CN210310837U - Underwater robotic fish that full space non-contact charges - Google Patents

Underwater robotic fish that full space non-contact charges Download PDF

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Publication number
CN210310837U
CN210310837U CN201920743345.4U CN201920743345U CN210310837U CN 210310837 U CN210310837 U CN 210310837U CN 201920743345 U CN201920743345 U CN 201920743345U CN 210310837 U CN210310837 U CN 210310837U
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China
Prior art keywords
fish
steering engine
body structure
tail
fish body
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CN201920743345.4U
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Chinese (zh)
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欧文湛
张宇
刘盈麟
邱七星
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Xiamen University
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Xiamen University
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Abstract

A full-space non-contact charged underwater robotic fish relates to the field of underwater robotic fish and comprises a fish body structure and a fish tail structure; the fish tail structure comprises a steering engine, a tail fin driving rod and a silica gel tail fin; a rotating shaft at the top of the steering engine is meshed with a steering wheel at the front end of a tail fin driving rod, and the rear end of the tail fin driving rod is connected with a silica gel tail fin; the rear end part of the fish body structure is provided with a steering engine groove, and the steering engine is arranged in the steering engine groove; be equipped with waterproof sealing cabin in the fish body structure, waterproof sealing cabin is used for placing electronic equipment, and electronic equipment includes wireless charging device and Arduino development board, and the steering wheel is connected to Arduino development board. Realize two kinds of modes of charging of land wireless charging, underwater non-contact type, make the underwater operation of machine fish safer, convenient and high-efficient.

Description

Underwater robotic fish that full space non-contact charges
Technical Field
The utility model relates to an underwater robot fish field especially relates to an underwater robot fish that full space non-contact charges.
Background
At present, most underwater robotic fish supplement electric energy by adopting a cable type power supply or contact type wired charging mode, however, the power supply cable can greatly limit the swimming range of the robotic fish and is not beneficial to the large-scale underwater operation of the robotic fish; the surface of the robotic fish just coming out of the water is wet, and if the robotic fish is immediately charged in a contact manner, potential safety hazards such as electric leakage and electric shock can be caused; in addition, the traditional contact type wired charging cannot directly charge the robot fish in an underwater environment, so that the cable-free robot fish cannot continuously work underwater.
Disclosure of Invention
An object of the utility model is to solve the above-mentioned problem among the prior art, provide an underwater robot fish that full space non-contact charges for the underwater operation of machine fish is safer, convenient and high-efficient.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a full-space non-contact charged underwater robotic fish comprises a fish body structure and a fish tail structure; the fish tail structure comprises a steering engine, a tail fin driving rod and a silica gel tail fin; a rotating shaft is arranged at the top of the steering engine, a steering wheel is arranged at the front end of the tail fin driving rod, a gear on the rotating shaft is meshed with the steering wheel, so that the rotating shaft and the tail fin driving rod can rotate without relative displacement, and the rear end of the tail fin driving rod is connected with a silica gel tail fin; the rear end part of the fish body structure is provided with a steering engine groove, and the steering engine is arranged in the steering engine groove; be equipped with waterproof sealing cabin in the fish body structure, waterproof sealing cabin is used for placing electronic equipment, electronic equipment includes wireless charging device and Arduino development board, and wireless charging device connects Arduino development board, and the steering wheel is connected to Arduino development board.
The wireless charging device comprises a lithium battery, a voltage sensor, a rectifying circuit and an electromagnetic induction receiving coil; electromagnetic induction receiving coil locates the bottom of waterproof sealed cabin and connects rectifier circuit, and rectifier circuit connects the lithium cell, and lithium cell and Arduino development board are connected respectively to voltage sensor.
The utility model discloses still include the magnet piece, the waterproof seal under-deck is located to the magnet piece to make the machine fish when charged state with fill electric pile magnetic attraction. The magnet piece is equipped with two, and it locates the front end and the rear end in the waterproof seal cabin respectively.
The fish body structure further comprises a steering engine fixing block located on one side of the steering engine, the front portion of the steering engine fixing block is attached to the steering engine, and the rear portion of the steering engine fixing block is attached to the tail portion of the fish body structure and fixed through screws.
The tail of the fish body structure is provided with an insertion groove, the insertion groove is arranged above the rudder groove, and a rudder disc at the front end of the tail fin driving rod is arranged in the insertion groove.
The fish body structure comprises a fish head and a fish body, wherein the fish head and the fish body are integrally formed. The utility model discloses still include the buttockss fin, buttockss fin and fish body structure integrated into one piece.
Compared with the prior art, the utility model discloses technical scheme obtains beneficial effect is:
the utility model discloses abandon and use traditional disposable battery power supply and contact wired charging, but adopt full space electromagnetic induction's non-contact charging mode, realize that land is wireless to charge, two kinds of charge modes of non-contact under water charge, the solution changes the battery, has the water environment in the time of charging electric leakage and the waterproof scheduling problem of robot power supply system to realize the underwater operation of the continuous non-interrupt under the wireless application of charging of aquatic, it is safer, convenient and high-efficient.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view in a top view direction of the present invention;
fig. 3 is a schematic structural view of the rear view direction of the present invention;
FIG. 4 is an exploded view of a steering engine fixing block and a fish body structure;
FIG. 5 is a schematic view of a wireless charging structure of a robotic fish;
FIG. 6 is a schematic diagram of the charging of a robotic fish on land;
fig. 7 is a schematic diagram of the principle of charging the robotic fish in water.
Reference numerals: the fish body structure 1, dorsal fin 2, caudal fin actuating lever 3, silica gel caudal fin 4, steering wheel 5, steering wheel fixed block 6, pectoral fin 7, Arduino development board 9, waterproof sealed cabin 11, steering wheel groove 12, pilot lamp 13, magnet piece 14, lithium cell 81, rectifier circuit 82, voltage sensor 83, electromagnetic induction receiving coil 84, electromagnetic induction transmitting coil 101, converter 102, AC/DC converter 103, magnet piece 104.
Detailed Description
In order to make the technical problem, technical solution and beneficial effects to be solved by the present invention clearer and more obvious, the following description is made in detail with reference to the accompanying drawings and embodiments.
As shown in fig. 1 to 5, the embodiment of the present invention includes a fish body structure 1, a tail structure, pectoral fins 7, dorsal fins 2 and hip fins;
the hip fin and the fish body structure 1 are integrally formed;
the fish tail structure comprises a steering engine 5, a tail fin driving rod 3 and a silica gel tail fin 4; a rotating shaft is arranged at the top of the steering engine 5, a steering wheel is arranged at the front end of the tail fin driving rod 3, a gear on the rotating shaft is meshed with the steering wheel, so that the rotating shaft and the tail fin driving rod 3 can rotate without relative displacement, and the rear end of the tail fin driving rod 3 is connected with a silica gel tail fin 4;
