CN209956195U

CN209956195U - Bionic robot fish

Info

Publication number: CN209956195U
Application number: CN201920215859.2U
Authority: CN
Inventors: 熊明磊
Original assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Current assignee: Boya Gongdao Beijing Robot Technology Co Ltd
Priority date: 2019-02-20
Filing date: 2019-02-20
Publication date: 2020-01-17
Anticipated expiration: 2029-02-20

Abstract

The utility model discloses a bionic robotic fish, which comprises a fish head mechanism, a fish body mechanism and a fish tail mechanism, wherein the front side of the fish head mechanism is provided with a binocular camera and a first active sonar; the fish head mechanism is provided with a laser scanning mechanism; the first active sonar, the second active sonar, the laser scanning mechanism, the binocular camera and the floating and diving mechanism are respectively connected with a sub-controller, and the sub-controllers are connected with the main controller. Three active sonars which are arranged in a delta shape are adopted and fused with a binocular camera, so that the dead angle of measurement is effectively reduced, and meanwhile, the passive sonars are used for monitoring underwater sound to identify objects, so that more effective obstacle avoidance can be realized, underwater topography and landform can be scanned, and vivid bionic effect can be realized; the floating and submerging mechanism occupies small space, the ball screw cannot be in direct contact with water, the ball screw is not easy to corrode, and the service life is long.

Description

Bionic robot fish

Technical Field

The utility model relates to a machine fish technical field particularly, relates to a bionic machine fish.

Background

The bionic robot fish is used for completing underwater detection tasks, and floating and submerging of the bionic robot fish are achieved through the floating and submerging mechanism.

The existing bionic robot fish has small coverage, cannot effectively avoid obstacles, has single function and does not have a binocular recognition function.

In addition, the existing bionic robot fish can only transmit underwater images to the ground, and cannot scan underwater topography and landforms. The tail part of the existing bionic robot fish has stiff motion and poor bionic effect. The existing floating and submerging mechanism drives the ball nut to move linearly through the rotation of the ball screw, and then drives the piston connected with the ball nut to move linearly, the occupied space of the mode is large, and the ball screw can be in direct contact with water and is easy to corrode, and the transmission precision can be influenced.

An effective solution to the problems in the related art has not been proposed yet.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned technical problem among the correlation technique, the utility model provides a bionical machine fish adopts the initiative sonar that three article font was arranged, and the cover surface is bigger to fuse mutually with two mesh cameras, reduce the dead angle, can realize effectively keeping away the barrier, can scan topography and landform under water, a plurality of joint motor independent motions, bionically effectual, its float and dive mechanism occupation space is little, ball can not with water direct contact.

In order to achieve the technical purpose, the technical scheme of the utility model is realized as follows:

a bionic robot fish comprises a fish head mechanism, a fish body mechanism and a fish tail mechanism, and is characterized in that a binocular camera and a first active sonar are arranged on the front side of the fish head mechanism, a second active sonar is respectively arranged on the left side and the right side of the fish body mechanism, and the first active sonar and the two second active sonars are arranged in a delta shape; the fish head mechanism is provided with a laser scanning mechanism; the lower part of the fish body mechanism is provided with a floating and submerging mechanism; the fishtail mechanism comprises a fishtail framework, the fishtail framework comprises a multi-stage joint module, the joint module comprises a waterproof driving box, a joint motor is arranged in the waterproof driving box, the joint motor is connected with an output shaft through a second transmission mechanism, at least part of the output shaft is positioned outside the waterproof driving box, the output shaft of the joint module at the upper stage is fixedly connected with the waterproof driving box of the joint module at the lower stage through a joint connecting rod, and the output shaft of the joint module at the last stage is fixedly connected with a fishtail through a fishtail connecting rod; the first active sonar, the second active sonar, the laser scanning mechanism, the binocular camera and the floating and diving mechanism are respectively connected with a sub-controller, and the sub-controllers are connected with a main controller.

Further, a passive sonar is arranged on the lower portion of the fish head mechanism, and the passive sonar is connected with the main controller through a corresponding sub-controller.

Optionally, the waterproof driving box is fixedly connected with a waterproof casing, and the waterproof casing is provided with at least one second hole for the output shaft to pass through.

Optionally, the waterproof driving box is provided with at least one second hole for the output shaft to pass through.

Further, the output shaft with be provided with waterproofing mechanism between the second hole, waterproofing mechanism includes the axle sleeve, annular boss has on the axle sleeve, the boss is located waterproof shell's outside, a terminal surface axial compression of boss waterproof shell, the ring channel has been seted up on another terminal surface of boss, but be provided with bloated straining ring and axially sliding's clamping ring in the ring channel, the bloated straining ring has elasticity, the bloated straining ring is kept away from trapezoidal annular has been seted up on waterproof shell's the terminal surface, be provided with on the clamping ring with trapezoidal annular groove matched with trapezoidal ring is protruding, the boss is kept away from detachably is connected with the fender cap on waterproof shell's the terminal surface, it compresses tightly to keep off the cap axial the clamping ring.

