card (15), between described circuit card (15) and described L-type plate (19), by described support (16), be connected, described L-type plate below is a large amount of lithium cell (18).
3. the bionic machine fish that small-sized mangneto according to claim 1 swings, is characterized in that, the drive pattern of described machine fish is that magnetic motive force swings propulsion mode.
4. the bionic machine fish that small-sized mangneto according to claim 1 swings, it is characterized in that, the fish body waterproofing design of described machine fish adopts split thread connecting mode, and described the first waterproof case (2) and described the second waterproof case (3) employing PVC work material.
5. the bionic machine fish that small-sized mangneto according to claim 1 swings, is characterized in that, all gaps of described machine fish all adopt water-proof silica-gel to seal.
6. the bionic machine fish that small-sized mangneto according to claim 1 swings, is characterized in that, described flexible fish tail (11) is half moon-shaped flexible latex plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420202790.7U CN203902830U (en) | 2014-04-24 | 2014-04-24 | Light and small magnetically actuated bionic robot fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420202790.7U CN203902830U (en) | 2014-04-24 | 2014-04-24 | Light and small magnetically actuated bionic robot fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203902830U true CN203902830U (en) | 2014-10-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420202790.7U Expired - Fee Related CN203902830U (en) | 2014-04-24 | 2014-04-24 | Light and small magnetically actuated bionic robot fish |
Country Status (1)
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| CN (1) | CN203902830U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950526A (en) * | 2014-04-24 | 2014-07-30 | 苏州科技学院 | Light-weight and small-sized mangneto swinging bionic robot fish |
| CN112660352A (en) * | 2020-12-25 | 2021-04-16 | 诺非(北京)技术有限公司 | Electromagnetic driving structure |
| WO2022032233A1 (en) * | 2020-08-07 | 2022-02-10 | Fishboat Incorporated | Robotic fish |
-
2014
- 2014-04-24 CN CN201420202790.7U patent/CN203902830U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950526A (en) * | 2014-04-24 | 2014-07-30 | 苏州科技学院 | Light-weight and small-sized mangneto swinging bionic robot fish |
| CN103950526B (en) * | 2014-04-24 | 2017-04-12 | 苏州科技学院 | Light-weight and small-sized mangneto swinging bionic robot fish |
| WO2022032233A1 (en) * | 2020-08-07 | 2022-02-10 | Fishboat Incorporated | Robotic fish |
| CN112660352A (en) * | 2020-12-25 | 2021-04-16 | 诺非(北京)技术有限公司 | Electromagnetic driving structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141029 Termination date: 20150424 |
|
| EXPY | Termination of patent right or utility model |