CN206068108U - A kind of Scad sections class bionic machine fish - Google Patents
A kind of Scad sections class bionic machine fish Download PDFInfo
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- CN206068108U CN206068108U CN201620656357.XU CN201620656357U CN206068108U CN 206068108 U CN206068108 U CN 206068108U CN 201620656357 U CN201620656357 U CN 201620656357U CN 206068108 U CN206068108 U CN 206068108U
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- machine fish
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Abstract
This practicality provides a kind of Scad sections class bionic machine fish, belong to underwater robot technical field, including fish tail, tail transfer mechanism, afterbody steering wheel, battery, controller, pectoral fin steering wheel, switch and fish body, also include pressure transducer, sealing drum, electronic compass, buoyancy adjustment cylinder, linear potentiometers, buoyancy motor, photographic head and breast fin, described fish tail is connected with afterbody steering wheel by afterbody drive mechanism, sealing drum and buoyancy adjustment cylinder are provided with fish body, battery is provided with sealing drum, controller and pectoral fin steering wheel, the rear end of buoyancy adjustment cylinder is provided with buoyancy motor, fish body head is provided with switch and photographic head.This practicality has the beneficial effect that：It is rational in infrastructure, it is novel ingenious, much information acquisition module can be carried carries out data acquisition, the job requirements under various environment are adapted to simultaneously, with good mobility and propulsive efficiency, modularized design is easy to manufacture, install and debug, and simplifies the design and processing of complex parts, reduces cost.
Description
Technical field
This utility model is related to underwater robot technical field, more particularly to a kind of Scad sections class bionic machine fish.
Background technology
Current era is the marine field booming epoch, with people for the process of development of resources is gradually accelerated,
Marine field has become important exploitation part, and on stream, underwater robot is developing progressively to be explored for marine resources
Main tool.Conventional underwater robot is advanced frequently with propeller, but propeller has manufacturing cost high, propulsion
Efficiency is low, and noise is big to wait not enough so as to which application is with certain limitation.Bionic machine fish is high because of its propulsive efficiency, moves about
Journey noise is little, moves active and intelligent, and when moving about, hunting frequency is high, and the characteristic such as turn performance is good, overall performance are pushed away better than propeller
Enter, therefore become the first-selection that people explore the activity such as marine resources and collection underwater information.
Utility model content
This utility model provides a kind of Scad sections class bionic machine fish, rational in infrastructure, novel ingenious, can carry various letters
Breath acquisition module carries out data acquisition, while adapt to the job requirements under various environment, with good mobility and pushes away
Enter efficiency, modularized design is easy to manufacture, install and debug, simplify the design and processing of complex parts, reduce cost.
To solve above-mentioned technical problem, the embodiment of the present application provides a kind of Scad sections class bionic machine fish, including fish tail, tail
Portion's transmission mechanism, afterbody steering wheel, battery, controller, pectoral fin steering wheel, switch and fish body, also including pressure transducer, sealing drum,
Electronic compass, buoyancy adjustment cylinder, linear potentiometers, buoyancy motor, photographic head and pectoral fin, described machine fish profile include fish tail
Constitute with fish body, fish tail is connected with afterbody steering wheel by afterbody drive mechanism, and sealing drum and buoyancy adjustment cylinder are provided with fish body, close
Battery, controller and pectoral fin steering wheel are provided with sealed tube, the rear end of buoyancy adjustment cylinder is provided with buoyancy motor, and fish body head is provided with switch
And photographic head.
Used as the preferred embodiment of this programme, the structure of described fish tail is crescent, and section is NACA0018 aerofoil profiles, is opened up
String ratio is 5.0-7.0.
Used as the preferred embodiment of this programme, described afterbody drive mechanism is shaken by driving gear, driven gear and crank
Block mechanism constitutes, and amplitude of fluctuation is -30 ° -+30 °.
Used as the preferred embodiment of this programme, described pressure transducer is located in the cavity of afterbody steering wheel place, with the external world
Waters connection is logical.
Used as the preferred embodiment of this programme, described battery is lithium rechargeable battery, battery position of centre of gravity and machine
The center of gravity of fish is located on same vertical curve.
Used as the preferred embodiment of this programme, described controller selects Arduino single-chip microcomputers.
