CN209956198U - Synchronous lifting and submerging series-connection steering engine bionic robotic fish - Google Patents
Synchronous lifting and submerging series-connection steering engine bionic robotic fish Download PDFInfo
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- CN209956198U CN209956198U CN201920470947.7U CN201920470947U CN209956198U CN 209956198 U CN209956198 U CN 209956198U CN 201920470947 U CN201920470947 U CN 201920470947U CN 209956198 U CN209956198 U CN 209956198U
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Abstract
The utility model discloses a synchronous lifting and submerging series steering engine bionic robot fish, which comprises a fish shell, a lifting and submerging mechanism, a power supply and control part and a driving part; the fish shell is divided into a fish head part and a fish body part, the joints are sealed by latex films, a streamline fish body is surrounded by the fish body support rib plate support, and other joints are connected by threads; the power supply and control part consists of a power supply, a microcontroller, a sensing information acquisition module, a steering engine driver and a communication module and is used for controlling the navigation attitude of the robotic fish in water; the tail fins are connected with four groups of driving steering engines in series to form a driving part, and traveling wave motion is realized under the control of a microcontroller. The rotation of the pectoral fins is controlled by the diving mechanism, so that the direction of fluid thrust is changed, the movement direction of the robotic fish on a three-dimensional plane is changed, the swimming resistance is reduced, and the maneuverability and the bionic property are improved; the robot fish which freely swims on the three-dimensional plane can carry various detection devices and can also be used as an experimental platform for underwater scientific investigation.
Description
Technical Field
The utility model relates to a synchronous liter dive series connection steering wheel bionic machine fish belongs to bionic machine fish technical field, in particular to synchronous liter dive device based on multiunit steering wheel drive.
Background
Research on fish bionics before the 90 s of the 20 th century has focused primarily on theoretical aspects. With the deep research of the propulsion mechanism of fishes and the development of the robot technology, the first real bionic robot fish in the world is developed by the MIT research composition work in 1994. Since then, with the combination of new developments in bionics, electronic technology, material science, and control technology, the research of biomimetic robotic fish is becoming a research hotspot in the field of robotics.
The conventional floating and diving method for the bionic robot fish comprises the following steps: pectoral fin method, shape changing method, and water storage method. The pectoral fin method changes the direction of fluid thrust by utilizing the swing of pectoral fins so as to realize floating and submerging; the shape changing method is to change the volume of the bionic robot fish so as to change the buoyancy and finish the floating and submerging; the water storage method is to change the dead weight of the bionic robot fish so as to finish floating and submerging; wherein the pectoral fin method generally has poor real-time performance and lacks maneuverability; the shape changing method has complex mechanism design and great design difficulty; the water storage method needs to occupy a large space, and when the water reaches a certain depth, water absorption and discharge are limited.
However, the biomimetic robotic fish must have underwater three-dimensional motion capability, must submerge or float to a certain depth to reach a target area to complete a task, or complete obstacle avoidance of the biomimetic robotic fish, and therefore the biomimetic robotic fish is required to have functions of floating and submerging and depth keeping.
Disclosure of Invention
The utility model discloses a synchronous rising dive series connection steering wheel bionic machine fish changes and realizes the asynchronous and poor problem of mobility of the dive control that rises based on the pectoral fin in the past, utilizes the synchronous rotation that realizes both sides pectoral fin of biax steering wheel, and the fish is on one's body series connection steering wheel group to fit the drive and provide horizontal thrust to improve mobility when reducing the fish head volume.
The utility model discloses a realize that the technical scheme who takes of above-mentioned purpose as follows:
the utility model relates to a synchronous rising is hidden and is established ties steering wheel bionic machine fish, its characteristics lie in: the robot fish comprises a fish shell, a lifting and submerging mechanism, a power supply and control part and a driving part; the lifting and submerging mechanism comprises a coupler, a lifting and submerging steering engine fixing support, a lifting and submerging steering engine, a transmission shaft, pectoral fins and a fish head fixing cover; the pectoral fins are concentric with the coupler, so that the transmission shaft arranged on the pectoral fins can be smoothly inserted into the coupler; the couplers are fixedly arranged on two sides of a steering wheel of the lifting and submerging steering engine; the lifting and submerging steering engine is fixedly arranged on the upper side surface of the lifting and submerging steering engine fixing support; the lifting and submerging steering engine fixing support is fixedly arranged in a cavity of the fish head, and one end of the lifting and submerging steering engine fixing support is bonded on the fish head fixing cover;
the power supply and control part comprises a power supply, a microcontroller, a sensing information acquisition module, a steering engine driver and a communication module; the power supply and control part is packaged at the bottom of the lifting and submerging steering engine fixing support in a centralized mode.
