CN212556730U - Bionic fish with adjustable mass center - Google Patents
Bionic fish with adjustable mass center Download PDFInfo
- Publication number
- CN212556730U CN212556730U CN202020984978.7U CN202020984978U CN212556730U CN 212556730 U CN212556730 U CN 212556730U CN 202020984978 U CN202020984978 U CN 202020984978U CN 212556730 U CN212556730 U CN 212556730U
- Authority
- CN
- China
- Prior art keywords
- fish
- shell
- bionic fish
- shaft
- adjusting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Toys (AREA)
Abstract
The utility model provides a bionic fish with adjustable mass center, which comprises a shell and a fish tail, wherein a mass center adjusting mechanism is arranged in the shell; the mass center adjusting mechanism comprises a balancing weight, an adjusting shaft and a power part, the adjusting shaft is arranged along the length direction of the shell, the balancing weight can slide along the adjusting shaft, and the power part is used for driving the balancing weight to slide; the bionic fish motion device further comprises a driving device, and the driving device is used for driving the bionic fish to move. The utility model provides a use the battery as the balancing weight, at the internal activity of fish, change fish body barycenter position, adjust fish body gesture, make the fish body more nimble when come-up and dive. The two sides of the shell are provided with propellers which are matched with the swinging of the fish tail to ensure that the fish body can move freely in water. The pectoral fins are arranged behind the propeller and generate upward or downward force under the action of jet flow of the propeller through rotation.
Description
Technical Field
The utility model relates to a bionical fish field especially relates to a bionical fish of centre of mass adjustable.
Background
In recent years, with the development of science and technology in China, diving operation is gradually increased. The sea beach rescue, the salvage of sunken ships and objects, the aquaculture, especially the exploration of submarine mineral, chemical, biological and energy resources, also need to be performed with diving operation. The diving operation of human needs professional equipment for assistance and professional training for divers. However, even if the underwater operation brings certain danger to the divers, the factors of high pressure, low temperature, buoyancy, resistance and the like under water all affect the normal physiological functions of the human body. If the effect of the underwater adverse factors exceeds the limit of human adaptation, corresponding functional disorder of the human body can be caused, and diving diseases can occur. In addition, the underwater operation time of human beings is very short, and the special condition requirements such as aquaculture, underwater rescue and the like which have extremely high time requirements cannot be met.
Experts and relevant organizations at home and abroad manufacture bionic fishes through observation and research on the fishes to finish underwater operation. The fish body is internally provided with a steering engine to drive the fish body to move in water. However, the bionic fish needs additional power to drive when floating up and submerging, so that the structure is complex, the consumption is high, and the endurance is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a bionic fish with adjustable mass center, which solves the problems.
A bionic fish with an adjustable mass center comprises a shell and a fish tail, wherein a mass center adjusting mechanism is arranged in the shell;
the mass center adjusting mechanism comprises a balancing weight, an adjusting shaft and a power part, the adjusting shaft is arranged along the length direction of the shell, the balancing weight can slide along the adjusting shaft, and the power part is used for driving the balancing weight to slide;
the bionic fish motion device further comprises a driving device, and the driving device is used for driving the bionic fish to move.
Further, an adjusting cabin is arranged in the shell, the adjusting shaft is fixed in the adjusting cabin, a rack parallel to the adjusting shaft is further fixed in the adjusting cabin, the power part is fixed on the balancing weight and is a motor, a gear meshed with the rack is arranged on an output shaft of the motor, and the adjusting cabin is sealed by a sealing cock.
Furthermore, a control cabin is arranged in the adjusting cabin, a control part is arranged in the control cabin, and the control part is used for controlling the bionic fish to move.
Further, drive arrangement is for locating swing mechanism between casing and the fish tail, swing mechanism includes swing steering wheel, first reduction gear, second reduction gear and oscillating axle, the swing steering wheel with the oscillating axle is all fixed casing one end, first reduction gear with the output shaft of swing steering wheel is connected, second reduction gear is fixed the one end of fish tail, the fish tail passes through the bearing and installs on the oscillating axle, the swing steering wheel passes through reduction gear group drive the fish tail winds the oscillating axle swings.