Used as the preferred embodiment of this programme, the quantity of described pectoral fin steering wheel is two, is connected with two pectoral fins respectively,
Pectoral fin is shaped as ellipse, and section is that NACA0014 is linear, pectoral fin intracavity is additionally provided with electronic compass.
Used as the preferred embodiment of this programme, the quantity of described photographic head is two, and positioned at the eye of fish body, outside sets
There is the protective cover of acrylic material.
Used as the preferred embodiment of this programme, described buoyancy motor is motor, by leading screw and buoyancy adjustment cylinder
Interior piston connection.
Used as the preferred embodiment of this programme, the material of described fish body is rubber, and structure is the profile of Scad sections class Fish
Streamline, the material of inner sealing cylinder is aluminium alloy, and two ends are provided with closure.
One or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
Rational in infrastructure, novel ingenious, can carry much information acquisition module carries out data acquisition, while adapting to various
Job requirements under environment, with good mobility and propulsive efficiency, modularized design is easy to manufacture, install and debug,
The design and processing of complex parts are simplified, cost is reduced.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, drawings in the following description are only
Some embodiments of the present utility model, for those of ordinary skill in the art, in the premise for not paying creative labor
Under, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is the cross-sectional view of the embodiment of the present application；
Fig. 2 is the overlooking the structure diagram of the embodiment of the present application.
In Fig. 1-Fig. 2：1st, fish tail, 2, tail transfer mechanism, 3, afterbody steering wheel, 4, pressure transducer, 5, battery, 6, control
Device, 7, sealing drum, 8, closure, 9, electronic compass, 10, pectoral fin steering wheel, 11, switch, 12, fish body, 13, buoyancy adjustment cylinder, 14,
Linear potentiometers, 15, buoyancy motor, 16, photographic head, 17, pectoral fin.
Specific embodiment
This utility model provides a kind of Scad sections class bionic machine fish, rational in infrastructure, novel ingenious, can carry various letters
Breath acquisition module carries out data acquisition, while adapt to the job requirements under various environment, with good mobility and pushes away
Enter efficiency, modularized design is easy to manufacture, install and debug, simplify the design and processing of complex parts, reduce cost.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail.
As Figure 1-Figure 2, a kind of Scad sections class bionic machine fish, including fish tail 1, tail transfer mechanism 2, afterbody steering wheel 3,
Battery 5, controller 6, pectoral fin steering wheel 10, switch 11 and fish body 12, also including pressure transducer 4, sealing drum 7, electronic compass 9,
Buoyancy adjustment cylinder 13, linear potentiometers 14, buoyancy motor 15, photographic head 16 and pectoral fin 17, described machine fish profile include fish
Tail 1 and fish body 12 are constituted, and fish tail 1 is connected with afterbody steering wheel 3 by afterbody drive mechanism 2, be provided with sealing drum 7 and float in fish body 12
Power adjusts cylinder 13, is provided with battery 5, controller 6 and pectoral fin steering wheel 10 in sealing drum 7, and the rear end of buoyancy adjustment cylinder 13 is provided with buoyancy
Motor 15,12 head of fish body are provided with switch 11 and photographic head 16.
Wherein, in actual applications, the structure of fish tail 1 is crescent, and section is NACA0018 aerofoil profiles, and aspect ratio is 5.0-
7.0, in Fish, the travelling performance travelling speed less compared with aspect ratio with big aspect ratio is fast, the Fish tail of high aspect ratio
Fin is generally crescent or fork-shaped, and caudal peduncle is tiny long and narrow, and in motor process, tail fin swings, and 2/3rds part before body
The only swing or fluctuation of very little, keeps very big rigidity, and the mechanical efficiency of the tail fin propulsion mode of these Fish is very high,
Mainly with Scad sections Fish as typical case.
Wherein, in actual applications, afterbody drive mechanism 2 is made up of driving gear, driven gear and crank rocker mechanism,
Amplitude of fluctuation is -30 ° -+30 °, and reasonable in design can produce higher propulsive efficiency.
Wherein, in actual applications, pressure transducer 4 is located in 3 place cavity of afterbody steering wheel, is connected with extraneous waters
It is logical, the submerged depth of machine fish can be monitored.