The driving part comprises the fish head fixing cover, a large U-shaped support, a first driving steering engine, a second driving steering engine, a third driving steering engine, a fourth driving steering engine, a small U-shaped support, a fish tail fixing plate and tail fins; the driving part for providing the thrust on the horizontal plane is formed by connecting four groups of driving steering engines in series, and the driving steering engines are respectively fixed by a group of large U-shaped supports and small U-shaped supports to form a basic movement unit. The four groups of driving steering engines are connected in series, one side of the large U-shaped support is fixed on the fish head fixing cover, the other side of the small U-shaped support is matched with the fish tail fixing plate, and the fish tail fixing plate which is punched is in threaded connection with the tail fin.
The fish shell comprises two parts, namely a fish head and a fish body; the fish body comprises the fish head fixing cover, a fish tail fixing plate, tail fins and a fish body support rib plate; the fish head is fixedly bonded on the fish head fixing cover; starting from the fish head fixing cover to the fish tail fixing plate, the fish head and the fish body are tightly connected by a latex film, and a fish body with streamline appearance is surrounded by the fish body support rib plate support.
After the scheme is adopted, the invention has the following technical effects:
1. the rotating speed of the pectoral fins and the swinging speed of the fish body are synchronously adjusted, and the stability is high. This patent adopts the scheme that a biax steering wheel is established ties to the steering wheel group, realizes the high accuracy variable speed rotation of machine fish both sides pectoral fins through shaft coupling transmission moment of torsion, realizes that the slope in a relatively large scale moves about, when reducing the resistance that the fish head received, finally realizes the function of going up and diving in the three-dimensional plane, has improved the mobility of floating and diving.
2. The bionic robot fish in the three-dimensional plane can swim freely, and the maneuverability and the bionic property are improved. According to the propulsion principle of carangid fishes, the envelope curve of the fish body is simulated by utilizing the driving of a steering engine. PWM electric signals with different sizes are output through the microcontroller, each steering engine is controlled to swing for a certain angle, envelope curve simulation of the walking action of the carangid fishes is achieved, and finally the aim that multiple steering engines are connected in series is achieved to achieve horizontal propulsion of the robotic fishes based on tail fins.
3. The propulsion form based on the tail fin with the digital steering engines connected in series is adopted, so that the resistance in the process of swimming is reduced, and the synchronous control of the steering engines is increased conveniently. In a driving module of the robotic fish, a standard pulse signal is generated in an adopted steering engine, the pulse width level with the duty ratio of 0.5 ms-2.5 ms corresponds to the angle range of 0-180 degrees of the steering engine and is in a linear relation, the precision of the steering engine reaches 3us, and the control precision can reach 0.3 degree in the range of 2000 pulse widths.
Drawings
FIG. 1 is a view of a robotic fish;
FIG. 2 is a structural view of the elevating and submerging mechanism;
wherein: the fish-shaped fishing device comprises a fish head 1, a coupler 2, a submersible steering engine fixing support 3 liters, a power supply and control part 4, a submersible steering engine 5 liters, a transmission shaft 6, pectoral fins 7, a fish head fixing cover 8, a large U-shaped support 9, a first driving steering engine 10, a second driving steering engine 11, a third driving steering engine 12, a fourth driving steering engine 13, a small U-shaped support 14, a fish tail fixing plate 15, tail fins 16 and fish body support rib plates 17.
Detailed Description
The invention will be further described by way of example with reference to the accompanying drawings.
Example (b): the lifting and submerging steering engine 5 is in threaded fit with the coupler 2, the coupler 2 is matched with the transmission shaft 6, and the transmission shaft 6 is fixed on the pectoral fins 7. The driving part for providing thrust on the horizontal plane is formed by connecting four groups of driving steering engines in series, namely a first driving steering engine 10, a second driving steering engine 11, a third driving steering engine 12 and a fourth driving steering engine 13, the pectoral fins 7 and the transmission shaft 6 are concentric, and the coupler 2 is coaxially matched on the elevating and diving steering engine 5; the elevating and diving steering engine 5 is matched with the elevating and diving steering engine fixing support 3 and fixed on a fish head fixing cover 8, the fish head fixing cover 8 is matched with the fish head 1, and a fish body support rib plate 17 is fixedly connected on the small U-shaped support 14 through screws.