the fish body structure 1 comprises a fish head and a fish body which are integrally formed, so that the utilization space in the robot fish can be increased; the rear end part of the fish body structure 1 is provided with a steering engine groove 12, and the steering engine 5 is arranged in the steering engine groove 12; the inside waterproof sealed cabin 11 that scribbles the waterproof material coating of fish body structure 1, waterproof sealed cabin 11 are used for placing electronic equipment, electronic equipment includes wireless charging device and Arduino development board 9, and wireless charging device connects Arduino development board 9, and the steering wheel 5 is connected to Arduino development board 9.
As shown in fig. 5 to 7, the wireless charging device includes a lithium battery 81, a rectifying circuit 82, a voltage sensor 83, and an electromagnetic induction receiving coil 84; the electromagnetic induction receiving coil 84 is arranged at the bottom of the waterproof sealed cabin 11 and is connected with the rectifying circuit 82, the rectifying circuit 82 is connected with the lithium battery 81, and the voltage sensor 83 is respectively connected with the lithium battery 81 and the Arduino development board 9; electromagnetic induction receiving coil 84 and rectifier circuit 82 are installed in waterproof sealed cabin 11, do not directly contact water, and accessible electromagnetic induction effect carries out wireless charging to the machine fish, need not directly receive the electric energy from the external through the wire, both can carry out land wireless charging, also can charge by non-contact under water, realize that the total space is wireless to charge.
As shown in fig. 1 and 6-7, the embodiment of the utility model provides a still be equipped with two powerful magnet pieces 14, its front end and rear end of locating respectively in the waterproof sealed cabin 11 correspondingly, fill the front end and the rear end of electric pile and be equipped with powerful magnet piece 104 respectively to make the machine fish when the charged state with fill electric pile magnetic attraction.
As shown in fig. 3-4, the fish body structure 1 further comprises a steering engine fixing block 6 located on one side of the steering engine 5, the front portion of the steering engine fixing block 6 is attached to the steering engine 5, the rear portion of the steering engine fixing block 6 is attached to the tail portion of the fish body structure 1 and fixed through screws, and specifically, the steering engine 5 can be firmly fixed by screwing bolts into threaded holes reserved in the steering engine fixing block 6 and the fish body structure 1.
The afterbody of fish body structure 1 is equipped with the inserting groove, the top of rudder machine groove 12 is located to the inserting groove, the steering wheel of tail fin actuating lever 3 front end is located in the inserting groove.
As shown in fig. 5 to 7, the application method and the working principle of the embodiment of the present invention are as follows:
1. electromagnetic induction charging principle: inside charging pile, AC/DC converter 103 connects converter 102, converter 102 connects electromagnetic induction transmitting coil 101, when electromagnetic induction charges, alternating current is converted into direct current through AC/DC converter 103, direct current is converted into suitable alternating current of certain frequency through converter 102, the alternating current of suitable frequency flows through electromagnetic induction transmitting coil 101, the magnetic flux that excites passes through electromagnetic induction receiving coil 84, electromagnetic induction receiving coil 84 produces the alternating current through the electromagnetic induction effect, alternating current is converted into stable steady voltage direct current through rectifier circuit 82 rectifier circuit, and then input lithium cell 81, reach the purpose that the electromagnetic induction charges.
2. When the robot fish needs to be wirelessly charged on land, the robot fish can be started only by placing the robot fish on the charging pile and enabling the electromagnetic induction receiving coil 84 in the robot fish body to be close to the electromagnetic induction transmitting coil 101 of the charging pile; when the lithium battery 81 is charged to a preset voltage threshold of the battery voltage, the voltage sensor 83 will recognize the voltage threshold, send a signal to the Arduino development board 9, the Arduino development board 9 will execute a program that the indicator light 13 is normally on, and send out a prompt that the fish body structure 1 is fully charged, and the indicator light 13 can be installed in the waterproof sealed cabin 11 and adopts a transparent panel at the light-transmitting part of the fish body structure 1.
3. When the robot fish needs to be charged underwater, the robot fish can swim to the vicinity of the charging pile according to a preset path in a remote control state or an autonomous tracking state, so that the magnet block 14 on the fish body and the magnet block 104 on the underwater charging pile are attracted, the front and rear magnet blocks are respectively arranged on the robot fish and the underwater charging pile, the robot fish is close to the underwater charging pile under the attraction of the magnet blocks, at the moment, the magnet block 14 at the front end of the robot fish and the magnet block 104 at the front end of the underwater charging pile are attracted, the magnet block 14 at the rear end of the robot fish and the magnet block 104 at the rear end of the underwater charging pile are attracted, the robot fish is helped to adjust the posture, the electromagnetic induction receiving coil 84 and the electromagnetic induction transmitting coil 101 are sufficiently close to each other, the electromagnetic induction receiving coil 84 and the electromagnetic induction transmitting coil 101 can generate electromagnetic induction, and a non-contact type; when charging, voltage sensor 83 discerns after lithium cell 81 voltage reaches predetermined voltage threshold, Arduino development board 9 obtains this instruction, then directly sends out instruction drive steering wheel 5 motion, and then makes the swing of silica gel skeg 4 in order to provide certain thrust through skeg actuating lever 3, makes the robot fish shake off the attraction of the strong magnet piece 104 on the underwater charging stake, lets the robot fish swim back the work waters and begin underwater operation.
The utility model discloses not only can be applied to the non-contact of underwater robot fish in land environment and charge, also can be applied to the wireless formula of underwater robot fish in the underwater environment and charge, the constraint of robot fish power supply cable, the technical bottleneck such as the water leakage and the waterproof of robot fish power supply system when having the water environment to charge have effectively been solved to this kind of non-contact's total space charge mode for robot fish underwater operation is safer, convenient and high-efficient.