Wherein, in actual applications, described battery 5 is lithium rechargeable battery, 5 position of centre of gravity of battery and machine fish
Center of gravity is located on same vertical curve, keeps good steady attitude, with sensitive response speed and efficient dynamic performance.
Wherein, in actual applications, described controller 6 selects Arduino single-chip microcomputers, and Arduino is an open-source
The item of hardware platform of code, the platform include one piece of circuit board and a set of programming development environment for possessing simple I/O functions
Software, can be used to develop interactive product, it is also possible to develop the peripheral device being connected with PC, can operationally with PC on it is soft
Part is communicated.
Wherein, in actual applications, the quantity of described pectoral fin steering wheel 10 is two, is connected with two pectoral fins 17 respectively,
Pectoral fin 17 is shaped as ellipse, and section is that NACA0014 is linear, pectoral fin intracavity is additionally provided with electronic compass 9, when pectoral fin 17 is moved
Driven by pectoral fin steering wheel 10 and rotated so that machine fish body is risen or dive campaign, and by microswitch come really
Surely ensure the accuracy of turned position and angle, the moment of torsion and power for driving steering wheel, section NACA are determined according to pectoral fin area
The linear fluid resistance that can be produced in reducing motor process well, pectoral fin 17 controls the latent mode of fish body liter as elevator to be had
There are sensitive response speed and efficient dynamic performance.
Wherein, in actual applications, the quantity of described photographic head 16 is two, and positioned at the eye of fish body, outside is provided with
The protective cover of acrylic material, photographing module is mainly by photographic head 16 and acrylic translucent cover, and integral sealing housing, electric wire
The part composition such as import sealing, its operation principle is to operator, operator by 16 produced Image Real-time Transmission of photographic head
Member carries out decision analysis according to picture material, and integral sealing housing is connected using plastic wire with acrylic translucent cover, and utilizes O shapes
Circle is sealed, and photographic head 16 itself institute's live line is entered mouthful seal by motor lines and is connected with integrated circuit.
Wherein, in actual applications, described buoyancy motor 15 is motor, by leading screw and buoyancy adjustment cylinder 13
Piston connection, by the discharging water for controlling buoyancy adjustment cylinder 13, adjust the heavy buoyant equilibrium of machine fish, when machine fish body it is static
At a certain position, it is possible to use water storage cabin method carries out the lifting in vertical direction, meanwhile, when machine fish body runs into emergency
When can not move, water storage cabin method can be used as emergency rescue device, and draining causes the gravity of machine fish body to be less than buoyancy so that machine
Fish body floats carries out emergency management and rescue.
Wherein, in actual applications, the material of described fish body 12 is rubber, and structure is the profile stream of Scad sections class Fish
Line, the material of inner sealing cylinder 7 is aluminium alloy, and two ends are provided with closure 8, and machine fish fish body 12 is internal using elastomeric material cladding
Module, is formed streamlined fish body shape, because fish body shape is complex-shaped, therefore is processed using mold injection mode, by fish
Body is divided into left and right two parts along axis end to end, and before installing sealing drum 7 and buoyancy adjustment cylinder 13 are tied as one using plastics lock ring
Body, is supported positioning using supporting positioning member in the middle of two housings, prevents two housings from touching scuffing；Rubber during installation or so
Fish body 12 carries out cladding fastening, and carries out tightening using bolt in outside so that left and right fish body is seamless, finally will using fluid sealant
Slotted section is sealed so that integral seamless is round and smooth, produces additional drag when reducing motion.
The above, is only preferred embodiment of the present utility model, not makees any formal to this utility model
Restriction, although this utility model is disclosed above with preferred embodiment, but is not limited to this utility model, any ripe
Professional and technical personnel is known, in the range of without departing from technical solutions of the utility model, when in the technology using the disclosure above
Appearance is made a little change or is modified to the Equivalent embodiments of equivalent variations, as long as without departing from technical solutions of the utility model
Hold, any simple modification, equivalent variations and modification above example made according to technical spirit of the present utility model,
Still fall within the range of technical solutions of the utility model.
