CN208344517U - A kind of bionic soft machine fish - Google Patents
A kind of bionic soft machine fish Download PDFInfo
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- CN208344517U CN208344517U CN201820639488.6U CN201820639488U CN208344517U CN 208344517 U CN208344517 U CN 208344517U CN 201820639488 U CN201820639488 U CN 201820639488U CN 208344517 U CN208344517 U CN 208344517U
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- fish
- tail
- maw
- axial
- bionic soft
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 194
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 39
- 239000000463 material Substances 0.000 claims abstract description 8
- 229920002379 silicone rubber Polymers 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims abstract description 5
- 239000007788 liquid Substances 0.000 claims description 42
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 18
- 210000000006 pectoral fin Anatomy 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 238000005452 bending Methods 0.000 description 5
- 239000003292 glue Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 230000002745 absorbent Effects 0.000 description 1
- 239000002250 absorbent Substances 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
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- Farming Of Fish And Shellfish (AREA)
Abstract
One of the application bionic soft machine fish, including in installation in fish head (a) detecting module (1) and control module (2), fish maw (b) place on rear side of fish head (a) is equipped with motor, the rear side of fish maw (b) is equipped with fish tail (c), wherein, fin wing (8) are equipped on the downside of the fish head (a) of the bionic soft machine fish, fin wing (8) is connected between fish head (a) rear side and fish maw (b), fish maw (b) place is equipped with direct current generator (3), the top of direct current generator (3) is equipped with dorsal fin (4), axial-flow pump (5) are connected between direct current generator (3) and fish tail (c), fish tail (c) place on rear side of axial-flow pump (5) is equipped with hydroelasticity driver (6), the exterior material of bionic soft machine fish is made of silicon rubber；Resistance and noise are reduced using machine fish supple body, improves flexibility ratio, endurance and concealment, realize the underwater exploration secret for a long time of software machine fish and recon effect.
Description
Technical field
It is specifically a kind of for exploring and investigating the software machine of underwater environment this application involves bio-robot field
Fish.
Background technique
Bionic machine fish refers to a kind of novel robot for imitating the Nature fish and being researched and developed, and mainly carries exploration
With the important mission of investigation underwater environment.
Currently, bionic machine fish is mainly made using traditional manufacturing process and manufacture material, software is seldom used
Intellectual material, but as sight is gradually transferred to by the manufacturing process and software intellectual material, people that continue to develop and upgrade
On bionic soft machine fish, because traditional bionic machine fish rigidity is big, energy consumption is high, concealment is poor, and bionic soft machine fish
High, the good environmental adaptability with structurally flexible degree, it is flexible the advantages that.
Under water in terms of environment detection, bionic soft machine fish replaces traditional software machine fish to be development trend, institute
With it is necessary to propose a kind of structurally flexible, the bionic soft machine that effect on environment is small, low energy consumption, endurance and concealment are strong
Fish.
Summary of the invention
The application's aims to overcome that the technical problems existing in the prior art, and provides a kind of bionic soft machine
Fish.
The purpose of the application is completed by following technical solution, a kind of bionic soft machine fish, including in installation
Detecting module and control module in fish head are equipped with motor at the fish maw on rear side of fish head, and the rear side of fish maw is equipped with fish tail, wherein
Fin wing is equipped on the downside of the fish head of the bionic soft machine fish, fin wing is connected between fish head rear side and fish maw, sets at fish maw
There is a direct current generator, the top of direct current generator is equipped with dorsal fin, axial-flow pump is connected between direct current generator and fish tail, on rear side of axial-flow pump
Hydroelasticity driver is equipped at fish tail, the exterior material of bionic soft machine fish is made of silicon rubber.
Described fish tail one end is fixedly connected with direct current generator, is fixedly connected with tail fin on another end.
The fish maw edge of the downside of the axial-flow pump is equipped with pectoral fin.
It include the fish tail intermediate bulkhead being horizontally installed in fish tail, fish tail intermediate bulkhead in the hydroelasticity driver
Two sides have axial-flow pump and the right liquid tank of fish tail respectively.
Two ends of the fish tail are respectively constraint and liquid tank water outlet before fish tail, be equipped in constraint before fish tail liquid tank into
The mouth of a river is connected to axial-flow pump and the right liquid tank of fish tail.