Claims (8)

1. The utility model provides an underwater robot fish that full space non-contact charges which characterized in that: comprises a fish body structure and a fish tail structure; the fish tail structure comprises a steering engine, a tail fin driving rod and a silica gel tail fin; a rotating shaft is arranged at the top of the steering engine, a steering wheel is arranged at the front end of the tail fin driving rod, a gear on the rotating shaft is meshed with the steering wheel so that the rotating shaft and the tail fin driving rod rotate without relative displacement, and the rear end of the tail fin driving rod is connected with a silica gel tail fin; the rear end part of the fish body structure is provided with a steering engine groove, and the steering engine is arranged in the steering engine groove; be equipped with waterproof sealing cabin in the fish body structure, waterproof sealing cabin is used for placing electronic equipment, electronic equipment includes wireless charging device and Arduino development board, and wireless charging device connects Arduino development board, and the steering wheel is connected to Arduino development board.
2. The full-space non-contact charged underwater robotic fish of claim 1, wherein: the wireless charging device comprises a lithium battery, a voltage sensor, a rectifying circuit and an electromagnetic induction receiving coil; electromagnetic induction receiving coil locates the bottom of waterproof sealed cabin and connects rectifier circuit, and rectifier circuit connects the lithium cell, and lithium cell and Arduino development board are connected respectively to voltage sensor.
3. The full-space non-contact charged underwater robotic fish of claim 1, wherein: still include the magnet piece, the magnet piece is located waterproof capsule to make the machine fish with fill electric pile magnetic attraction when the charged state.
4. A full-space contactless charging underwater robotic fish as claimed in claim 3, wherein: the magnet piece is equipped with two, and the front end and the rear end in waterproof seal cabin are located respectively to the magnet piece.
5. The full-space non-contact charged underwater robotic fish of claim 1, wherein: the fish body structure further comprises a steering engine fixing block located on one side of the steering engine, the front portion of the steering engine fixing block is attached to the steering engine, and the rear portion of the steering engine fixing block is attached to the tail portion of the fish body structure and fixed through screws.
6. The full-space non-contact charged underwater robotic fish of claim 1, wherein: the tail of the fish body structure is provided with an insertion groove, the insertion groove is arranged above the rudder groove, and a rudder disc at the front end of the tail fin driving rod is arranged in the insertion groove.
7. The full-space non-contact charged underwater robotic fish of claim 1, wherein: the fish body structure comprises a fish head and a fish body, wherein the fish head and the fish body are integrally formed.
8. The full-space non-contact charged underwater robotic fish of claim 1, wherein: still include the buttockss fin, buttockss fin and fish body structure integrated into one piece.
CN201920743345.4U 2019-05-22 2019-05-22 Underwater robotic fish that full space non-contact charges Active CN210310837U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920743345.4U CN210310837U (en) 2019-05-22 2019-05-22 Underwater robotic fish that full space non-contact charges

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920743345.4U CN210310837U (en) 2019-05-22 2019-05-22 Underwater robotic fish that full space non-contact charges

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Publication Number Publication Date
CN210310837U true CN210310837U (en) 2020-04-14

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112152295A (en) * 2020-09-29 2020-12-29 自然资源部第二海洋研究所 Self-contained ADCP wireless charging device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112152295A (en) * 2020-09-29 2020-12-29 自然资源部第二海洋研究所 Self-contained ADCP wireless charging device
CN112152295B (en) * 2020-09-29 2022-07-05 自然资源部第二海洋研究所 Self-contained ADCP wireless charging device

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