CN208149578U - A kind of underwater biomimetic robotic fish of pipe conveying fluid driving - Google Patents
A kind of underwater biomimetic robotic fish of pipe conveying fluid driving Download PDFInfo
- Publication number
- CN208149578U CN208149578U CN201820610226.7U CN201820610226U CN208149578U CN 208149578 U CN208149578 U CN 208149578U CN 201820610226 U CN201820610226 U CN 201820610226U CN 208149578 U CN208149578 U CN 208149578U
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- fish
- defeated stream
- defeated
- hose
- flow control
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
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- Farming Of Fish And Shellfish (AREA)
Abstract
The utility model discloses a kind of underwater biomimetic robotic fish of pipe conveying fluid driving, including：Fish head, fish body, dorsal fin, tail fin, pectoral fin, water pocket, water pump, pipe conveying fluid system, controller and power supply；It is closed cavity inside fish body, water pump, controller, pipe conveying fluid system are respectively mounted in the cavity；Flutter can occur when being more than critical flow velocity for the defeated stream inside hose water flow of tail fin, and then drives tail fin to swing and provide the power that fish pushes ahead；When water flow inside is more than critical flow velocity flutter can equally occur for the defeated stream hose of pectoral fin, and left and right pectoral fin is caused to swing up and down, and while providing thrust power, can also control the steering of fish body；Moisture storage capacity in water pocket is controlled by water pump and pipe conveying fluid system, fish body weight is increasedd or decreased, to realize the sinking and floating of fish body；Power supply provides institute's electricity demand, the various motion morphologies of controller control biomimetics fish for electrical equipment.The utility model can simulate fish locomotion, reduce the interference to aquatic organism, reduce stranded risk.
Description
Technical field
The utility model belongs to underwater detection robot field, more particularly, to a kind of the underwater imitative of pipe conveying fluid driving
Raw machine fish.
Background technique
Currently, the development for underwater robot is fairly common, and huge expense is put into.These underwater robots
It is mainly used for the detection of underwater pollution sources, the prospecting of water quality, ocean accidents ship is searched and rescued, the fields such as seabed shoal of fish observation.But it is existing
Some underwater robots mostly use greatly motor to drive propeller that robot is pushed to advance, this just inevitably has some lack
It falls into, such as：Trailing vortex caused by propeller rotational is very big on environmental perturbation and influences the shoal of fish nearby；Water-bed complicated ecological environment holds
It easily causes propeller to be snarled by water plant or waste etc., and leads to the stranded bottom of robot.
Utility model content
Aiming at the above defects or improvement requirements of the prior art, the utility model provides a kind of the underwater of pipe conveying fluid driving
Bionic machine fish cooperates the bionic machine constructing analog fish locomotion of fish, thus replaces its object is to be driven by pipe conveying fluid
For existing propeller driving method, the influence to the shoal of fish is reduced, while reducing stranded risk.
To achieve the above object, it according to the one aspect of the utility model, provides a kind of the underwater of pipe conveying fluid driving and imitates
Raw machine fish, including：Fish head, fish body, pectoral fin, tail fin, power supply, controller, defeated stream hard tube, defeated stream tube unit, flow control valve list
Member and water pump；
According to fish biomimetic features assembly and connection, it is left that two pectoral fins are distributed in fish body for fish head, fish body, tail fin and two pectoral fins
Right two sides；It is seal cavity inside fish body, power supply, controller and water pump are set to inside seal cavity；Power supply is used for each use
Electrical components power supply, controller connect flow control valve cell and water pump；
Defeated stream hard tube is fixed in fish body, is arranged along fish body front-rear direction, and the front opening of defeated stream hard tube is located at fish head
Front end；
Defeated stream tube unit includes the defeated stream hose of tail fin and the defeated stream hose of two pectoral fins；The defeated defeated stream of stream hose connection of tail fin is hard
The rear end of pipe, the defeated stream hose of two pectoral fins are connected to the corresponding position in defeated stream hard tube middle section；The defeated stream hose of tail fin is fixed on tail fin
Distal opening as coccyx, and tail fin is arranged backward；Outside the defeated stream flexible pipe extending fish body of two pectoral fins and stretch out outside fish body
Part correspond be fixed on two pectoral fins, and two pectoral fins it is defeated stream hose distal opening be respectively facing fish body or so two
Side setting；
Flow control valve cell includes tail fin draining flow control valve and two pectoral fin flow control valves；Tail fin drains flow control valve and is set to defeated stream firmly
On pipe and it is located at two pectoral fins and the defeated interconnecting piece rear for flowing hard tube；Two pectoral fin flow control valves correspond respectively is set to two chests
Interconnecting piece on the defeated stream hose of fin or set on the defeated stream hose of two pectoral fins and defeated stream hard tube；
Water pump is set on defeated stream hard tube and is located in front of the interconnecting piece of the defeated stream hose of two pectoral fins and defeated stream hard tube.