Further, laser scanning mechanism is including being located the laser scanner of fish head mechanism lower part, laser scanner fixedly connected with can reciprocate the slider, the slider is connected with the scanning mechanism motor through a drive mechanism, the scanning mechanism motor is connected through the sub-controller rather than corresponding main control unit.

Furthermore, the floating and submerging mechanism comprises a cylinder body, a first cavity and a second cavity are arranged in the cylinder body at intervals, a water suction and drainage port is formed in one end, far away from the first cavity, of the second cavity, a piston is connected in the second cavity in a sealing and sliding mode, a motor is arranged in the first cavity, the motor is connected with a ball nut capable of rotating around the axis of the motor through a second transmission mechanism, a ball screw matched with the ball nut penetrates through the axis of the ball nut, the ball screw penetrates through the first cavity and then is connected with the piston in the second cavity, and the motor is connected with the main controller through a sub-controller corresponding to the motor.

Furthermore, a real-time camera is further arranged on the front side of the fish head mechanism, and the real-time camera is connected with the main controller through a sub-controller corresponding to the real-time camera.

Furthermore, a dorsal fin is arranged on the upper portion of the fish body mechanism, a wireless image transmission module, a wireless data transmission module and a GPS positioning module are arranged in the dorsal fin, and the wireless image transmission module, the wireless data transmission module and the GPS positioning module are all connected with the main controller.

Further, the joint module still includes the fish tail shell, waterproof drive case with waterproof shell all is located in the fish tail shell, two ventral fins of fixedly connected with symmetry on the fish tail shell.

The utility model has the advantages that: the three active sonars which are distributed in a triangular shape are adopted, the coverage area is larger, the three active sonars are fused with a binocular camera, the measurement dead angle is effectively reduced, and meanwhile, the passive sonars are used for monitoring the underwater sound to identify objects, so that more effective obstacle avoidance can be realized, underwater topography and landform can be scanned, the adaptability is wide, and vivid bionic effects can be realized due to the independent action of a plurality of joint motors; the floating and submerging mechanism occupies small space, the ball screw cannot be in direct contact with water, the ball screw is not easy to corrode, and the service life is long.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of a biomimetic robotic fish according to an embodiment of the present invention;

fig. 2 is an exploded view of a biomimetic robotic fish according to an embodiment of the present invention;

FIG. 3 is a schematic view of a biomimetic robotic fish in use according to an embodiment of the present invention;

fig. 4 is a first schematic structural diagram of a laser scanning mechanism according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram ii of a laser scanning mechanism according to an embodiment of the present invention;

fig. 6 is a first cross-sectional view of a laser scanning mechanism according to an embodiment of the present invention;

fig. 7 is a second cross-sectional view of the laser scanning mechanism according to the embodiment of the present invention;

fig. 8 is an exploded schematic view of a laser scanning mechanism according to an embodiment of the present invention;

FIG. 9 is a cross-sectional view of a tail mechanism of a biomimetic robotic fish according to an embodiment of the present invention;

FIG. 10 is an exploded view of a tail mechanism of a biomimetic robotic fish according to an embodiment of the present invention;

FIG. 11 is a cross-sectional view of a joint module according to an embodiment of the present invention;

fig. 12 is a sectional view of a waterproofing mechanism according to an embodiment of the present invention;

fig. 13 is an enlarged view of the waterproofing mechanism according to fig. 12 at a;

fig. 14 is an exploded view of a waterproofing mechanism according to an embodiment of the present invention;

fig. 15 is a schematic view of an expansion ring according to an embodiment of the present invention;

fig. 16 is a cross-sectional view of a waterproof camera housing according to an embodiment of the present invention;

FIG. 17 is a cross-sectional view of a snorkel mechanism according to an embodiment of the invention;

fig. 18 is a schematic view of a waterproof and sealing structure for cables according to an embodiment of the present invention.

