CN212738470U

CN212738470U - Serial-type flexible drive's bionical machine fish

Info

Publication number: CN212738470U
Application number: CN202021506087.7U
Authority: CN
Inventors: 欧文湛; 张宇; 刘盈麟; 宋泽暄; 林泽航; 庄煜璐
Original assignee: Xiamen University
Current assignee: Xiamen University
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2021-03-19
Anticipated expiration: 2030-07-27

Abstract

The utility model provides a bionic robot fish of tandem type flexible drive, including fish head, fish tail, sealed cabin and engine compartment, fish head and fish tail all are equipped with hollow structure, sealed cabin and engine compartment set up respectively in fish head and/or fish tail internal surface, be provided with gesture adjustment mechanism in the sealed cabin, be provided with preceding steering wheel group and back steering wheel unit in the engine compartment, back steering wheel unit is connected to preceding steering wheel group one end, gesture adjustment mechanism is connected to the other end, the tail end of fish tail is connected to the other end of back steering wheel unit, gesture adjustment mechanism drives the engine compartment motion, thereby drive the motion of fish tail; the utility model can reduce the harmful left and right shaking of the fish head during the flexible driving, improve the flexible driving efficiency and increase the power, and has good bionic effect and good stability; the posture adjusting mechanism is simple in structure and small in occupied size, the pitching posture of the fish head can be quickly adjusted, and quick floating and diving swimming are achieved by matching with the driving of the fish tail.

Description

Serial-type flexible drive's bionical machine fish

Technical Field

The utility model relates to an underwater robot fish, in particular to a series-type flexible-driven bionic robot fish.

Background

Compared with an underwater vehicle driven by a propeller structure, the bionic robot fish imitating the swimming of real fish has the remarkable advantages of low noise, high efficiency, high flexibility and the like, and becomes a hotspot of related researches more and more.

Most bionic robot fish all adopt the drive mode of many joints afterbody at present, joint of a motor drive to provide a wobbling degree of freedom, the degree of freedom is more, and the fitting effect is better, and the imitation effect is better promptly. However, such a driving method has obvious disadvantages that when the number of joints is small, the swimming posture of the robotic fish is poor in continuity, and the tail action is stiff; when the number of joints is large, the cooperative control of the motor is complicated and the stability is deteriorated.

Therefore, a flexible driving manner in which a soft and consistent play is driven by a small number of motors is attracting attention. The utility model discloses a CPG control method and machine fish (publication number CN110937092A) of bionical line machine fish of multimode, this patent draws the acting as go-between of fish body left and right sides through the steering wheel in turn, and the acting as go-between of left and right sides is taut in turn, and then pulls the corresponding horizontal hunting of fishtail. But because the guy wire of its both sides runs through whole afterbody and relies on single steering wheel to draw the guy wire, so this can make the fish tail left and right sides only have one side atress to tighten up at the same time, and the fish tail is whole to the quick swing of one side of atress, and this can produce a big swing impulse, leads to the fish head to the quick swing of opposite side for the swing impulse that the afterbody produced is offset in part. Therefore, when the robot fish moves forwards through swinging the tail part left and right, the fish head correspondingly swings left and right, the propelling efficiency of the robot fish is reduced, and the work of the internal modules of the robot fish such as a camera and sonar is seriously influenced. Meanwhile, the whole tail part is driven by a single power source, so that the problems of insufficient power and low flexibility can be caused.

In addition, most of the existing floating and diving devices have the defects of complex structure, large occupied space and the like, and are difficult to be applied to small and medium-sized underwater submergence devices, particularly small and medium-sized underwater robotic fish.

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

SUMMERY OF THE UTILITY MODEL

The utility model provides a bionic robot fish of serial-type flexible drive can effectively solve above-mentioned problem.

The utility model discloses a realize like this:

the utility model provides a bionical machine fish of serial-type flexible drive, includes fish head and fish tail, the fish head with the fish tail all is equipped with hollow structure, still includes sealed cabin and engine room, the sealed cabin with the engine room set up respectively in the fish head and/or fish tail internal surface, be provided with gesture adjustment mechanism in the sealed cabin, be provided with preceding steering wheel group and back steering wheel unit in the engine room, preceding steering wheel group one end is connected back steering wheel unit, the other end are connected gesture adjustment mechanism, the other end of back steering wheel unit is connected the tail end of fish tail, gesture adjustment mechanism drives the engine room motion, thereby drive the motion of fish tail.