When the robot fish starts to work, a power supply in the power supply and control part 4 drives the driving part to work, four groups of steering engines are connected in series, a PWM electric signal is output through a microcontroller to control the first driving steering engine 10 to swing by a certain angle, a pair of large U-shaped supports 9 and small U-shaped supports 14 which are matched with the first driving steering engine 10 to use also swing along with the first driving steering engine, the microcontroller also outputs PWM electric signals with different sizes to control each steering engine to rotate, the motion is finally transmitted to the fish fins 16 fixedly connected with the fish tail fixing plate 15 by controlling each steering engine to swing by a certain angle, the simulated envelope curve of the swimming motion of real fish is realized, and the horizontal propulsion of the robot fish based on the tail fins 16 is finally realized by connecting multiple steering engines in series. The elevating and submerging steering engine 5 synchronously controls the pectoral fins 7 on the two sides to swing, so that the floating and submerging functions of the robot fish are realized, and the rotating speed of the pectoral fins 7 on the two sides and the swinging speed of the fish body are adjusted, so that the stability is kept.
When the straight line goes, the pectoral fins 7 on the two sides are kept horizontal, during upward floating, the microcontroller controls the pectoral fins 7 to rotate by a certain angle to enable the fish body to receive oblique upward fluid thrust, so that upward floating is achieved obliquely, and after the lifting and submerging steering engine 5 drives the pectoral fins 7 to continue rotating by a certain angle through the coupler 2, the fish body receives oblique downward fluid thrust, so that downward submerging is achieved obliquely. In addition, when the bilateral pectoral fins 7 are fixed, the robotic fish moves horizontally in two dimensions. When the pectoral fins 7 on both sides of the robot fish rotate in opposite directions, the resistance generated by the pectoral fins is maximized, so that the motion is stopped in a short time. Meanwhile, the rotation angles of four groups of driving steering engines in the driving part are adjusted, so that the robot fish can move in the direction opposite to the original movement direction.
Claims (4)
1. A synchronous lifting and submerging series steering engine bionic robot fish is characterized by comprising a fish shell, a lifting and submerging mechanism, a power supply and control part (4) and a driving part; the lifting and submerging mechanism comprises a coupler (2), a lifting and submerging steering engine fixing support (3), a lifting and submerging steering engine (5), a transmission shaft (6), pectoral fins (7) and a fish head fixing cover (8); the pectoral fin (7) is concentric with the coupler (2), so that the transmission shaft (6) arranged on the pectoral fin (7) can be smoothly inserted into the coupler (2); the shaft couplers (2) are fixedly arranged on two sides of a steering wheel of the lifting and submerging steering engine (5); the lifting and submerging steering engine (5) is fixedly arranged on the upper side surface of the lifting and submerging steering engine fixing support (3); the lifting and submerging steering engine fixing support (3) is fixedly installed in a cavity of the fish head (1), and one end of the lifting and submerging steering engine fixing support is bonded on the fish head fixing cover (8).
2. The synchronous lifting-submerging series steering engine bionic robot fish as claimed in claim 1, wherein the power supply and control part (4) comprises a power supply, a microcontroller, a sensing information acquisition module, a steering engine driver and a communication module; the power supply and control part (4) is packaged at the bottom of the lifting and submerging steering engine fixing support (3) in a centralized manner.
3. The synchronous lifting and submerging series steering engine bionic robotic fish as claimed in claim 1, wherein the driving part comprises a fish head fixing cover (8), a large U-shaped bracket (9), a first driving steering engine (10), a second driving steering engine (11), a third driving steering engine (12), a fourth driving steering engine (13), a small U-shaped bracket (14), a fish tail fixing plate (15) and tail fins (16); the driving part for providing thrust on a horizontal plane is formed by connecting four groups of driving steering engines in series, and the driving steering engines are respectively fixed by a group of large U-shaped supports and small U-shaped supports to form a basic movement unit; the four groups of driving steering engines are connected in series, one side of the large U-shaped support (9) is fixed on the fish head fixing cover (8), the other side of the small U-shaped support (14) is matched with the fish tail fixing plate (15), and the fish tail fixing plate (15) which is perforated is in threaded connection with the tail fin (16).