Further, which further includes water pocket, and defeated stream tube unit further includes the defeated stream hose of water pocket, control
Stream valve cell further includes flow control valve after flow control valve and water pocket before flow control valve, water pocket before hard tube；
Flow control valve, three-way connection, water pump, five-way joint and tail fin are arranged before setting gradually hard tube on defeated stream hard tube from front to back
Water flow control valve；
Two interfaces in three-way connection connect defeated stream hard tube, and an interface connects the defeated stream hose front end of water pocket；Five connect
Two interfaces in head connect defeated stream hard tube, and two interfaces are separately connected the defeated stream hose of two pectoral fins, and an interface connects water pocket
Defeated stream hose rear end；Water pocket is connected to the defeated stream hose middle section of water pocket.
Further, fish head and fish body are integrally formed, and whole streamlined.
Further, the first sealing ring is equipped at the fish mouth of fish head front end, fish body and tail fin junction are equipped with the second sealing
Ring；Defeated stream hard tube front end is fixed on the first sealing ring, and the other end is fixed on the second sealing ring.
Further, fish head is equipped with fish-eye camera, obtains underwater picture for simulating flake, controller connects flake
Camera.
It further, further include wireless transmission component, wireless transmission component is connect with controller.
It further, further include remote console, for sending control and referring to by wireless transmission component and controller communication
Enable and/or receive the underwater picture that controller uploads.
Further, defeated stream hard tube material is copper or aluminium alloy.
Further, fish body is equipped with dorsal fin.
In general, the utility model is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect.
1, it uses water pump directly to utilize the water in environment for the water supply of pipe conveying fluid unit, possesses unlimited water source, it can be at any time
Power needed for providing；
2, when the water velocity in hose is greater than or equal to hose, and the critical flow velocity of flutter occurs, hose will appear flutter
Unstability.Water velocity in tail fin pipe conveying fluid is adjusted by controller, hose flutter amplitude and speed are controlled, to control tail fin
Swing speed can simulate the forward motion of wagging the tail of fish, control biomimetics fish forward speed.
3, water velocity in pectoral fin pipe conveying fluid is adjusted by controller, controls the swing state of left and right pectoral fin, can simulates
The touch turn of fish, promotes Biomimetic Fish flexibly to turn round.
4, the Biomimetic Fish of the utility model is driven using pipe conveying fluid flutter replaces propeller to drive, on the one hand closer to
The motion morphology of wild fish is easy to be received by the wild shoal of fish, can preferably observe the animation and habit of wild fish；It is another
Aspect will not be twisted into water plant or waste, greatly reduce stranded risk；
5, the utility model Biomimetic Fish promote, drift along and course changing control lean on water pump pump and flow control valve flow control realize,
Especially the process of drifting along can be realized by means of buoyancy, be driven compared to traditional propeller, and whole energy consumption is lower；
6, the water in water pocket can be drained by water pump and controller, and injects the water of Its Adjacent Waters, may be implemented
Acquisition water sample and the purpose for being used to research and analyse.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the underwater biomimetic robotic fish of the driving of pipe conveying fluid involved in the utility model.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1, the underwater biomimetic robotic fish of the utility model includes：Fish head 1, fish-eye camera 2, fish body 3, dorsal fin
4, power supply 5 (the present embodiment is lithium battery), controller 6, seal cavity 7, the first sealing ring 71, the second sealing ring 72, tail fin 8,
The defeated stream hose 91 of tail fin, the defeated stream hose 92 of pectoral fin, the defeated stream hose 93 of water pocket, pectoral fin 10, water pocket 11, three-way connection 12, five connect
First 13, flow control valve 153, pectoral fin flow control valve after flow control valve 152, water pocket before flow control valve 151, water pocket before defeated stream hard tube 14, hard tube
154, tail fin draining flow control valve 155 and water pump 16.