As a further improvement, the front end of the fish head is provided with a laser range finder and a camera, the left side and the right side of the outer surface of the fish head are respectively provided with pectoral fins, the top surface of the fish head is provided with back fins, the rear end of the fish head is provided with a front steering engine fixing groove, and the posture adjusting mechanism is connected with the power cabin through the front steering engine fixing groove.

As a further improvement, a lithium battery and a control device are arranged in the sealed cabin, and the control device is electrically connected with the lithium battery, the posture adjusting mechanism, the laser range finder and the camera respectively.

As a further improvement, a waterproof coating is arranged between the inner surface of the fish head and the outer surface of the sealed cabin.

As a further improvement, the posture adjusting mechanism comprises a motor, a fixed frame, a pulley, a sliding rod, a balancing weight, a sliding block and a screw rod, wherein the motor is arranged at the rear end of the fixed frame, one end of the screw rod is fixedly arranged on a rotating shaft of the motor, the other end of the screw rod is connected with the pulley, and the pulley is fixedly arranged on the fixed frame; the sliding rod is fixedly arranged between the front end of the fixing frame and the motor and is parallel to the screw rod; the slider is sleeved on the screw rod, the balancing weight is sleeved on the slider and the slide rod, and the balancing weight is fixedly connected with the slider.

As further improvement, preceding steering wheel group including set firmly in preceding steering wheel in the preceding steering wheel fixed slot, set firmly in preceding U-shaped rudder horn and two preceding springs on the preceding steering wheel, two preceding spring one end set firmly in preceding U-shaped rudder horn, the other end with rear steering wheel group connects.

As a further improvement, the rear steering engine group comprises a rear steering engine fixing groove used for being connected with the front spring, a rear steering engine fixedly arranged on the rear steering engine fixing groove, a rear U-shaped steering engine arm fixedly arranged on the rear steering engine and two rear springs, wherein one end of each rear spring is fixedly arranged on the rear U-shaped steering engine arm, the other end of each rear spring is connected with the tail end of the fish and is fixed at the front end of the tail fin.

As a further improvement, the front steering engine and the rear steering engine are electrically connected with the control device.

As a further improvement, the front end of the fish tail is adhered to the rear end of the fish head through waterproof glue, so that the machine fish forms an integrated appearance.

As a further improvement, the two front springs and the two rear springs are respectively arranged in parallel up and down.

The utility model has the advantages that: the utility model provides a bionical machine fish of serial-type flexible drive, its afterbody are flexible material's serial-type structure, adopt two steering wheel series coupling drives, can reach and rock, improve the purpose that impels flexible drive efficiency and increase power about the fish head is harmful when reducing the flexible drive greatly, and bionical effectual, the stationarity is good. The posture adjusting mechanism is simple in structure and small in occupied size, can quickly adjust the pitching posture of the fish head, and is matched with the driving of the fish tail to realize quick floating and diving movement.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic perspective view of an external structure of a tandem flexibly-driven biomimetic robotic fish according to an embodiment of the present invention.

Fig. 2 is a schematic side view of a cross-sectional structure of a bionic robotic fish with a tandem type flexible drive.

Fig. 3 is a schematic view of a cut-open structure of a tandem type flexibly driven bionic robot fish according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of the serial flexibly driven bionic robot fish when moving in an S shape.

Fig. 5 is a schematic structural diagram of the serial flexibly driven bionic robot fish in bow-shaped swimming according to the embodiment of the present invention.

Fig. 6 is a schematic structural diagram of an attitude adjusting mechanism of a tandem type flexibly driven biomimetic robotic fish according to an embodiment of the present invention.