In the figure:

1. a fish head mechanism; 2. a fish body mechanism; 3. a fish tail mechanism; 11. a barrel; 12. a piston; 13. a motor; 14. a ball nut; 15. a ball screw; 16. a first gear; 17. a second gear; 18. pipe sleeve; 19. a first limit switch; 21. a laser scanner; 22. a slider; 23. a scanning mechanism motor; 24. a guide bar; 25. a fixing plate; 26. a first transmission mechanism; 27. a bevel gear; 28. hooping; 29. a strut; 31. a waterproof housing; 32. an output shaft; 33. a shaft sleeve; 34. expanding and tightening the ring; 35. pressing a ring; 36. a trapezoidal ring groove; 37. a blocking cap; 38. a retainer ring; 41. fish tail; 42. a joint module; 43. a waterproof drive box; 44. a joint motor; 45. a second transmission mechanism; 46. a joint link; 47. a fishtail connecting rod; 48. a fish tail shell; 49. ventral fins; 51. a first active sonar; 52. a second active sonar; 53. a passive sonar; 61. a binocular camera; 62. a front housing; 63. a rear cover; 64. a glue groove; 65. a support; 71. a real-time camera; 72. a dorsal fin; 73. a waterproof control box; 74. a lithium battery case; 81. a cable water joint; 82. a second sealing cylinder; 83. a cable; 84. an insulating inner core; 85. sealing glue; 86. a connecting flange; 87. an annular groove; 111. a water suction and drainage port; 210. a transmission fixing plate; 211. a top rod; 212. swinging arms; 213. a second limit switch; 214. a first sealing cylinder; 215. sealing the rubber sleeve; 216. and (4) a bracket.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.

As shown in fig. 1-18, according to the embodiment of the present invention, a bionic machine fish comprises a fish head mechanism 1, a fish body mechanism 2 and a fish tail mechanism 3, wherein a binocular camera 61 and a first active sonar 51 are arranged at the front side of the fish head mechanism 1, a second active sonar 52 is respectively arranged at the left side and the right side of the fish body mechanism 2, and the first active sonar 51 and the two second active sonars 52 are arranged in a delta shape; the fish head mechanism 1 is provided with a laser scanning mechanism; the lower part of the fish body mechanism 2 is provided with a floating and submerging mechanism; the fishtail mechanism 3 comprises a fishtail framework, the fishtail framework comprises a multi-stage joint module 42, the joint module 42 comprises a waterproof driving box 43, a joint motor 44 is arranged in the waterproof driving box 43, the joint motor 44 is connected with an output shaft 32 through a second transmission mechanism 45, at least part of the output shaft 32 is positioned outside the waterproof driving box 43, the output shaft 32 of the joint module 42 at the upper stage is fixedly connected with the waterproof driving box 43 of the joint module 42 at the lower stage through a joint connecting rod 46, and the output shaft 32 of the joint module 42 at the last stage is fixedly connected with a fishtail 41 through a fishtail connecting rod 47; the first active sonar 51, the second active sonar 52, the laser scanning mechanism, the binocular camera 61 and the floating and submerging mechanism are respectively connected with a sub-controller, and the sub-controllers are connected with a main controller.

In an embodiment of the present invention, the lower part of the fish head mechanism 1 is provided with a passive sonar 53, and the passive sonar 53 is connected to the main controller through a sub-controller corresponding to the passive sonar 53.

In a specific embodiment of the present invention, the waterproof driving box 43 is fixedly connected to the waterproof housing 31, and at least one second hole for the output shaft 32 to pass through is formed on the waterproof housing 31. Or, at least one second hole for the output shaft 32 to pass through is formed in the waterproof driving box 43.

In a specific embodiment of the utility model, output shaft 32 with be provided with waterproofing mechanism between the second hole, waterproofing mechanism includes axle sleeve 33, annular boss has on the axle sleeve 33, the boss is located waterproof shell 31's outside, a terminal surface axial compression of boss waterproof shell 31, the ring channel has been seted up on another terminal surface of boss, but be provided with straining ring 34 and axial sliding's clamping ring 35 in the ring channel, straining ring 34 has elasticity, straining ring 34 keeps away from trapezoidal annular 36 has been seted up on waterproof shell 31's the terminal surface, be provided with on the clamping ring 35 with trapezoidal annular 36 matched with trapezoidal ring is protruding, the boss is kept away from detachably is connected with on waterproof shell 31's the terminal surface and keeps off cap 37, keep off cap 37 axial compression clamping ring 35.

In a specific embodiment of the present invention, the laser scanning mechanism includes a laser scanner 21 located at the lower part of the fish head mechanism 1, the laser scanner 21 is fixedly connected with a slider 22 capable of moving up and down, the slider 22 is connected with a scanning mechanism motor 23 through a first transmission mechanism 26, and the scanning mechanism motor 23 is connected with the main controller through a sub-controller corresponding to the scanning mechanism motor.

In a specific embodiment of the utility model, the float and dive mechanism includes barrel 11, the interval is provided with first cavity and second cavity in the barrel 11, the second cavity is kept away from the one end of first cavity has been seted up and has been inhaled drainage port 111, sealed sliding connection has piston 12 in the second cavity, be provided with motor 13 in the first cavity, motor 13 is connected with through second drive mechanism and can winds self axis pivoted ball nut 14, ball nut 14's axis department runs through and is provided with rather than matched with ball 15, ball 15 passes behind the first cavity with piston 12 in the second cavity is connected, motor 13 is connected through the sub-controller rather than corresponding main control unit.