Defeated stream hard tube 14 uses copper pipe in the present embodiment, is divided into the defeated stream copper pipe 141 in head and the defeated stream of fish body by water pump 16
142 two parts of copper pipe.The defeated stream hose 91 of tail fin, the defeated stream hose 92 of pectoral fin, the defeated stream hose 93 of water pocket constitute defeated stream tube unit.Firmly
Flow control valve 153, pectoral fin flow control valve 154, tail fin drain flow control valve 155 after flow control valve 152, water pocket before flow control valve 151, water pocket before managing
Constitute flow control valve cell.
Since the present embodiment designs overall appearance and structure, left and right pair on configuration according to the physiological make-up of fish
Claim, Fig. 1 illustrates only the configuration on the left of fish, and right side configuration omits.Also, for the ease of intuitively showing inside fish body
Construction and connection relationship, the position of pectoral fin 8 have moved back some, the not position of actual design in figure.When actual design, chest
The position of fin 8 should be more forward, with reference to the normal physiological tectonic sieving of fish.
In fish body 3 include seal cavity 7 and is sealed at both ends by sealing ring, the water inlet end of the defeated stream copper pipe system
Close to fish mouth and it is connected on the first sealing ring 71, water outlet is separately fixed in seal cavity 7 and the second sealing ring 72, and
It is connect respectively with the defeated stream hose 92 of pectoral fin and the defeated stream hose 91 of tail fin；Successively be fixed in seal cavity 7 power supply 5, controller 6,
Water pocket 11, three-way connection 12, five-way joint 13, defeated stream hard tube 14, flow control valve 15, water pump 16, these components be all made of bracket or
Viscose glue mode is fixed in seal cavity；Power supply 5 be lithium battery, for electrical equipment for example fish-eye camera 2, controller 6,
Water pumps 16 etc. provide power supply；It is electrically connected, and controls between the controller 6 and water pump 16, flow control valve cell 15, fish-eye camera 2
Make the operation of these components.
11 bottom of water pocket is connected on closed cavity 7 (inner wall of fish body 3 in other words), top respectively with the defeated stream hose of water pocket
93 water inlet pipe and outlet pipe connection, when opening the closing flow control valve 152 of flow control valve 153, water pump 16 injects greatly into water pocket 11
Water is measured, fish body weight increases and dive；Conversely, the water in water pocket 11 is by water pump when closing the unlatching flow control valve 152 of flow control valve 153
16 siphon away from fish tail discharge, and bionic machine fish overall weight is reduced and floated, when bionic machine fish overall weight is just equal to institute
When by buoyancy, it can suspend in water.
In tail fin 8, the defeated stream hose 91 of tail fin is mounted on the axial location of tail fin 8, opens flow control valve 151 and tail before hard tube
Fin drains flow control valve 155, while adjusting flow control valve 155 by flow, when the defeated 91 inside flow velocity of stream hose of tail fin is less than critical flow
When fast, generate and push bionic machine fish to be integrally advanced slowly compared with low thrust；When the defeated 91 inside flow velocity of stream hose of tail fin is greater than or waits
Flutter occurs when critical flow velocity, is limited by the vertical arrangement of tail fin 8, the flutter direction of the defeated stream hose 91 of tail fin is left and right
Direction, tail fin 8 can swing with the defeated stream hose 91 of tail fin, and bionic machine fish is pushed quickly to move about forward.In other realities
(not shown) is applied in example, if setting horizontal for tail fin 8, the flutter direction of the defeated stream hose 91 of tail fin is up and down direction, tail
Fin 8 can be swung up and down with the defeated stream hose 91 of tail fin.
The installation site of pectoral fin 10 is advisable with the installation close to head, more conducively the mass motion balance of bionic machine fish, chest
The defeated stream hose 92 of fin is mounted on the axial location of pectoral fin 10.It is similar with the motion principle of tail fin 8, open flow control valve 151 and control
Valve 154 is flowed, while adjusting flow control valve 154 through flow, when defeated 92 inside flow velocity of stream hose is greater than or equal to its critical flow velocity
Flutter can occur, pectoral fin 10 can be swung up and down, and can quickly generate lateral propulsive force；When control left side pectoral fin 10 swing and
When right side pectoral fin is static, bionic machine fish can turn right lateral turn, on the contrary then lateral turn of turning left.When defeated 92 inside flow velocity of stream hose is small
When critical flow velocity, then lesser lateral thrust is generated, can slowly turned round.In addition, passing through the water pumping speed of control water pump 16
Also the flow rate of water flow in defeated stream hard tube and each defeated stream hose can be adjusted.