In the figure: 1. fish head 2, dorsal fin 3, tail fin

4. Fish tail 5, pectoral fin 6, laser range finder

7. Camera 8, sealed cabin 9 gesture adjustment mechanism

10. Lithium battery 11, control device 12 and power cabin

13. Front steering engine fixed slot 14, rear steering engine fixed slot 15, front steering engine

16. Rear steering engine 17, front U-shaped steering engine arm 18 and rear U-shaped steering engine arm

19. Front spring 20, back spring 21, nut

22. Motor 23, fixing frame 24 and pulley

25. Slide bar 26, balancing weight 27, slide block

28. Screw mandrel

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are 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 without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1-6, a bionical machine fish of serial-type flexible drive, including fish head 1, fish tail 4, sealed cabin 8 and engine compartment 12, fish head 1 with fish tail 4 all is equipped with hollow structure, sealed cabin 8 with engine compartment 12 set up respectively in fish head 1 and/or 4 internal surfaces of fish tail, be provided with gesture adjustment mechanism 9 in the sealed cabin 8, be provided with preceding steering wheel group and back rudder unit in the engine compartment 12, preceding steering wheel group one end is connected back rudder unit, the other end is connected gesture adjustment mechanism 9, the other end of back rudder unit is connected the tail end of fish tail, gesture adjustment mechanism 9 drives engine compartment 12 moves to drive the motion of fish tail 4.

Furthermore, a laser range finder 6 and a camera 7 are arranged at the front end of the fish head 1, pectoral fins 5 are respectively arranged on the left side and the right side of the outer surface of the fish head 1, a back fin 2 is arranged on the top surface of the fish head 1, a front steering engine fixing groove 13 is arranged at the rear end of the fish head 1, and the posture adjusting mechanism 9 is connected with the power cabin 12 through the front steering engine fixing groove 13; be provided with lithium cell 10 and controlling means 11 in the sealed cabin 8, controlling means 11 respectively with lithium cell 10 gesture adjustment mechanism 9 laser range finder 6 with camera 7 electricity is connected, lithium cell 10 is used for giving controlling means 11 supplies power, controlling means 11 is used for controlling gesture adjustment mechanism 9, laser range finder 11, camera 7's work.

Further, a waterproof coating is arranged between the inner surface of the fish head 1 and the outer surface of the sealed cabin 8.

As shown in fig. 6, the posture adjusting mechanism 9 includes a motor 22, a fixing frame 23, a pulley 24, a sliding rod 25, a counterweight block 26, a sliding block 27 and a screw rod 28, the motor 22 is disposed at the rear end of the fixing frame 23, one end of the screw rod 28 is fixedly disposed on a rotating shaft of the motor 22 and rotates coaxially, the other end of the screw rod 28 is connected with the pulley 24, and the pulley 24 is fixedly disposed on a circular hole of the fixing frame 23; the sliding rod 25 is fixedly arranged between the front end of the fixed frame 23 and the motor 22 and is parallel to the screw rod 28; the sliding block 27 is sleeved on the screw rod 28, the balancing weight 26 is sleeved on the sliding block 27 and the sliding rod 25, and the balancing weight 26 is fixedly connected with the sliding block 27; the motor 22 adopts a stepping motor; the slide block 27 and the screw rod 28 have mutually matched threads, and the slide block 27 can drive the counterweight block 26 to move on the screw rod 28.

Further, the front steering engine unit comprises a front steering engine 15, a front U-shaped steering engine arm 17 and two front springs 19, the rear steering engine unit comprises a rear steering engine fixing groove 14, a rear steering engine 16, a rear U-shaped steering engine arm 18 and two rear springs 20, the front steering engine 15 is fixedly arranged in the front steering engine fixing groove 13 and is screwed and reinforced through nuts 21, the front U-shaped steering engine arm 17 is fixedly arranged on a gear rotating shaft of the front steering engine 15, one end of each of the two front springs 19 is welded on the front U-shaped steering engine arm 17, the other end of each of the two front springs is embedded into the rear steering engine fixing groove 14 and is screwed and reinforced through the nuts 21, the rear U-shaped steering engine arm 18 is fixedly arranged on a gear rotating shaft of the rear steering engine 16, one end of each of the two rear springs 20 is welded on the rear U-shaped steering engine arm 18, and the other end of each of the two rear springs passes through the; the nut 21 can adopt a countersunk nut, but is not limited to the countersunk nut; the front steering engine 15 and the rear steering engine 16 are electrically connected with the control device 11.

Further, an opening is formed in the front end of the fish tail 4, in the embodiment, the opening is rectangular but not limited to the rectangular shape, the front steering engine fixing groove 13 is formed in the opening, the posture adjusting mechanism 9 is connected with the front steering engine 15, and the front end of the fish tail 4 is adhered to the rear end of the fish head 1 through waterproof glue, so that the machine fish forms an integrated shape.