4. The synchronous lifting and submerging series steering engine bionic robotic fish as claimed in claim 1, wherein the fish shell comprises two parts, namely a fish head (1) and a fish body; the fish body comprises a fish head fixing cover (8), a fish tail fixing plate (15), tail fins (16) and a fish body support rib plate (17); the fish head (1) is fixedly bonded on the fish head fixing cover (8); starting from the fish head fixing cover (8) and ending at the fish tail fixing plate (15), the fish head (1) and the fish body are tightly connected by adopting a latex film, and a fish body with streamline appearance is surrounded by the support rib plate (17) of the fish body support.
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| CN201920470947.7U CN209956198U (en) | 2019-04-09 | 2019-04-09 | Synchronous lifting and submerging series-connection steering engine bionic robotic fish |
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| CN201920470947.7U CN209956198U (en) | 2019-04-09 | 2019-04-09 | Synchronous lifting and submerging series-connection steering engine bionic robotic fish |
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| CN111959725A (en) * | 2020-09-17 | 2020-11-20 | 厦门大学 | Bionic elastic coating machine fish |
| CN112441200A (en) * | 2020-11-03 | 2021-03-05 | 国网浙江省电力有限公司衢州供电公司 | Driving system and driving method for bionic fish underwater robot |
| CN112498633A (en) * | 2020-11-25 | 2021-03-16 | 杭州电子科技大学 | Bionic underwater robot and driving method thereof |
| CN112693570A (en) * | 2021-01-08 | 2021-04-23 | 河海大学 | Water surface garbage cleaning robot fish based on motion of auxiliary tail fin of pectoral fin |
| CN113148087A (en) * | 2021-05-06 | 2021-07-23 | 李云飞 | Linkage type detection robot fish |
| CN113148078A (en) * | 2021-05-17 | 2021-07-23 | 沈阳农业大学 | Machine fish operating under mud |
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| CN113636048A (en) * | 2021-08-19 | 2021-11-12 | 武汉工程大学 | Multi-joint robot fish and motion control method thereof |
| CN114619431A (en) * | 2020-12-10 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Bionic underwater snake-shaped robot |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
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| WO2021212662A1 (en) * | 2020-04-23 | 2021-10-28 | 上海海洋大学 | Bionic sea eel used for marine ranch environment monitoring |
| CN111959725A (en) * | 2020-09-17 | 2020-11-20 | 厦门大学 | Bionic elastic coating machine fish |
| CN112441200A (en) * | 2020-11-03 | 2021-03-05 | 国网浙江省电力有限公司衢州供电公司 | Driving system and driving method for bionic fish underwater robot |
| CN112498633A (en) * | 2020-11-25 | 2021-03-16 | 杭州电子科技大学 | Bionic underwater robot and driving method thereof |
| CN114619431B (en) * | 2020-12-10 | 2023-06-20 | 中国科学院沈阳自动化研究所 | Bionic underwater snake-shaped robot |
| CN114619431A (en) * | 2020-12-10 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Bionic underwater snake-shaped robot |
| CN112693570A (en) * | 2021-01-08 | 2021-04-23 | 河海大学 | Water surface garbage cleaning robot fish based on motion of auxiliary tail fin of pectoral fin |
| CN113148087A (en) * | 2021-05-06 | 2021-07-23 | 李云飞 | Linkage type detection robot fish |
| CN113148087B (en) * | 2021-05-06 | 2024-02-06 | 李云飞 | Linkage type detection robot fish |
| CN113148078A (en) * | 2021-05-17 | 2021-07-23 | 沈阳农业大学 | Machine fish operating under mud |
| CN113148078B (en) * | 2021-05-17 | 2023-11-10 | 沈阳农业大学 | Robotic fish running under mud |
| CN113636048A (en) * | 2021-08-19 | 2021-11-12 | 武汉工程大学 | Multi-joint robot fish and motion control method thereof |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
| CN116062134A (en) * | 2023-03-09 | 2023-05-05 | 清华大学深圳国际研究生院 | Bionic robot fish |
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Granted publication date: 20200117 Termination date: 20210409 |