The fin wing is extended with revolute pair in fish maw lateral under fish head, and the servo motor in revolute pair and fish maw connects
It connects.
It is equipped at the fish maw on direct current generator and ball bearing and axial-flow pump liquid outlet is installed.
A kind of travelling method of bionic soft machine fish, wherein the following steps are included:
Step 1: bionic soft machine fish being put into liquid, being rotated upwardly and downwardly by revolute pair can drive fin wing to turn up and down
It is dynamic, to realize machine fish inclination travelling；
Step 2: being connect with fish tail by glue by axial-flow pump, there are two water inlet and liquid tank water outlet, fish tails for fish tail
It is drained backward by liquid tank water outlet, so that machine fish obtains the power to move about forward；
Step 3: axial-flow pump pass through toward axial-flow pump drain so that axial-flow pump expansion it is bending to the right, thus drive machine fish to
Right turn；Or
Axial-flow pump passes through toward the right liquid tank draining of fish tail, so that the right liquid tank expansion of fish tail is bending to the left, to drive machine fish
It turns to the left.
The application compared with prior art, at least has following obvious advantage and effect:
1, the application is the bionic soft machine fish of structurally flexible, and resistance is reduced using machine fish supple body and is made an uproar
Sound improves flexibility ratio, endurance and concealment, realizes the underwater exploration secret for a long time of software machine fish and scouts；Utilize fish tail
Two tanks in cabin, driving machine fish flexibly turn to；Using the servo motor and revolute pair in fish body cabin, enable machine fish
Inclination travelling freely；Therefore, the present invention is of great significance for the popularization and application of bionic soft machine fish.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the overall schematic of bionic soft machine fish.
Fig. 2 is fish tail cabin partial structural diagram.
Fig. 3 is servo motor and fin wing partial structural diagram.
Fig. 4 is direct current generator and axial-flow pump partial structural diagram.
Specific embodiment
To keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with the application specific embodiment and
Technical scheme is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the application one
Section Example, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall in the protection scope of this application.
A kind of bionic soft machine fish described herein, including the detecting module 1 and control mould in fish head a in installation
Block 2 is equipped with motor at the fish maw b on rear side of fish head a, and the rear side of fish maw b is equipped with fish tail c, wherein the bionic soft machine fish
Fish head a on the downside of be equipped with fin wing 8, fin wing 8 is connected between fish head a rear side and fish maw b, equipped with direct current generator 3 fish maw b at,
The top of direct current generator 3 is equipped with dorsal fin 4, and axial-flow pump 5, the fish tail c of 5 rear side of axial-flow pump are connected between direct current generator 3 and fish tail c
Place is equipped with hydroelasticity driver 6, and the exterior material of bionic soft machine fish is made of silicon rubber；With soft using machine fish
Soft body reduces resistance and noise, improves flexibility ratio, endurance and concealment, realizes that software machine fish is underwater secret for a long time
The effect of close exploration and scouting.
Referring to shown in Fig. 1 to Fig. 4, in the embodiment of the present application, detecting module 1 is located in the cabin fish head a；Control module 2 can
It can also be disposed in the fish body i.e. cabin of fish maw b with being arranged in the cabin fish head a, wherein direct current generator 3 is set with axial-flow pump 5
In the cabin fish body, that is, fish maw b；Hydroelasticity driver 6 is located in the cabin of fish tail c.
A pair of of fin wing 8 is connected by revolute pair 18 with servo motor 17, and revolute pair 18, which rotates upwardly and downwardly, can drive on fin wing 8
Lower rotation, to realize machine fish inclination travelling；The servo motor 17 is connected by fastening nut with direct current generator 3, direct current
Motor 3 is connected by shaft coupling with axial-flow pump 5, and guarantee axial-flow pump with electric machine main shaft is concentric installs, such operation of axial-flow pump 5
It is high-efficient, low noise；The axial-flow pump 5 is connect with fish tail by glue, and there are two water inlet 14 and liquid tank water outlets for fish tail
15, fish tail is drained backward by liquid tank water outlet 15, so that machine fish obtains the power to move about forward；The fish tail uses silicon
Rubber is formed by Mold Making, and the inside is equipped with left liquid tank 5 and right liquid tank 11, and axial-flow pump 5 is drained by liquid tank 5 of turning left, so that
Left liquid tank 5 expands bending to the right, so that machine fish be driven to turn to the right, similarly, passes through the draining driving machine fish of liquid tank 11 to the right
It turns to the left, therefore, fish tail cabin can be used as the use of hydroelasticity driver.
