CN209274866U - It is a kind of can multifreedom motion mechanical fish - Google Patents
It is a kind of can multifreedom motion mechanical fish Download PDFInfo
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- CN209274866U CN209274866U CN201822246402.6U CN201822246402U CN209274866U CN 209274866 U CN209274866 U CN 209274866U CN 201822246402 U CN201822246402 U CN 201822246402U CN 209274866 U CN209274866 U CN 209274866U
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- fish
- steering engine
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- multifreedom motion
- mechanical
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Abstract
The utility model relates to field of mechanical technique, and in particular to it is a kind of can multifreedom motion mechanical fish.The utility model is single for bionic mechanical fish majority driving method in the prior art, usually either mobility difference or propulsive efficiency are low, it is difficult to meet high maneuverability and high propulsive efficiency simultaneously, and it is floated using pectoral fin method control mechanical fish, the problem that dive mechanical structure is relative complex, provide it is a kind of can multifreedom motion mechanical fish, using Scad section fish as source, three steering engines, which are connected, drives fish tail swing and gravity model appoach to combine, realize the multifreedom motion of mechanical fish, and its mechanical structure is simple, it is small in size, it is strong to complicated landform adaptive faculty；In addition sensor is select and set, so that being influenced by the suspended particulate substance in water small when its work.
Description
Technical field
The utility model relates to field of mechanical technique, and in particular to it is a kind of can multifreedom motion mechanical fish.
Background technique
In recent years, the mankind explore ocean and are constantly progressive, and salvage a sunken ship including underwater archaeology, to detect submarine pipeline close
Feng Xing, seabed mineral exploration and high energy waste disposal etc..The exploration and research of these projects have great meaning, such as solve
Link pollution, improves historical information, and accelerating liquid gas resource transmission obtains more mineral resources and solves global contradiction etc..With
Constantly to deep-sea exploration, the effect of steamer sonar and conventional subsea detector is gradually deteriorated, the completely new water of bionic mechanical fingerling
The research of lower detector also just becomes concerning important.
Make mechanical fish under water and may be implemented to float, there are three types of methods for lower rice root nematode: drainage, pectoral fin method and center of gravity
Method.Drainage is that water tank is arranged inside mechanical fish, controls water inlet draining by pump machine, realizes the floating dive of mechanical fish；
Pectoral fin method is to change the direction of advance of mechanical fish by the longitudinal oscillation of pectoral fin to achieve the purpose that floating dive；Gravity model appoach is logical
The motor crossed in fish body changes the position of counterweight, its center of gravity is made to change, and fish head is towards also changing, in the work of propulsive force
With lower completion floating dive.
Bionic mechanical fish majority driving method currently on the market is single, usual either mobility difference or propulsive efficiency
It is low, it is difficult to while meeting high maneuverability and high propulsive efficiency.
Through retrieving, publication number: CN206255173U, publication date 2018.7.31 disclose " a kind of novel bionic mechanical fish "
This application can meet high maneuverability and high propulsive efficiency simultaneously, but it uses pectoral fin method to change mechanical fish direction of advance, realize machine
Tool fish floats dive under water, and structure is relatively complicated.It is therefore desirable to improve for this problem.
Utility model content
Technical problem to be solved by the utility model is: bionic mechanical fish majority driving method is single in the prior art, lead to
Often either mobility difference or propulsive efficiency are low, it is difficult to while meeting high maneuverability and high propulsive efficiency, and use pectoral fin method
Control the problem that mechanical fish floats, dive mechanical structure is relative complex.
To realize the above-mentioned technical purpose, the utility model adopts the following technical solution:
It is a kind of can multifreedom motion mechanical fish, including fish head, fish body, fish tail and control system, shape copy Scad
Section fish, side is flat, whole streamlined, is suitable for most of streamflow regimes.
The fish head is flat structure, and two sides are provided with aperture, are equipped with sensor in aperture.
Control system is installed in the fish body, there are circuit in the mechanism that snorkels and steering engine transmission mechanism, the design of fish body front half section
Cabin is used for installation control system；Fish head is connected by way of pressure pad type with circuit cabin, both can be easy to disassemble to check internal electricity
Road, and can reach good waterproof effect.
Wherein, circuit cabin rear design has the bolt hole for placing the notch switched and fixed steering engine frame.
Wherein, the mechanism that snorkels is a clump weight, changes the position of counterweight by motor, makes the position of centre of gravity of mechanical fish
Change, to realize the floating and sinking of mechanical fish.
The control system, data transfer mode are Bluetooth transmission；Control system includes power supply unit, voltage modulus of conversion
Block, control unit, processor, sension unit, communication unit.
Power supply unit will meet the voltage output of each module by voltage transformation module, activate each unit；
Sension unit includes pressure sensitive module, infrared obstacle avoidance module and video acquisition module, sension unit detection data
Afterwards, then the data that will test are transmitted to processor；
After processor receives the data that sensor transmits and calculating, then the data after calculating are transmitted to communication unit；
After communication unit receives the data that processor transmits, then it will be sent according to the data and instruct extremely control single accordingly
Member；
Control unit is provided with multiple PWM, after control unit receives instruction, issues corresponding PWM, control according to the instruction
Mechanical fish processed completes corresponding work.