Further, the driving device is a propeller arranged on two sides of the shell, and the propeller is arranged at one end of the shell in the advancing direction.
Furthermore, be equipped with pectoral fin on the casing, pectoral fin passes through the axis of rotation and installs the casing both sides, be equipped with the commentaries on classics fin motor in the casing, the output shaft of commentaries on classics fin motor is equipped with first commentaries on classics fin gear, be fixed with the second commentaries on classics fin gear in the axis of rotation, first commentaries on classics fin gear and the meshing of second commentaries on classics fin gear.
Further, a detachable mechanical arm is mounted on the shell.
Further, a camera is arranged at one end of the shell in the advancing direction, and the camera is mounted on the shell through a holder.
Furthermore, a lighting device is arranged in the middle of the propeller.
Further, the balancing weight is a battery.
The utility model provides a pair of bionic fish of germplasm center adjustable to the battery is the balancing weight, at the internal activity of fish, changes fish body barycenter position, adjusts fish body gesture, makes the fish body more nimble when come-up and dive. The two sides of the shell are provided with propellers which are matched with the swinging of the fish tail to ensure that the fish body can move freely in water. The pectoral fins are arranged behind the propeller and generate upward or downward force under the action of jet flow of the propeller through rotation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are 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 structure of a bionic fish with adjustable center of mass in an embodiment of the present invention;
FIG. 2 is a top view of the bionic fish with adjustable center of mass in the embodiment of the present invention;
FIG. 3 is a cross-sectional view of a bionic fish with adjustable center of mass in the embodiment of the present invention;
fig. 4 is a sectional view of the center of mass adjusting mechanism in the embodiment of the present invention;
fig. 5 is a schematic structural view of a mass center adjusting mechanism in the embodiment of the present invention;
fig. 6 is a schematic view of the pectoral fin rotation structure in the embodiment of the present invention;
fig. 7 is a schematic structural view of a swing mechanism in an embodiment of the present invention;
FIG. 8 is a front view of a bionic fish with adjustable center of mass in the embodiment of the present invention;
FIG. 9 is a diagram illustrating the rotation of the pectoral fins to generate downward force on the fish body according to the embodiment of the present invention;
FIG. 10 is a diagram illustrating an embodiment of the present invention when the pectoral fin rotates to generate an upward force on the fish body;
in the figure: 1. a housing; 2. fish tail; 3. a center of mass adjustment mechanism; 31. a balancing weight; 32. an adjustment shaft; 33. a power section; 34. adjusting the cabin; 35. a rack; 36. a gear; 37. sealing the cock; 38. a control cabin; 39. a control component; 4. a swing mechanism; 41. swinging the steering engine; 42. a first reduction gear; 43. a second reduction gear; 44. a swing shaft; 5. a propeller; 51. an illumination device; 6. a pectoral fin; 61. a rotating shaft; 62. a fin-rotating motor; 63. a fin rotating gear; 7. an interface; 8. a camera; 81. a holder;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1-3, a bionic fish with adjustable centroid, which comprises a shell 1 and a fish tail 2, wherein a centroid adjusting mechanism 3 is arranged in the shell 1;
the mass center adjusting mechanism 3 comprises a balancing weight 31, an adjusting shaft 32 and a power part 33, wherein the adjusting shaft 32 is arranged along the length direction of the shell 1, the balancing weight 31 can slide along the adjusting shaft 32, and the power part 33 is used for driving the balancing weight 31 to slide;
the bionic fish motion device further comprises a driving device, and the driving device is used for driving the bionic fish to move. The driving device in the embodiment adopts a swing mechanism and a propeller to drive in a mixed mode, and can also adopt one of the swing mechanism and the propeller to drive separately.