Furthermore, the two front springs 19 and the two rear springs 20 are respectively arranged in parallel up and down, so that the fishtail is prevented from rotating by taking the front springs 19 and the rear springs 20 as axes.

Further, the fish tail 4 adopts the silica gel material, the tail fin 3 adopts the rubber material.

Further, the motor 22 is a stepping motor.

The working principle of the utility model is as follows:

the utility model discloses a fish tail 4 adopts the silica gel material, and the silica gel material is flexible material, the fish tail unit is the tandem type structure, adopts two steering wheel series coupling drives, when the bionic machine fish moves about to go forward S-shaped, for the example of figure 4, with the fish head towards the forward direction, preceding steering wheel 15 drives preceding U-shaped steering wheel arm 17 rotates to the right side, preceding spring 15 atress takes place to deform, forms protruding bow-shaped flexible structure to the right side, later along with the recovery of preceding spring 15 deformation, the first half of fish tail unit is to the flexible swing of right side; meanwhile, the rear steering engine 16 drives the rear U-shaped steering engine arm 18 to rotate towards the left side, the rear spring 18 deforms under stress to form a convex bow-shaped flexible structure towards the left side, and then along with the recovery of the deformation of the rear spring, the rear half part of the fishtail unit and the tail fin 3 made of rubber flexibly swing towards the left side, so that S-shaped serial flexible drive is formed, swing impulses in opposite directions are generated in the front part and the rear part of the fishtail unit due to swinging respectively, the impulses in the left side direction and the right side direction of the fishtail unit are approximately offset, the shaking of the fishhead unit during S-shaped flexible drive is greatly reduced, the problems in the prior art are solved, and the efficiency and the stability of the flexible drive are improved. Furthermore, the utility model discloses owing to adopt double dynamical series coupling drive, more the flexible drive structure of existing single power has bigger propulsive force.

When the bionic robot fish carries out bow-shaped swimming steering, taking fig. 5 as an example, the front steering engine 15 and the rear steering engine 16 respectively drive the front U-shaped steering engine arm 17 and the rear U-shaped steering engine arm 18 to rotate to the left side, the front spring 19 and the rear spring 20 deform under stress, all form a bow-shaped flexible structure protruding to the left side, form a bow-shaped series-type flexible drive, and then along with the restoration of the deformation of the front spring 19 and the rear spring 20, the whole fish tail unit flexibly swings to the left side to generate large left-direction momentum, so that the fish head unit rapidly turns to the right side.

The attitude adjusting mechanism 9 can realize rapid floating and diving movement by adjusting the pitching attitude of the fish head unit and matching with the driving of the fish tail unit. When the rotating shaft of the motor 22 and the screw rod 28 rotate coaxially and clockwise, the slide block 27 and the counterweight block 26 are driven to move forward together, the gravity center of the fish body moves forward, the fish head unit bends downwards, and the fish body dives and swims by matching with the driving of the fish tail unit; when the rotating shaft of the motor 22 and the screw rod 28 rotate coaxially and anticlockwise, the sliding block 27 and the balancing weight 26 are driven to move backwards together, the gravity center of the fish body moves backwards, the fish head unit tilts upwards, and the fish body floats upwards and moves in a floating manner by matching with the driving of the fish tail unit; when the balance weight 26 moves to a proper position in the middle of the sliding rod 25, the center of gravity of the fish body is balanced, the fish head unit faces to the horizontal direction, and the fish body moves horizontally.

The camera 7 can collect underwater images and store the underwater images in a memory card of the control device 11; the laser range finder 6 can measure the distance underwater by using laser at a short distance, and when the distance is a certain distance close to an obstacle, the control device 11 identifies a signal and sends a steering and moving instruction to realize emergency obstacle avoidance; the control program of the control device 11 is easily available to those skilled in the art, and is not described in detail herein.