The fish body second half section is equipped with switch and steering engine drive mechanism, and steering engine drive mechanism is to connect to drive fish tail with three steering engines
The propulsive mechanism of swing comprising the first steering engine, the second steering engine, third steering engine, the first joint, second joint and third joint；
First steering engine is bolted at circuit cabin rear portion, and the first steering engine envisaged underneath has steering engine disk, is also equipped with below steering engine disk
The first steering engine of bearing support, the first steering engine is connect by the steering engine frame at its rear with the first joint, to realize mechanical fishtail fin
The first joint controlled motion；First joint is in the U-shaped that side is put upside down, and the second steering engine is embedded in the first joint, and is passed through
Steering engine plate is connect with second joint；Second joint is also the U-shaped put upside down in side, and third steering engine is embedded in second joint, and
It is connect in articulated manner with third joint, guarantees the free movement of second joint and third joint.
The fish tail is connect by fish tail bindiny mechanism with third joint, fish tail bindiny mechanism shape and Two-feet plug phase
Seemingly, secondly foot passes through screw bolt reinforcing on third joint, the other end then passes through bolt and connect with fish tail, prevents fish tail in water flow
It is deflected under effect and changes the direction of motion, prevented the direction of motion deviation because caused by can not grasping fish tail direction, roll, overturning
Situations such as.
The utility model has the beneficial effects that the utility model one kind can multifreedom motion mechanical fish, with Scad section fish
For source, three steering engines is connected, fish tail swing and gravity model appoach is driven to combine, before realization, left and right and upper and lower multifreedom motion,
And its mechanical structure is simple, and it is small in size, it is strong to complicated landform adaptive faculty；In addition sensor is select and set, so that its work
When making, influenced by the suspended particulate substance in water small.
Detailed description of the invention
Fig. 1 show the structural schematic diagram of the utility model
Fig. 2 is the schematic diagram in the circuit cabin of the utility model
Fig. 3 is the control system block diagram of the utility model
Description of symbols: 1, fish head；2, circuit cabin；3, latent structures；4, the first steering engine；5, steering engine frame；6, the second rudder
Machine；7, steering engine plate；8, fish tail bindiny mechanism；9, steering engine disk；10, bearing；11, the first joint；12, gasket；13, second joint；
14, third steering engine；15, third joint；16, fish tail；17, it switchs.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
It is a kind of can multifreedom motion mechanical fish, including fish head, fish body, fish tail and control system, shape copy Scad
Section fish, side is flat, whole streamlined, is suitable for most of streamflow regimes.
The fish head is flat structure, and two sides are provided with aperture, are equipped with sensor in aperture.
Control system is installed in the fish body, the mechanism that snorkels and steering engine transmission mechanism, the mechanism that snorkels are a clump weight；
The design of fish body front half section has circuit cabin, and control system is equipped in circuit cabin, and circuit cabin rear portion, which is also devised with, places lacking for switch
The bolt hole of mouth and fixed steering engine frame.
The fish body second half section is equipped with switch and steering engine drive mechanism, and steering engine drive mechanism is to connect to drive fish tail with three steering engines
The propulsive mechanism of swing comprising the first steering engine, the second steering engine, third steering engine, the first joint, second joint and third joint；
First steering engine is bolted at circuit cabin rear portion, and the first steering engine is connect by the steering engine frame at its rear with the first joint；The
One joint is in the U-shaped that side is put upside down, and the second steering engine is embedded in the first joint, and is connect by steering engine plate with second joint；The
Two joints are also the U-shaped put upside down in side, and third steering engine is embedded in second joint, and are connected in articulated manner with third joint
It connects.
The fish tail is connect by fish tail bindiny mechanism with third joint, and fish tail bindiny mechanism one end is existed by screw bolt reinforcing
On third joint, the other end then passes through bolt and connect with fish tail.
The control system includes power supply unit, voltage transformation module, control unit, processor, sension unit and communication
Unit.
Wherein, power supply unit will meet the voltage output of each module by voltage transformation module, activate each unit；Perception
Unit includes pressure sensitive module, infrared obstacle avoidance module and video acquisition module, after sension unit detection data, then be will test
Data be transmitted to processor；After processor receives the data that sensor transmits and calculating, then by after calculating data transmit
To communication unit；After communication unit receives the data that processor transmits, then send data to control unit；Control unit root
The mechanism work that snorkels is controlled according to the data received, and mechanical fish is made to keep floating or diving stations.
Firstly, power supply unit will meet the voltage output of each module by voltage transformation module, each unit is activated；Perception
Pressure sensitive module detection mechanical fish in unit is presently in underwater ambient pressure value, and is transmitted to processor；Processor connects
After the data for receiving the detection of pressure sensitive module, according to depth under water value locating for the data computer tool fish, and will be calculated
Depth value is sent to communication unit, which is transmitted to control unit again by communication unit.