As shown in fig. 4 and 5, an adjusting chamber 34 is provided in the housing 1, the adjusting shaft 32 is fixed in the adjusting chamber 34, a rack 35 parallel to the adjusting shaft is further fixed in the adjusting chamber 34, a power portion 33 is fixed on the counterweight block 31, the power portion 33 is a motor, a gear 36 meshed with the rack 35 is provided on an output shaft of the motor, and the adjusting chamber 34 is sealed by a sealing cock 37.
In this embodiment, the weight member 31 is a battery. The motor drives the gear 36 to rotate, so that the counterweight block 31 moves along the direction of the rack 35, namely the direction of the adjusting shaft 32, and the mass center position of the bionic fish changes along with the movement of the counterweight block 31. The balancing weight 31 moves forwards, the head part of the bionic fish sinks, the tail part of the bionic fish tilts upwards, and the bionic fish is in a sinking posture; the balancing weight 31 moves backwards, the head part of the bionic fish upwarps, the tail part of the bionic fish sinks, and the bionic fish is in a floating posture. Through the adjustment to the mass center of the bionic fish, the bionic fish does not need to be additionally provided with power to drive the bionic fish to float and sink, and the bionic fish is more flexible in water.
A control cabin 38 is arranged in the adjusting cabin 34, a control part 39 is arranged in the control cabin 38, and the control part 39 is used for controlling the movement of the bionic fish. The control part 39 comprises a communication module, a control module and the like, can be connected with a remote controller, and a user sends instructions through the remote controller and controls the motion of the bionic fish. The control of the motion of the bionic fish by means of remote control is prior art and is not described here in detail.
As shown in fig. 7, the swing mechanism 4 is disposed between the housing 1 and the fishtail 2, the swing mechanism 4 includes a swing steering gear 41, a first reduction gear 42, a second reduction gear 43 and a swing shaft 44, the swing steering gear 41 and the swing shaft 43 are both fixed at one end of the housing 1, the first reduction gear 42 is connected with an output shaft of the swing steering gear 41, the second reduction gear 43 is fixed at one end of the fishtail 2, the fishtail 2 is mounted on the swing shaft 44 through a bearing, and the swing steering gear 41 drives the fishtail 2 to swing around the swing shaft 44 through the reduction gear set 42.
As shown in fig. 8, the propellers 5 are provided on both sides of the casing 1, and the propellers 5 are provided at one end in the traveling direction of the casing 1.
In the embodiment, the propeller 5 and the swinging fish tail 2 drive the bionic fish to move together, so that the bionic fish is more abundant in power and more flexible in movement.
As shown in fig. 6, the chest fin 6 is arranged on the housing 1, the chest fin 6 is mounted on two sides of the housing 1 through the rotating shaft 61, the fin rotating motor 62 is arranged in the housing 1, the first fin rotating gear 63 is mounted on the output shaft of the fin rotating motor 62, the second fin rotating gear 64 is fixed on the rotating shaft 61, and the first fin rotating gear 63 is meshed with the second fin rotating gear 64.
As shown in fig. 9, the fin-rotating motor drives the pectoral fins to rotate through the first fin-rotating gear 63 and the second fin-rotating gear 64, so that the upper surfaces of the pectoral fins are deflected to the propellers 5, and the jet flow of the propellers impacts the upper surfaces of the pectoral fins, so that the bionic fish generates a downward force; as shown in fig. 10, the fin-rotating motor drives the pectoral fins to rotate through the first fin-rotating gear 63 and the second fin-rotating gear 64, so that the lower surfaces of the pectoral fins are deflected to the propellers 5, and the jet flow of the propellers impacts the lower surfaces of the pectoral fins, so that the bionic fish generates an upward force;
the bionic fish can ascend and descend more flexibly and freely through the rotation of the pectoral fins.
A mechanical arm 7 is detachably mounted on the housing 1. A mechanical interface is arranged on the shell 1 and used for being connected with a mechanical arm 7, and meanwhile, a metal contact is arranged in the interface and used for electrically connecting the mechanical arm with the fish body and controlling the movement of the mechanical arm. In addition to the robot arm, a sonar, a digger blade, a fish pusher, a sampler, etc. may be installed and controlled.