In a specific embodiment of the present invention, the front side of the fish head mechanism 1 is further provided with a real-time camera 71, and the real-time camera 71 is connected to the main controller through a sub-controller corresponding to the real-time camera 71.

In an embodiment of the present invention, the upper portion of the fish body mechanism 2 is provided with a dorsal fin 72, the dorsal fin 72 is provided with a wireless image transmission module, a wireless data transmission module and a GPS positioning module therein, and the wireless image transmission module, the wireless data transmission module and the GPS positioning module are all connected to the main controller.

In a specific embodiment of the present invention, the joint module 42 further includes a fishtail housing 48, the waterproof driving box 43 and the waterproof housing 31 are all located in the fishtail housing 48, and two symmetrical ventral fins 49 are fixedly connected to the fishtail housing 48.

For the convenience of understanding the above technical solutions of the present invention, the above technical solutions of the present invention will be described in detail through specific use modes.

Bionic machine fish has three initiative sonar and a passive sonar 53, and three initiative sonar includes a first initiative sonar 51 and two second initiative sonars 52, and three initiative sonar is used for the range finding. Passive sonar 53 is used to listen for water sounds, which can identify objects by listening for water sounds. The three active sonars work in a time-sharing mode, and the time interval is 200 ms.

Every initiative sonar joins in marriage a sub-controller, and passive sonar 53 joins in marriage a sub-controller, and two mesh cameras 61 join in marriage a sub-from controller, and motor 13 joins in marriage a sub-controller, and six sub-controllers all connect main control unit. The main controller and the sub-controllers both comprise a single chip microcomputer or a CPU.

Only set up that three initiative sonar inevitable can have the measurement dead angle, measure the dead angle for reducing, the utility model discloses binocular camera 61 has still been set up and three initiative sonar collaborative work comes.

The binocular camera 61 is combined with a corresponding sub-controller, and can be used for identifying the obstacle and calculating the distance between the obstacle and the bionic robot fish according to the binocular vision principle.

Front housing 62 includes half upper shell and half lower shell, and half lower shell can be dismantled with half upper shell and be connected, and half upper shell detachably connects support 65 down, and support 65 is used for fixed binocular camera 61, and support 65 can be dismantled with half upper shell and be connected to its junction with half upper shell is provided with gluey groove 64, and gluey inslot 64 intussuseption is sealed gluey.

The waterproof effect of the joint can be effectively improved by arranging the glue groove 64 and the sealant.

Binocular camera exports image data for the sub-controller that corresponds, this sub-controller carries out the preliminary treatment with two mesh parallaxes integration depth distance value and gives main control unit with data together, the sub-controller that corresponds is exported for to the data that initiative sonar and passive sonar 53 will record, this sub-controller carries out the preliminary treatment back with data transfer to main control unit, main control unit passes through wireless image transmission module and wireless data transmission module and gives ground workstation with data transfer, main control unit still connects ground workstation through wireless communication module, ground workstation remote control laser scanning mechanism, act such as float submerge mechanism and fishtail mechanism 3.

Bionic robot fish adopts three single beam initiative sonar and two mesh cameras 61 to constitute and keeps away barrier network, according to the range difference, adopt trackless kalman filter algorithm to merge the data of three initiative sonar and two mesh cameras, observe in real time through the distance parameter that three initiative sonar and two mesh cameras 61 obtained, the roughly outline of obstacle around the bionic robot fish of back-stepping out again, according to the roughly outline of obstacle, turn to and the trip speed is judged, thereby realize keeping away the barrier.

The laser scanning mechanism comprises a laser scanner 21, a slide block 22, a scanning mechanism motor 23, a guide rod 24, a fixing plate 25, a first transmission mechanism 26, a bevel gear 27, an anchor ear 28, a support rod 29, a transmission fixing plate 210, a push rod 211, a swing arm 212, a limit switch 213, a first sealing barrel 214, a sealing rubber sleeve 215, a bracket 216 and the like.