Secondly, control unit exports PWM, the mechanism work that snorkels is controlled, mechanical fish is made to keep floating or diving stations；This
When, the pressure sensitive module in sension unit continues working, and the data that will test are transmitted to through processor and communication unit
Control unit, control unit control mechanical fish start to move along a straight line.
Then, the infrared obstacle avoidance module in sension unit and image capture module are started to work；On the one hand, work as infrared obstacle avoidance
When module finds barrier, data are transmitted to processor, processor issues control unit according to the data and instructs, control unit
PWM is issued according to the instruction, control steering engine drive mechanism realizes turning function, until infrared obstacle avoidance module no longer transmits barrier
Data；After infrared obstacle avoidance module no longer transmits barrier data, processor to control unit send instruct, control unit according to
The instruction issues PWM, and control steering engine drive mechanism restores the working condition of linear motion.On the other hand, video acquisition module is taken the photograph
Sub-marine situations are recorded, and data will be shot with video-corder and be transmitted to processor.
Finally, processor sends instruction of floating to control unit, and control unit exports PWM control after detection operations
The mechanism that snorkels changes mechanical fish center, and mechanical fish is made to float, and during this, pressure sensitive module is continued working, Zhi Daoji
Tool fish emerges.
Claims (7)
1. one kind can multifreedom motion mechanical fish, including fish head (1), fish body, fish tail (16) and control system；
Fish head (1) two sides are provided with aperture, are equipped with sensor in aperture；
Control system, the mechanism that snorkels (3) and steering engine transmission mechanism are installed in the fish body；The design of fish body front half section has circuit cabin
(2), control system is installed in circuit cabin (2)；
The fish body second half section is equipped with switch (17) and steering engine drive mechanism, and steering engine transmission mechanism includes the first steering engine (4), the second rudder
Machine (6), third steering engine (14), the first joint (11), second joint (13) and third joint (15)；First steering engine (4) passes through spiral shell
Bolt is connected to circuit cabin (2) rear portion, and the first steering engine (4) is connect by the steering engine frame (5) at its rear with the first joint (11)；First
Joint (11) is in the U-shaped that side is put upside down, and the second steering engine (6) is embedded in the first joint (11), and passes through steering engine plate (7) and second
Joint (13) connection；Second joint (13) is also the U-shaped put upside down in side, and third steering engine (14) is embedded in second joint (13)
In, and connect in articulated manner with third joint (15)；
The fish tail (16) is connect by fish tail bindiny mechanism (8) with third joint (15), and fish tail bindiny mechanism (8) one end passes through
On third joint (15), the other end then passes through bolt and connect with fish tail (16) screw bolt reinforcing；
The control system includes power supply unit, voltage transformation module, control unit, processor, sension unit and communication unit.
2. one kind according to claim 1 can multifreedom motion mechanical fish, it is characterised in that: fish head (1) and circuit
Cabin (2) is connected by way of pressure pad type.
3. one kind according to claim 1 can multifreedom motion mechanical fish, it is characterised in that: the mechanism that snorkels (3) is
One clump weight.
4. one kind according to claim 1 can multifreedom motion mechanical fish, it is characterised in that: circuit cabin (2) rear portion
It is also devised with the bolt hole of the notch for placing switch and fixed steering engine frame (5).
5. one kind according to claim 1 can multifreedom motion mechanical fish, it is characterised in that: under the first steering engine (4)
Side's design has steering engine disk (9), and bearing (10) support the first steering engine (4) is also equipped with below steering engine disk (9).
6. one kind according to claim 1 can multifreedom motion mechanical fish, it is characterised in that: power supply unit passes through electricity
Conversion module is pressed, the voltage output of each module will be met, activates each unit.
7. one kind according to claim 1 can multifreedom motion mechanical fish, it is characterised in that: the data of control system
Transmission mode is Bluetooth transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822246402.6U CN209274866U (en) | 2018-12-29 | 2018-12-29 | It is a kind of can multifreedom motion mechanical fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822246402.6U CN209274866U (en) | 2018-12-29 | 2018-12-29 | It is a kind of can multifreedom motion mechanical fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209274866U true CN209274866U (en) | 2019-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822246402.6U Expired - Fee Related CN209274866U (en) | 2018-12-29 | 2018-12-29 | It is a kind of can multifreedom motion mechanical fish |
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| Country | Link |
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| CN (1) | CN209274866U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775229A (en) * | 2019-12-03 | 2020-02-11 | 上海海洋大学 | Multifunctional bionic tuna and control method thereof |
-
2018
- 2018-12-29 CN CN201822246402.6U patent/CN209274866U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775229A (en) * | 2019-12-03 | 2020-02-11 | 上海海洋大学 | Multifunctional bionic tuna and control method thereof |
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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: 20190820 Termination date: 20201229 |
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| CF01 | Termination of patent right due to non-payment of annual fee |