In the present embodiment, the image data that fish-eye camera 2 is shot can be real via controller 6 and wireless transmission component
When pass remote platform back, for further instruct the direction of advance of Biomimetic Fish provide with reference to or for technical staff, researcher see
Examine underwater environment and biology.(not shown) in other embodiments, can also directly in controller 6 built-in bionic machine fish
Travelling route, realization is unattended, can also be not provided with or not start fish-eye camera 2 at this time.
It just can be big if configuring overall weight when the water filling of water pocket 11 reaches a certain amount of for the overall weight of bionic machine fish
Sink in buoyancy, then can also acquire the water sample at underwater pollution sources using water pocket 11, and bring it back into for technical research.
Specifically, it is assumed that the critical water injection rate V that water pocket 11 makes bionic machine fish sink, then first water filling is greater than V, makes under bionic machine fish
Pollution sources are sink to, are then continued to fill the water at pollution sources until the water in water pocket 11 replaces all with pollution sources water sample, then by water
The draining of capsule 11 to inside water is less than V, flow control valve 153 after flow control valve 152 and water pocket is then shut off before water pocket, to bionic machine fish
Bionic machine fish is recycled after floating up to the water surface.
The underwater biomimetic robotic fish of pipe conveying fluid driving provided by the utility model with untethered dive and can not only float, also
It can flexibly turn round, low energy consumption and ecology is friendly for propulsion system, can acquire water sample and research and analyse for technical staff, external form copys fish
Body design, reduces running resistance and is easy to be received by the wild shoal of fish, convenient for observing the life habit of the wild shoal of fish, operation spirit
It is living, it is vdiverse in function, there is great popularization and application foreground.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of underwater biomimetic robotic fish of pipe conveying fluid driving, which is characterized in that including：Fish head (1), fish body (3), tail fin (8),
Power supply (5), controller (6), defeated stream hard tube (14), defeated stream tube unit and water pump (16)；
Fish head (1), fish body (3) and tail fin (8) are according to fish biomimetic features assembly and connection；It is seal cavity, electricity inside fish body (3)
Source (5), controller (6) and water pump (16) are set to inside seal cavity；Power supply (5) is used to power to each electrical component, control
Device (6) connects water pump (16), and water pump (16) is set on defeated stream hard tube (14)；
Defeated stream hard tube (14) is fixed in fish body (3), is arranged along fish body front-rear direction, and the front opening position of defeated stream hard tube (14)
In fish head (1) front end；
Defeated stream tube unit (9) includes the defeated stream hose (91) of tail fin, after the defeated stream hose (91) of tail fin is connected to defeated stream hard tube (14)
End；The defeated stream hose (91) of tail fin is fixed on tail fin (8) as coccyx, and the distal opening of tail fin (8) is arranged backward.
2. a kind of underwater biomimetic robotic fish of pipe conveying fluid driving as described in claim 1, which is characterized in that further include flow control valve
Unit and two pectoral fins (10), controller (6) connect flow control valve cell and water pump (16)；Two pectoral fins (10) are imitative according to fish
Raw structure assembly and connection is at left and right sides of fish body (3)；
Defeated stream tube unit (9) further includes the defeated stream hose (92) of two pectoral fins, and the defeated defeated stream of stream hose (92) connection of two pectoral fins is hard
The corresponding position in (14) middle section is managed, defeated stream hose (92) of two pectoral fins stretches out portion that fish body (3) are external and stretching fish body (3) is external
It is divided to one-to-one correspondence to be fixed on two pectoral fins (10), the distal opening of defeated stream hose (92) of two pectoral fins is respectively facing fish body or so
Two sides setting；
Flow control valve cell includes tail fin draining flow control valve (155) and two pectoral fin flow control valves (154)；Tail fin drains flow control valve
(155) it is set on defeated stream hard tube (14) and is located at the interconnecting piece rear of two pectoral fins (10) and defeated stream hard tube (14)；Two pectoral fins
Flow control valve (154) correspond respectively be set to the defeated stream hose (92) of two pectoral fins on or be set to the defeated stream hose (92) of two pectoral fins and
The interconnecting piece of defeated stream hard tube (14)；
Water pump (16) is set on defeated stream hard tube (14) and is located at the connection of two pectoral fins defeated stream hose (92) and defeated stream hard tube (14)
In front of portion.