The sliding block 22 is slidably connected to the vertical guide rod 24, the guide rod 24 is fixedly connected to the bracket 216, and the bracket 216 is fixedly connected to the fixed plate 25. The first transmission mechanism 26 is a synchronous belt transmission mechanism. The scanning mechanism motor 23 is connected to a synchronous belt drive mechanism by two mutually meshing bevel gears 27. The bottom of the slide 22 is fixedly connected with the laser scanner 21 through an anchor ear 28. The fixing plate 25 is fixedly connected with a transmission fixing plate 210 through a supporting rod 29, and the transmission fixing plate 210 is fixedly connected with a scanning mechanism motor 23. The top of the sliding block 22 is fixedly connected with a top rod 211, the transmission fixing plate 210 is hinged with the middle part of the swing arm 212, one end of the swing arm 212 corresponds to the top rod 211, and the other end of the swing arm 212 corresponds to the limit switch 213. The scanning mechanism motor 23 and the limit switch 213 are both arranged in the corresponding first sealing cylinder 214, and the first sealing cylinder 214 is fixedly connected with the transmission fixing plate 210. The transmission fixing plate 210 is fixedly connected with a sealing rubber sleeve 215, and one end of the swing arm 212 close to the ejector rod 211 is arranged in the sealing rubber sleeve 215.

The scanning mechanism motor 23 and the limit switch 213 are both connected with the same sub-controller, and the sub-controller is connected with the main controller.

Scanning mechanism motor 23 passes through bevel gear 27 drive first drive mechanism 26, and first drive mechanism 26 reciprocates along guide arm 24 through hold-in range drive slider 22, and slider 22 drives laser scanner 21 and reciprocates to make laser scanner 21 realize scanning from top to bottom, laser scanner 21 is connected with the main control unit, and data transmission after the scanning is given to the main control unit to laser scanner 21, and the main control unit sends for ground workstation.

The second limit switch 213 is used for limiting the upward movement of the slider 22, the swing arm 212 is a lever mechanism, when the slider 22 moves upward and pushes one end of the swing arm 212 to turn upward, the other end of the swing arm 212 turns downward and touches the second limit switch 213, the second limit switch 213 sends a signal to the controller, and the controller controls the motor to stop operating.

The first sealing cylinder 214 and the sealing rubber sleeve 215 are used for constructing a waterproof environment and are used for preventing external water from influencing the scanning mechanism motor 23 and the second limit switch 213, and one end, far away from the transmission fixing plate 210, of the first sealing cylinder 214 is provided with a sealing joint for passing a wire.

Fishtail mechanism 3 includes joint module 42 and fishtail 41, and joint module 42 is provided with joint motor 44 including waterproof drive case 43 in the waterproof drive case 43, and joint motor 44 is connected with output shaft 32 through second drive mechanism 45, and one kind of realization mode of joint module 42 is with waterproof drive case 43 fixed connection waterproof case 31, sets up the second hole that supplies output shaft 32 to pass on waterproof case 31. Another way to realize the joint module 42 is to provide a second hole on the waterproof driving box 43 for the output shaft 32 to pass through. In any way, the output shaft 32 of the joint module 42 at the upper stage is fixedly connected with the waterproof driving box 43 of the joint module 42 at the lower stage through a joint connecting rod 46, and the output shaft 32 of the joint module 42 at the last stage is fixedly connected with the fishtail 41 through a fishtail connecting rod 47; the output shaft 32 is provided with a square connecting end, and square holes matched with the square connecting end are formed in the joint connecting rod 46 and the fishtail connecting rod 47. Two second holes may be formed in the waterproof housing 31. Or, two second holes are formed in the waterproof driving box 43. The second transmission mechanism 45 is a gear transmission mechanism including a plurality of gears that mesh with each other. The joint module 42 further comprises a fishtail housing 48, and the waterproof drive box 43 and the waterproof housing 31 are both located within the fishtail housing 48. Two symmetrical ventral fins 49 are fixedly connected to the fishtail shell 48.

The joint module 42 of each level drives the next level joint module 42 to swing through the joint motor 44 and the output shaft 32, so that the vivid bionic effect can be realized through the independent action of the joint motors 44.

The first-stage joint module 42 only has a waterproof drive box 43, at least one second hole for the output shaft 32 to pass through is formed in the waterproof drive box 43, a waterproof mechanism is arranged between the output shaft 32 and the second hole to achieve a good waterproof effect, the joint modules 42 at the other stages all have the waterproof drive box 43 and the waterproof shell 31, the second hole for the output shaft 32 to pass through is formed in the waterproof shell 31, and the waterproof mechanism is arranged between the output shaft 32 and the second hole to achieve a good waterproof effect.

Waterproof mechanism includes axle sleeve 33, the annular boss has on axle sleeve 33, the boss is located waterproof shell 31's outside, a terminal surface axial of boss compresses tightly waterproof shell 31, the ring channel has been seted up on another terminal surface of boss, but be provided with bloated straining ring 34 and axially sliding's clamping ring 35 in the ring channel, bloated straining ring 34 has elasticity, trapezoidal annular 36 has been seted up on the terminal surface that waterproof shell 31 was kept away from to bloated straining ring 34, it is protruding with trapezoidal annular 36 matched with trapezoidal ring to be provided with on the clamping ring 35, detachably is connected with on the terminal surface that waterproof shell 31 was kept away from to the boss and keeps off cap 37, keep off cap 37 axial and compress tightly clamping ring 35.