Claims (10)
1. a kind of Scad sections class bionic machine fish, including fish tail (1), tail transfer mechanism (2), afterbody steering wheel (3), battery (5), control
Device (6) processed, pectoral fin steering wheel (10), switch (11) and fish body (12), it is characterised in that also including pressure transducer (4), sealing drum
(7), electronic compass (9), buoyancy adjustment cylinder (13), linear potentiometers (14), buoyancy motor (15), photographic head (16) and pectoral fin
(17), described machine fish profile includes fish tail (1) and fish body (12) composition, and fish tail (1) is by afterbody drive mechanism (2) and tail
Portion's steering wheel (3) connects, and is provided with sealing drum (7) and buoyancy adjustment cylinder (13) in fish body (12), sealing drum (7) is interior be provided with battery (5),
Controller (6) and pectoral fin steering wheel (10), the rear end of buoyancy adjustment cylinder (13) are provided with buoyancy motor (15), and fish body (12) head is provided with
Switch (11) and photographic head (16).
2. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that the structure of described fish tail (1)
For crescent, section is NACA0018 aerofoil profiles, and aspect ratio is 5.0-7.0.
3. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described afterbody drive mechanism
(2) it is made up of driving gear, driven gear and crank rocker mechanism, amplitude of fluctuation is -30 ° -+30 °.
4. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described pressure transducer (4)
In the cavity of afterbody steering wheel (3) place, it is connected logical with extraneous waters.
5. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described battery (5) for lithium from
Sub- secondary cell, battery (5) position of centre of gravity are located on same vertical curve with the center of gravity of machine fish.
6. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described controller (6) is selected
Arduino single-chip microcomputers.
7. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described pectoral fin steering wheel (10)
Quantity is two, be connected with two pectoral fins (17) respectively, and pectoral fin (17) is shaped as ellipse, and section is linear for NACA0014,
Pectoral fin intracavity is additionally provided with electronic compass (9).
8. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that the number of described photographic head (16)
Measure for two, positioned at the eye of fish body, outside is provided with the protective cover of acrylic material.
9. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described buoyancy motor (15) is
Motor, is connected with the piston in buoyancy adjustment cylinder (13) by leading screw.
10. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that the material of described fish body (12)
Matter is rubber, and structure is the profile streamline of Scad sections class Fish, and the material of inner sealing cylinder (7) is aluminium alloy, and two ends are provided with sealing
Lid (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620656357.XU CN206068108U (en) | 2016-06-28 | 2016-06-28 | A kind of Scad sections class bionic machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620656357.XU CN206068108U (en) | 2016-06-28 | 2016-06-28 | A kind of Scad sections class bionic machine fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206068108U true CN206068108U (en) | 2017-04-05 |
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ID=58421740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620656357.XU Active CN206068108U (en) | 2016-06-28 | 2016-06-28 | A kind of Scad sections class bionic machine fish |
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| Country | Link |
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| CN (1) | CN206068108U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533248A (en) * | 2018-10-30 | 2019-03-29 | 中国航天空气动力技术研究院 | A kind of fish shape fluid media (medium) motion-promotion force device |
| CN110508001A (en) * | 2019-07-12 | 2019-11-29 | 天津市兰尚建筑设计咨询有限公司 | A kind of manpower-free charging can descending electronic fishing |
| CN112249286A (en) * | 2020-10-27 | 2021-01-22 | 吕梁学院 | Bionic robot fish with multiple driving systems |
-
2016
- 2016-06-28 CN CN201620656357.XU patent/CN206068108U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533248A (en) * | 2018-10-30 | 2019-03-29 | 中国航天空气动力技术研究院 | A kind of fish shape fluid media (medium) motion-promotion force device |
| CN110508001A (en) * | 2019-07-12 | 2019-11-29 | 天津市兰尚建筑设计咨询有限公司 | A kind of manpower-free charging can descending electronic fishing |
| CN112249286A (en) * | 2020-10-27 | 2021-01-22 | 吕梁学院 | Bionic robot fish with multiple driving systems |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180428 Address after: 300457 25 B, Nanhai Road, Tianjin economic and Technological Development Zone, Binhai New Area. 25 Patentee after: Tianjin Hanhai linefan Marine Science & Technology Co Ltd Address before: No. 8, No. 1, No. 1, Tianjin City, Tianjin Patentee before: Hebei University of Technology |
|
| TR01 | Transfer of patent right |