The fish tail 4 of the utility model is made of silica gel, the silica gel is made of flexible material, the fish tail unit is of a serial structure, and is driven by the serial coupling of the double steering engines, so that the aims of greatly reducing the harmful left and right shaking of the fish head unit, improving the propelling flexible driving efficiency and increasing the power during flexible driving can be achieved, the bionic effect is good, and the stability is good; the posture adjusting mechanism 9 is simple in structure and small in occupied size, can quickly adjust the pitching posture of the fish head unit, and is matched with the driving of the fish tail unit to realize quick floating and diving movement.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A series-connection type flexibly-driven bionic robot fish comprises a fish head (1) and a fish tail (4), wherein both the fish head (1) and the fish tail (4) are provided with hollow structures, characterized in that the fish head power device also comprises a sealed cabin (8) and a power cabin (12), wherein the sealed cabin (8) and the power cabin (12) are respectively arranged on the inner surfaces of the fish head (1) and/or the fish tail (4), an attitude adjusting mechanism (9) is arranged in the sealed cabin (8), a front steering engine group and a rear steering engine group are arranged in the power cabin (12), one end of the front steering engine group is connected with the rear steering engine group, the other end of the front steering engine group is connected with the attitude adjusting mechanism (9), the other end of the rear rudder unit is connected with the tail end of the fishtail, and the posture adjusting mechanism (9) drives the power cabin (12) to move, so that the fishtail (4) is driven to move.

2. The tandem type flexible driving bionic robotic fish as claimed in claim 1, wherein a laser range finder (6) and a camera (7) are arranged at the front end of the fish head (1), pectoral fins (5) are respectively arranged on the left side and the right side of the outer surface of the fish head (1), a dorsal fin (2) is arranged on the top surface of the fish head (1), a front steering engine fixing groove (13) is arranged at the rear end of the fish head (1), and the posture adjusting mechanism (9) is connected with the power cabin (12) through the front steering engine fixing groove (13).

3. The in-line flexible-drive bionic robotic fish as claimed in claim 2, wherein a lithium battery (10) and a control device (11) are arranged in the sealed cabin (8), and the control device (11) is electrically connected with the lithium battery (10), the posture adjusting mechanism (9), the laser range finder (6) and the camera (7) respectively.

4. The in-line flexible-drive biomimetic robotic fish according to claim 3, characterized in that a waterproof coating is provided between the inner surface of the fish head (1) and the outer surface of the capsule (8).

5. The in-line flexible-drive bionic robotic fish as claimed in claim 4, wherein the posture adjusting mechanism (9) comprises a motor (22), a fixing frame (23), a pulley (24), a sliding rod (25), a counterweight (26), a slider (27) and a screw rod (28), the motor (22) is arranged at the rear end of the fixing frame (23), one end of the screw rod (28) is fixedly arranged on a rotating shaft of the motor (22), the other end of the screw rod is connected with the pulley (24), and the pulley (24) is fixedly arranged on the fixing frame (23); the sliding rod (25) is fixedly arranged between the front end of the fixed frame (23) and the motor (22) and is parallel to the screw rod (28); the sliding block (27) is sleeved on the screw rod (28), the balancing weight (26) is sleeved on the sliding block (27) and the sliding rod (25), and the balancing weight (26) is fixedly connected with the sliding block (27).

6. The serially-connected flexible-driven bionic robotic fish as claimed in claim 3, wherein the front steering gear set comprises a front steering gear (15) fixedly arranged in the front steering gear fixing groove (13), a front U-shaped steering gear arm (17) fixedly arranged on the front steering gear (15), and two front springs (19), one end of each of the two front springs (19) is fixedly arranged on the front U-shaped steering gear arm (17), and the other end of each of the two front springs is connected with the rear steering gear set.

7. The tandem type flexible-drive bionic robotic fish as claimed in claim 6, wherein the rear steering engine group comprises a rear steering engine fixing groove (14) used for being connected with the front spring (19), a rear steering engine (16) fixedly arranged on the rear steering engine fixing groove (14), a rear U-shaped steering engine arm (18) fixedly arranged on the rear steering engine (16), and two rear springs (20), one end of each rear spring (20) is fixedly arranged on the rear U-shaped steering engine arm (18), and the other end of each rear spring (20) is connected with the tail end of the fish tail (4) and is fixed at the front end of the tail fin (3).

8. The in-line flexible-drive biomimetic robotic fish of claim 7, wherein the front steering engine (15) and the rear steering engine (16) are electrically connected with the control device (11).

9. The in-line flexible-drive bionic robotic fish as claimed in claim 8, wherein the front end of the fish tail (4) is adhered to the rear end of the fish head (1) by waterproof glue, so that the robotic fish can form an integrated shape.

10. The in-line flexible-drive biomimetic robotic fish of claim 9, wherein both said front springs (19) and both said rear springs (20) are arranged in parallel up and down, respectively.