One end of the advancing direction of the shell 1 is provided with a camera 8, and the camera 8 is arranged on the shell 1 through a cloud platform 81. The middle of the propeller 5 is provided with a lighting device 51. The environment can be illuminated, and observation is facilitated.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A bionic fish with an adjustable centroid comprises a shell (1) and a fish tail (2), and is characterized in that a centroid adjusting mechanism (3) is arranged in the shell (1);
the mass center adjusting mechanism (3) comprises a balancing weight (31), an adjusting shaft (32) and a power part (33), the adjusting shaft (32) is arranged along the length direction of the shell (1), the balancing weight (31) can slide along the adjusting shaft (32), and the power part (33) is used for driving the balancing weight (31) to slide;
the bionic fish motion device further comprises a driving device, and the driving device is used for driving the bionic fish to move.
2. The bionic fish with the adjustable mass center according to claim 1, wherein an adjusting cabin (34) is arranged in the shell (1), the adjusting shaft (32) is fixed in the adjusting cabin (34), a rack (35) parallel to the adjusting shaft is further fixed in the adjusting cabin (34), the power part (33) is fixed on the counterweight block (31), the power part (33) is a motor, a gear (36) meshed with the rack (35) is arranged on an output shaft of the motor, and the adjusting cabin (34) is sealed by a sealing cock (37).
3. The bionic fish with the adjustable center of mass according to claim 2, wherein a control cabin (38) is arranged in the adjusting cabin (34), a control part (39) is arranged in the control cabin (38), and the control part (39) is used for controlling the bionic fish to move.
4. The bionic fish with the adjustable mass center according to claim 1, wherein the driving device is a swinging mechanism (4) arranged between the shell (1) and the fish tail (2), the swinging mechanism (4) comprises a swinging steering engine (41), a first reduction gear (42), a second reduction gear (43) and a swinging shaft (44), the swinging steering engine (41) and the swinging shaft (44) are fixed at one end of the shell (1), the first reduction gear (42) is connected with an output shaft of the swinging steering engine (41), the second reduction gear (43) is fixed at one end of the fish tail (2), the fish tail (2) is installed on the swinging shaft (44) through a bearing, and the swinging steering engine (41) drives the fish tail (2) to swing around the swinging shaft (44) through a reduction gear set.
5. The bionic fish with the adjustable center of mass according to claim 1, wherein the driving device is a propeller (5) arranged at two sides of the shell (1), and the propeller (5) is arranged at one end of the shell (1) in the advancing direction.
6. The bionic fish with the adjustable center of mass according to claim 5, wherein a pectoral fin (6) is arranged on the shell (1), the pectoral fin (6) is installed on two sides of the shell (1) through a rotating shaft (61), a fin rotating motor (62) is arranged in the shell (1), a first fin rotating gear (63) is installed on an output shaft of the fin rotating motor (62), a second fin rotating gear (64) is fixed on the rotating shaft (61), and the first fin rotating gear (63) is meshed with the second fin rotating gear (64).
7. The adjustable-centroid bionic fish according to claim 1, wherein a detachable mechanical arm (7) is mounted on the housing (1).
8. The bionic fish with the adjustable center of mass according to claim 1, wherein a camera (8) is arranged at one end of the shell (1) in the traveling direction, and the camera (8) is mounted on the shell (1) through a cradle head (81).
9. The bionic fish with the adjustable center of mass as claimed in claim 5, wherein a lighting device (51) is arranged in the middle of the propeller (5).