Be provided with square link on the output shaft 32, square link matches with square hole on the joint connecting rod 46 and the square hole on the fishtail connecting rod 47 respectively, drives joint connecting rod 46 and the swing of fishtail connecting rod 47 when output shaft 32 rotates, and then drives next stage joint module 42 and the swing of fishtail.

The gear transmission mechanism functions as a reducer.

The waterproof drive box 43 and the waterproof housing 31 each have a large empty space therein, and can have a large buoyancy in water.

The fishtail 41 is composed of an inner metal skeleton and rubber coated outside.

In the embodiment of the present invention, the fishtail skeleton is composed of three-stage joint modules 42, and two symmetric ventral fins 49 are fixedly connected to a fishtail shell 48 of the joint module 42 located at the middle stage. Ventral fins 49 are used to assist in balance.

The joint motor 44 drives the output shaft 32 to rotate through the gear transmission mechanism, the output shaft 32 penetrates through the waterproof shell 31 or the waterproof driving box 43, two second holes are formed in the waterproof shell 31 or the waterproof driving box 43, the hole diameter of each second hole is larger than the diameter of the output shaft 32, a shaft sleeve 33 is arranged between each second hole and the output shaft 32, each shaft sleeve 33 is provided with a boss, each boss is connected with a retaining cap 37, each boss is provided with an annular groove, an expansion ring 34 and a pressing ring 35 are arranged in each annular groove, one boss and the corresponding retaining cap 37 are pressed between steps on the waterproof shell 31 and the output shaft 32, the other boss and the corresponding retaining cap 37 are pressed between retaining rings 38 on the waterproof shell 31 and the output shaft 32, and the retaining rings 38 are detachably connected with the output shaft 32.

Three radial sealing rings are arranged between each shaft sleeve 33 and the output shaft 32, and grooves for accommodating the radial sealing rings are formed in the output shaft 32.

A radial seal ring and an end face seal ring are arranged between the shaft sleeve 33 and the waterproof shell 31, a groove for accommodating the seal ring is formed in the waterproof shell 31, and the seal ring can be an O-shaped ring, a Y-shaped ring and the like.

The radial sealing ring and the end face sealing ring are used for achieving a better waterproof effect.

When external water pressure is very high, the water pressure can oppress the clamping ring 35, so that the clamping ring 35 compresses the expansion ring 34, the trapezoidal ring bulges to expand the expansion ring 34, the expansion ring 34 compresses the output shaft 32, and water can be effectively prevented from entering the waterproof shell through a gap between the output shaft 32 and the shaft sleeve 33.

The floating and submerging mechanism comprises a cylinder body 11, a first cavity and a second cavity are arranged in the cylinder body 11 at intervals, a suction and drainage port 111 is formed in one end, far away from the first cavity, of the second cavity, a piston 12 is connected in the second cavity in a sealing and sliding mode, a motor 13 is arranged in the first cavity, the motor 13 is connected with a ball nut 14 capable of rotating around the axis of the motor through a third transmission mechanism, a ball screw 15 matched with the ball nut 14 penetrates through the axis of the ball nut 14, and the ball screw 15 is connected with the piston 12 in the second cavity after penetrating through the first cavity. A sealing ring is arranged between the piston 12 and the inner wall of the second cavity. The third transmission mechanism is a gear transmission mechanism. The gear transmission mechanism comprises a first gear 16 arranged on the output shaft of the motor 13 and a second gear 17 meshed with the first gear 16, and the second gear 17 is fixedly connected with the ball nut 14. The axis of the second gear 17 is provided with a first hole matched with the ball nut 14, and the ball nut 14 extends into the first hole and is fixedly connected with the first hole. A pipe sleeve 18 is fixedly connected in the first cavity, and the pipe sleeve 18 is sleeved outside the second gear 17. One end of the pipe sleeve 18 close to the second gear 17 is fixedly provided with a retainer ring, and thrust bearings are arranged between the second gear 17 and the retainer ring and in front of the ball nut 14 and the first cavity. A first limit switch 19 corresponding to the ball screw 15 is provided in the cylinder 11. The ball screw 15 is provided with a first limit switch 19 which is matched with the pipe sleeve 18.

The motor 13 and the first limit switch 19 are both connected with the same corresponding sub-controller, the sub-controller is connected with the main controller, the first cavity is provided with the wire passing hole, the second cavity is internally connected with the piston 12 in a sealing and sliding manner, the sealing performance of the first cavity is ensured, and water cannot enter the first cavity through a gap between the piston 12 and the inner wall of the second cavity. Three sealing rings are arranged between the piston 12 and the inner wall of the second cavity.

The rotation of the ball nut 14 drives the ball screw 15 to move linearly, and the linear displacement of the ball screw 15 is controlled by two first limit switches 19.

When the floating and submerging mechanism is used specifically, the motor 13 drives the first gear 16 to rotate, the first gear 16 drives the ball nut 14 to rotate through the second gear 17, the ball nut 14 drives the ball screw 15 to move linearly, the ball screw 15 drives the piston 12 to move linearly, and when the piston 12 moves linearly, water enters or is discharged from the second cavity through the water suction and discharge port 111, so that the bionic robot fish floats upwards and submerges downwards.

Be provided with waterproof control box 73 and lithium cell case 74 in the fish body mechanism 2, be provided with the lithium cell in the lithium cell case 74, the lithium cell is connected with main control unit, and main control unit sets up in waterproof control box 73, all has great idle space in waterproof control box 73, the lithium cell case 74, can have great buoyancy in aqueous. The waterproof driving box 43, the waterproof control box 73, the lithium battery box 74, the first sealing barrel 214 and other sealing devices are all provided with wire passing holes, the wire passing holes are provided with cable waterproof sealing structures, each cable waterproof sealing structure comprises a cable waterproof connector 81, the cable waterproof connectors 81 are in threaded connection with one end of the second sealing barrel 82, the other end of the second sealing barrel 82 is provided with a connecting flange 86, each cable waterproof connector 81 is connected with a cable 83, an insulating inner core 84 of each cable 83 penetrates through the corresponding sealing barrel 2, a sealant 5 is filled between each insulating inner core 84 and the corresponding second sealing barrel 82, an O-shaped ring is arranged between each cable waterproof connector 81 and the corresponding second sealing barrel 82, each connecting flange 86 is provided with an annular groove 87 corresponding to the end face sealing ring, and each cable 83 comprises an insulating outer skin and an insulating inner core 84 located in the insulating outer.

The cable waterproof sealing structure is provided with a second sealing cylinder 82 between a cable waterproof connector 1 and a sealing device of underwater equipment, the second sealing cylinder 82 is connected with the cable waterproof connector 1 through threads, an O-shaped ring is arranged at the joint to improve the sealing effect, the second sealing cylinder 82 is connected with the sealing device through a connecting flange 86, screws and the like, an end face sealing ring is arranged between the connecting flange 86 and the sealing device, an annular groove 87 corresponding to the end face sealing ring is formed in the connecting flange 86, and the sealing effect between the second sealing cylinder 82 and the sealing device is improved through the end face sealing ring.

The cable 83 includes an insulating sheath and an insulating core 84 disposed in the insulating sheath, and the number of the insulating cores 84 may be one or more.

When the waterproof sealing structure for the cable is used specifically, the connecting flange 86 is connected with the sealing device, one end of the cable 83 penetrates through the waterproof cable connector 81, then the insulating sheath at the end is peeled off to expose the insulating inner core 84 at the end, then the exposed insulating inner core 84 penetrates through the second sealing barrel 82 and extends into the sealing device, then sealant is poured into the second sealing barrel 82, the sealant is filled in a gap between the insulating inner core 84 and the second sealing barrel 82, and after the sealant is filled, the waterproof cable connector 81 and the second sealing barrel 82 are connected.

The fish body mechanism 2 is fixedly connected with the fish head mechanism 1, and the fish body mechanism 2 is fixedly connected with the waterproof driving box 43 of the first-stage joint module 42 in the fish tail mechanism 3.

The main controller is also connected with a WIFI debugging module.

The real-time camera 71 adopts an underwater camera, the real-time camera 71 transmits shot real-time pictures to the main controller, and the main controller transmits the shot real-time pictures to the ground workstation through the wireless image transmission module.

Because modules such as the wireless image transmission module and the wireless data transmission module have longer antennas, the inside of the dorsal fin 72 not only can provide a space for accommodating the antennas, but also can play a role in auxiliary balance.