The exterior material of bionic soft machine fish is made of silicon rubber, wherein dorsal fin 4, tail fin 7 and the pectoral fin 9
It is made of silicon rubber, Nian Jie by glue with machine fish, it is indefinite to prevent from being swung left and right when machine fish disequilibrium.
The detecting module 1 is located in the fish head cabin made of silicon rubber, is equipped with camera and sensor.
The control module 2 is equipped with battery, master control borad and communication module；Technician communicates mould by bluetooth connection on the bank
Block sends instruction, drives fish tail and fin wing, machine fish is made to move about according to projected route.
A kind of bionic soft machine fish, including the detecting module 1 and control module 2 in fish head a in installation, fish head a rear side
Fish maw b at be equipped with motor, the rear side of fish maw b is equipped with fish tail c, wherein
It is equipped with fin wing 8 on the downside of the fish head a of the bionic soft machine fish, fin wing 8 is connected to fish head a rear side and fish maw b
Between, the water flow on the downside of bionic soft machine fish is controlled by fin wing 8.
Direct current generator 3 is equipped at fish maw b, the top of direct current generator 3 is equipped with dorsal fin 4, connects between direct current generator 3 and fish tail c
It is connected to axial-flow pump 5, is sent into fish tail by motor moving axis stream pump 5 using axial-flow pump 5 from outer absorbent member, is the liquid of fish tail
Driver provides power.
Hydroelasticity driver 6 is equipped at the fish tail c of 5 rear side of axial-flow pump.By hydroelasticity driver 6 to fish tail outside
The liquid in portion is stirred, and then controls the travelling of fish.
The one end the fish tail c is fixedly connected with direct current generator 3, is fixedly connected with tail fin 7 on another end.Along fish tail c
Both ends installed, wherein tail fin 7 can be used to control biomimetics machine fish swimming direction.
The edge fish maw b of the downside of the axial-flow pump 5 is equipped with pectoral fin 9, controls fish maw b lower position liquid by pectoral fin 9
The flow direction of body.
It include the fish tail intermediate bulkhead 12 being horizontally installed in fish tail c in the hydroelasticity driver 6, in fish tail
There are axial-flow pump 5 and the right liquid tank 11 of fish tail in the two sides of spacing board 12 respectively.
The cabin inside fish tail c is flowed through using liquid, and then controls the position and direction of liquid flowing respectively.
Two ends of the fish tail c are respectively constraint 13 and liquid tank water outlet 15 before fish tail, along constraining 13 before fish tail
The port that position is formed controls the inflow of liquid, and water flow is flowed out along 15 position of liquid tank water outlet, and then is formed and flowed into
With the circulation of outflow.
Liquid tank water inlet 14 is equipped with before fish tail in constraint 13 and is connected to axial-flow pump 5 and the right liquid tank 11 of fish tail.8 edge of fin wing
Be extended with revolute pair 18 in lateral fish maw b under fish head a, revolute pair 18 is connect with the servo motor 17 in fish maw b.Pass through electricity
Machine controls the direction of revolute pair, and then realizes the control to fin wing 8.
It is equipped at the fish maw b on direct current generator 3 and ball bearing 19 and axial-flow pump liquid outlet 20 is installed.To improve
The rotatory power of pump installs bearing, is docked between the end of direct current generator by being pumped using bearing help.
A kind of travelling method of bionic soft machine fish, it is characterised in that；The following steps are included:
Step 1: bionic soft machine fish being put into liquid, being rotated upwardly and downwardly by revolute pair 18 can drive on fin wing 8
Lower rotation, to realize the inclination travelling of machine fish；
Step 2: connect with fish tail by glue by axial-flow pump 5, fish tail there are two water inlet 14 and liquid tank water outlet 15,
Fish tail is drained backward by liquid tank water outlet 15, so that machine fish obtains the power to move about forward；
Step 3: axial-flow pump 5 pass through toward axial-flow pump 5 drain so that left liquid tank 5 expand it is bending to the right, to drive machine fish
It turns to the right；Or
Axial-flow pump 5 passes through to be drained toward the right liquid tank 11 of fish tail so that the right liquid tank 11 of fish tail expand it is bending to the left, thus driving machine
Device fish turns to the left.