3. a kind of underwater biomimetic robotic fish of pipe conveying fluid driving as claimed in claim 2, which is characterized in that the aquatic bionic machine
Device fish further includes water pocket (11), and defeated stream tube unit further includes the defeated stream hose (93) of water pocket, before flow control valve cell further includes hard tube
Flow control valve (153) after flow control valve (152) and water pocket before flow control valve (151), water pocket；
Flow control valve (151), three-way connection (12), water pump (16), five before hard tube are set gradually on defeated stream hard tube (14) from front to back
Pass joint (13) and tail fin draining flow control valve (155)；
Two interfaces in three-way connection (12) connect defeated stream hard tube (14), before an interface connects the defeated stream hose (93) of water pocket
End；Two interfaces in five-way joint (13) connect defeated stream hard tube (14), and two interfaces are separately connected the defeated stream hose of two pectoral fins
(92), an interface connects defeated stream hose (93) rear end of water pocket；Water pocket (11) is connected to defeated stream hose (93) middle section of water pocket.
4. the underwater biomimetic robotic fish that a kind of pipe conveying fluid as described in claims 1 to 3 any one drives, which is characterized in that
Fish head (1) and fish body (3) are integrally formed, and whole streamlined.
5. a kind of underwater biomimetic robotic fish of pipe conveying fluid driving as claimed in claim 4, which is characterized in that fish head (1) front end
Fish mouth at be equipped with the first sealing ring (71), fish body (3) and tail fin junction are equipped with the second sealing ring (72)；Defeated stream hard tube (14)
Front end is fixed on the first sealing ring (71), and the other end is fixed on the second sealing ring (72).
6. the underwater biomimetic robotic fish that a kind of pipe conveying fluid as described in claims 1 to 3 any one drives, which is characterized in that
Fish head (1) is equipped with fish-eye camera (2), obtains underwater picture for simulating flake, controller (6) connects fish-eye camera
(2)。
7. a kind of underwater biomimetic robotic fish of pipe conveying fluid driving as claimed in claim 6, which is characterized in that further include wirelessly passing
Defeated component, wireless transmission component are connect with controller (6).
8. a kind of underwater biomimetic robotic fish of pipe conveying fluid driving as claimed in claim 7, which is characterized in that further include remotely controlling
Platform processed, for being communicated by being wirelessly transferred component and controller (6), sending control instruction and/or receiving controller (6) upload
Underwater picture.
9. the underwater biomimetic robotic fish that a kind of pipe conveying fluid as described in claims 1 to 3 any one drives, which is characterized in that
Defeated stream hard tube (14) material is copper or aluminium alloy.
10. the underwater biomimetic robotic fish that a kind of pipe conveying fluid as described in claims 1 to 3 any one drives, which is characterized in that
Fish body (3) top is equipped with dorsal fin (4), to balance the motion state of fish body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820610226.7U CN208149578U (en) | 2018-04-26 | 2018-04-26 | A kind of underwater biomimetic robotic fish of pipe conveying fluid driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820610226.7U CN208149578U (en) | 2018-04-26 | 2018-04-26 | A kind of underwater biomimetic robotic fish of pipe conveying fluid driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208149578U true CN208149578U (en) | 2018-11-27 |
Family
ID=64375686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820610226.7U Expired - Fee Related CN208149578U (en) | 2018-04-26 | 2018-04-26 | A kind of underwater biomimetic robotic fish of pipe conveying fluid driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208149578U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408006A (en) * | 2018-04-26 | 2018-08-17 | 华中科技大学 | A kind of underwater biomimetic robotic fish of pipe conveying fluid driving |
-
2018
- 2018-04-26 CN CN201820610226.7U patent/CN208149578U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408006A (en) * | 2018-04-26 | 2018-08-17 | 华中科技大学 | A kind of underwater biomimetic robotic fish of pipe conveying fluid driving |
| CN108408006B (en) * | 2018-04-26 | 2024-03-19 | 华中科技大学 | Underwater bionic robot fish driven by flow conveying pipe |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181127 Termination date: 20200426 |
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| CF01 | Termination of patent right due to non-payment of annual fee |