In summary, with the aid of the above technical solution of the present invention, three active sonars arranged in a delta shape are adopted, so that the coverage area is larger, and the three active sonars are integrated with a binocular camera, thereby effectively reducing the measurement dead angle, and simultaneously monitoring the underwater sound through the passive sonars to identify the object, thereby realizing more effective obstacle avoidance, and also scanning the underwater topography, the adaptability is wide, and a plurality of joint motors can act independently, so that a vivid bionic effect can be realized; the floating and submerging mechanism occupies small space, the ball screw cannot be in direct contact with water, the ball screw is not easy to corrode, and the service life is long.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A bionic robot fish comprises a fish head mechanism (1), a fish body mechanism (2) and a fish tail mechanism (3), and is characterized in that a binocular camera (61) and a first driving sonar (51) are arranged on the front side of the fish head mechanism (1), a second driving sonar (52) is respectively arranged on the left side and the right side of the fish body mechanism (2), and the first driving sonar (51) and the two second driving sonars (52) are arranged in a delta shape; the fish head mechanism (1) is provided with a laser scanning mechanism; the lower part of the fish body mechanism (2) is provided with a floating and submerging mechanism; the fishtail mechanism (3) comprises a fishtail framework, the fishtail framework comprises a plurality of stages of joint modules (42), each joint module (42) comprises a waterproof driving box (43), a joint motor (44) is arranged in each waterproof driving box (43), each joint motor (44) is connected with an output shaft (32) through a second transmission mechanism (45), at least part of each output shaft (32) is located outside each waterproof driving box (43), the output shaft (32) of the joint module (42) at the previous stage is fixedly connected with the waterproof driving box (43) of the joint module (42) at the next stage through a joint connecting rod (46), and the output shaft (32) of the joint module (42) at the last stage is fixedly connected with a fishtail (41) through a fishtail connecting rod (47); the first active sonar (51), the second active sonar (52), the laser scanning mechanism, the binocular camera (61) and the floating and submerging mechanism are respectively connected with a sub-controller, and the sub-controllers are connected with the main controller.

2. The bionic robotic fish of claim 1, wherein a passive sonar (53) is arranged at the lower part of the fish head mechanism (1), and the passive sonar (53) is connected with the main controller through a corresponding sub-controller.

3. The biomimetic robotic fish of claim 1, wherein the waterproof driving box (43) is fixedly connected with a waterproof housing (31), and the waterproof housing (31) is provided with at least one second hole for the output shaft (32) to pass through.

4. The biomimetic robotic fish of claim 1, wherein the waterproof drive box (43) defines at least a second hole for the output shaft (32) to pass through.

5. The biomimetic robotic fish of claim 3, wherein a waterproof mechanism is disposed between the output shaft (32) and the second hole, the waterproof mechanism includes a shaft sleeve (33), an annular boss is disposed on the shaft sleeve (33), the boss is located outside the waterproof housing (31), one end face of the boss axially compresses the waterproof housing (31), an annular groove is disposed on the other end face of the boss, an expansion ring (34) and a pressing ring (35) capable of axially sliding are disposed in the annular groove, the expansion ring (34) has elasticity, a trapezoidal annular groove (36) is disposed on the end face of the expansion ring (34) far away from the waterproof housing (31), a trapezoidal annular protrusion matched with the trapezoidal annular groove (36) is disposed on the pressing ring (35), and a blocking cap (37) is detachably connected to the end face of the boss far away from the waterproof housing (31), the retaining cap (37) axially compresses the clamping ring (35).

6. The biomimetic robotic fish of claim 1, wherein the laser scanning mechanism comprises a laser scanner (21) located at a lower portion of the fish head mechanism (1), the laser scanner (21) is fixedly connected with a slider (22) capable of moving up and down, the slider (22) is connected with a scanning mechanism motor (23) through a first transmission mechanism (26), and the scanning mechanism motor (23) is connected with the main controller through a sub-controller corresponding to the scanning mechanism motor.

7. The biomimetic robotic fish of claim 1, wherein the float-submergence mechanism comprises a barrel (11), a first cavity and a second cavity are arranged in the cylinder body (11) at intervals, one end of the second cavity far away from the first cavity is provided with a suction and drainage port (111), a piston (12) is connected in the second cavity in a sealing and sliding way, a motor (13) is arranged in the first cavity, the motor (13) is connected with a ball nut (14) which can rotate around the axis of the motor through a second transmission mechanism, a ball screw (15) matched with the ball nut (14) is arranged at the axis of the ball nut in a penetrating way, the ball screw (15) penetrates through the first cavity and then is connected with a piston (12) in the second cavity, the motor (13) is connected with the main controller through a corresponding sub-controller.

8. The biomimetic robotic fish of claim 1, wherein the front side of the fish head mechanism (1) is further provided with a real-time camera (71), and the real-time camera (71) is connected with the main controller through a sub-controller corresponding to the real-time camera.

9. The biomimetic robotic fish of claim 1, wherein a dorsal fin (72) is disposed on the upper portion of the fish body mechanism (2), a wireless image transmission module, a wireless data transmission module and a GPS positioning module are disposed in the dorsal fin (72), and the wireless image transmission module, the wireless data transmission module and the GPS positioning module are all connected to the main controller.

10. The biomimetic robotic fish of claim 3, wherein the joint module (42) further comprises a fishtail housing (48), the waterproof drive box (43) and the waterproof housing (31) are both located within the fishtail housing (48), and two symmetric ventral fins (49) are fixedly connected to the fishtail housing (48).