The inclination travelling that fin wing 8 rotates upwardly and downwardly control machine fish is controlled by revolute pair 18, then right by axial-flow pump 5
Axial-flow pump 5 or the right liquid tank 11 of fish tail carry out selective supply liquid, and then realize that it is constantly turned to the right or to the left.
The above description is only an example of the present application, moreover, the title that components are taken in the application can not also
Together, the title being not intended to limit in the application.To those skilled in the art, various changes and changes are possible in this application.
All any modification, equivalent replacement, improvement and so within the design and principle of the application, should be included in the power of the application
Within sharp claimed range.
Claims (7)
1. a kind of bionic soft machine fish, including in fish head (a) in installation detecting module (1) and control module (2), fish head
(a) fish maw (b) place on rear side of is equipped with motor, and the rear side of fish maw (b) is equipped with fish tail (c), it is characterised in that: the bionic soft machine
Fin wing (8) are equipped on the downside of the fish head (a) of device fish, fin wing (8) is connected between fish head (a) rear side and fish maw (b), fish maw (b)
Place is equipped with direct current generator (3), and the top of direct current generator (3) is equipped with dorsal fin (4), is connected between direct current generator (3) and fish tail (c)
Axial-flow pump (5), fish tail (c) place on rear side of axial-flow pump (5) are equipped with hydroelasticity driver (6), the outside of bionic soft machine fish
Material is made of silicon rubber.
2. bionic soft machine fish according to claim 1, it is characterised in that: described fish tail (c) one end and direct current generator
(3) it is fixedly connected, is fixedly connected with tail fin (7) on another end.
3. bionic soft machine fish according to claim 1, it is characterised in that: the fish maw of the downside of the axial-flow pump (5)
(b) edge is equipped with pectoral fin (9).
4. bionic soft machine fish according to claim 1, it is characterised in that: packet in the hydroelasticity driver (6)
The fish tail intermediate bulkhead (12) being horizontally installed in fish tail (c) is included, there are axial-flow pump in the two sides of fish tail intermediate bulkhead (12) respectively
(5) and the right liquid tank of fish tail (11).
5. bionic soft machine fish according to claim 4, it is characterised in that: distinguish two ends of the fish tail (c)
To constrain (13) and liquid tank water outlet (15) before fish tail, is constrained in (13) before fish tail and be connected to axis stream equipped with liquid tank water inlet (14)
Pump (5) and the right liquid tank of fish tail (11).
6. bionic soft machine fish according to claim 1, it is characterised in that: the fin wing (8) is along on the downside of fish head (a)
It is extended with into fish maw (b) revolute pair (18), revolute pair (18) is connect with the servo motor (17) in fish maw (b).
7. bionic soft machine fish according to claim 1, it is characterised in that: fish maw (b) place is equipped with direct current generator
(3) ball bearing (19) and axial-flow pump liquid outlet (20) are installed on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820639488.6U CN208344517U (en) | 2018-05-02 | 2018-05-02 | A kind of bionic soft machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820639488.6U CN208344517U (en) | 2018-05-02 | 2018-05-02 | A kind of bionic soft machine fish |
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| Publication Number | Publication Date |
|---|---|
| CN208344517U true CN208344517U (en) | 2019-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820639488.6U Expired - Fee Related CN208344517U (en) | 2018-05-02 | 2018-05-02 | A kind of bionic soft machine fish |
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| CN (1) | CN208344517U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674620A (en) * | 2018-05-02 | 2018-10-19 | 浙江交通职业技术学院 | Bionic soft machine fish |
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2018
- 2018-05-02 CN CN201820639488.6U patent/CN208344517U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674620A (en) * | 2018-05-02 | 2018-10-19 | 浙江交通职业技术学院 | Bionic soft machine fish |
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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: 20190108 |
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| CF01 | Termination of patent right due to non-payment of annual fee |