10. The bionic fish with adjustable center of mass according to claim 1, wherein the counterweight (31) is a battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020984978.7U CN212556730U (en) | 2020-06-02 | 2020-06-02 | Bionic fish with adjustable mass center |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020984978.7U CN212556730U (en) | 2020-06-02 | 2020-06-02 | Bionic fish with adjustable mass center |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212556730U true CN212556730U (en) | 2021-02-19 |
Family
ID=74638223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020984978.7U Expired - Fee Related CN212556730U (en) | 2020-06-02 | 2020-06-02 | Bionic fish with adjustable mass center |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212556730U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113320664A (en) * | 2021-06-30 | 2021-08-31 | 贵州大学明德学院 | Underwater object taking monitoring bionic fish based on dual-control system |
| CN113772066A (en) * | 2021-10-09 | 2021-12-10 | 北京大学 | Mixed line drive continuous bionic machine tuna |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
| CN115535195A (en) * | 2022-09-27 | 2022-12-30 | 山东大学 | Underwater robot based on bionic swing and propeller hybrid drive and working method thereof |
| CN115565440A (en) * | 2022-09-15 | 2023-01-03 | 武汉理工大学 | Bionic mantis applied to teaching or exhibition |
-
2020
- 2020-06-02 CN CN202020984978.7U patent/CN212556730U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113320664A (en) * | 2021-06-30 | 2021-08-31 | 贵州大学明德学院 | Underwater object taking monitoring bionic fish based on dual-control system |
| CN113772066A (en) * | 2021-10-09 | 2021-12-10 | 北京大学 | Mixed line drive continuous bionic machine tuna |
| CN113772066B (en) * | 2021-10-09 | 2022-07-12 | 北京大学 | Mixed line drive continuous bionic machine tuna |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
| CN115565440A (en) * | 2022-09-15 | 2023-01-03 | 武汉理工大学 | Bionic mantis applied to teaching or exhibition |
| CN115535195A (en) * | 2022-09-27 | 2022-12-30 | 山东大学 | Underwater robot based on bionic swing and propeller hybrid drive and working method thereof |
| CN115535195B (en) * | 2022-09-27 | 2024-08-20 | 山东大学 | Underwater robot based on hybrid driving of bionic swing and propeller and working method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212556730U (en) | Bionic fish with adjustable mass center | |
| CN102963514B (en) | Portable underwater marine environmental monitoring aerodone | |
| CN108820173B (en) | The deformation submersible and its working method promoted based on buoyancy-driven with no axial vector | |
| CN108408007A (en) | Hybrid power underwater robot | |
| CN106005333A (en) | Carangid bionic robot fish | |
| CN109383717B (en) | Ridable fish-type robot | |
| CN109665079A (en) | A kind of underwater robot of jet pump and steering engine combination drive | |
| JPH0749277B2 (en) | A glider-type submersible with control of boat attitude by adjusting gravity and buoyancy | |
| CN110641637A (en) | Track controllable ocean observation platform based on thermoelectric energy power generation | |
| CN113060261A (en) | Multi-degree-of-freedom underwater shooting boosting robot | |
| CN109866903A (en) | A kind of machine fish of bionical foldable pectoral fin | |
| CN210310838U (en) | Bionic robot fish | |
| Agrawal et al. | Dynamic modeling of variable ballast tank for spherical underwater robot | |
| CN219904704U (en) | Multifunctional intelligent bionic robot fish | |
| CN109367741A (en) | A kind of deformable autonomous underwater vehicle and its application method | |
| CN217496510U (en) | Bionic devil fish robot based on sine-swinging wave fin structure | |
| CN206068108U (en) | A kind of Scad sections class bionic machine fish | |
| CN116252935A (en) | Bionic machine penguin | |
| CN208360465U (en) | Hybrid power underwater robot | |
| CN115056953B (en) | Controllable variable-rigidity bionic fin type propelling mechanism | |
| CN114084322B (en) | Planetary super-power spherical underwater robot | |
| CN114671000A (en) | Bionic devil fish robot based on sine-swinging wave fin structure | |
| CN212473861U (en) | Underwater power gliding device | |
| CN216269839U (en) | Novel underwater glider | |
| CN211766211U (en) | Underwater flying robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210219 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |