CN217348193U - High-voltage pulse discharge plasma water purification bionic robotic fish - Google Patents

Abstract

The utility model discloses a high-voltage pulse discharge plasma water purification bionic machine fish belongs to ecological remediation technical field. The bionic robot fish comprises a fish head component, a fish body component and a fish tail component which are sequentially installed and connected, wherein a wastewater treatment component is installed in the fish head component, and the wastewater treatment component is used for ionizing and degrading organic matters in wastewater; the fish body subassembly upper portion is rotatable installs the pectoral fin subassembly, and the lower part is equipped with ups and downs accuse and flows the subassembly, and the afterbody passes through the swing subassembly and links to each other with the activity of fish tail subassembly, wherein, fish pectoral fin subassembly and fish tail subassembly drive machine fish jointly and move about, it floats accuse and flows subassembly control machine fish come-up and sink to ups and downs. The utility model can effectively degrade the organic matters in the wastewater; and the problems that the traditional wastewater treatment instrument is single in appearance and heavy and the independent and flexible operation place transfer cannot be realized are solved by utilizing the swimming of the robot fish.

Description

High-voltage pulse discharge plasma water purification bionic robotic fish

Technical Field

The utility model belongs to the ecological remediation field more particularly, relates to an utilize high-voltage pulse to discharge plasma technique, imitate fish motion in aqueous and a water purification machine that designs.

Background

With the rapid development of chemical industry, petrochemical industry, light textile industry, pharmaceutical industry and other industries, a large amount of discharged industrial wastewater has various types, complex components and poor biodegradability, and if effective control and treatment cannot be carried out, very serious pollution and damage to the environment are caused. For organic wastewater which is difficult to degrade, the conventional water treatment technologies such as physical adsorption method, chemical oxidation method and biological treatment method are difficult to effectively degrade toxic and harmful organic matters, and even some intermediate products are more toxic and harmful.

In recent 20 years, advanced oxidation water treatment technologies mainly for generating oxidation free radicals have appeared in the aspect of treating pollutants difficult to degrade, and the advanced oxidation water treatment technologies have the advantages of high treatment rate, little secondary pollution and the like. Among the advanced oxidation technologies, the high-voltage pulse discharge plasma water treatment method has attracted the attention of many researchers at home and abroad, and becomes the most promising water treatment technology in the water treatment field. However, no plasma wastewater treatment equipment with industrial application is found at present, and various bionic robot fishes sold in the market at present only stay in the entertainment aspect, and the internal space of the fish body is not really fully utilized. Therefore, a novel, highly practical and efficient water purification device is urgently needed.

SUMMERY OF THE UTILITY MODEL

1. Problems to be solved

The utility model aims to overcome the not enough of current water purification technique, if: the bionic robot fish for water purification by high-voltage pulse discharge plasma has the advantages of causing secondary pollution, higher operation cost, difficulty in thorough removal and the like, and the existing wastewater treatment instrument is single and heavy in appearance and cannot realize independent and flexible transfer of an operation place. Adopt the utility model discloses the technical scheme of product can effectively solve above-mentioned problem, and the practicality is strong, and purification treatment waste water is high-efficient.

2. Technical scheme

In order to solve the above problem, the utility model discloses the technical scheme who adopts as follows:

the utility model discloses a high-voltage pulse discharge plasma water purification bionic robot fish, which comprises a fish head component, a fish body component and a fish tail component which are sequentially installed and connected, wherein a wastewater treatment component is installed in the fish head component and is used for ionizing and degrading organic matters in wastewater; the rotatable fish pectoral fin subassembly of installing in fish body subassembly upper portion, the lower part is equipped with ups and downs accuse and flows the subassembly, and the afterbody passes through the swing subassembly and links to each other with the activity of fish tail subassembly, wherein, fish pectoral fin subassembly and the common drive machine fish of fish tail subassembly move about, the subassembly control machine fish come up and sink of ups and downs accuse.

Furthermore, the wastewater treatment component comprises a sealing cover plate, a reaction cavity, a plate electrode and a discharge electrode, wherein the sealing cover plate is telescopically arranged at the fish mouth through a first electric telescopic rod, when the sealing cover plate is in sealing fit with the fish mouth, the sealed reaction cavity is formed, the plate electrode and the discharge electrode are symmetrically arranged in the reaction cavity, the discharge electrode is connected with high-voltage pulse electricity, and the plate electrode is grounded.

Furthermore, the sealing cover plate and/or the edges around the fish mouth are provided with the sealing rings, so that the airtight space in the reaction cavity can be effectively ensured, and the safety is ensured when the waste water is subjected to ionization treatment.

Furthermore, the wastewater treatment component further comprises a submersible pump, a second water outlet is formed in the side wall of the reaction cavity and is connected with the water inlet of the submersible pump through a pipeline, and the water outlet of the submersible pump is connected with the first water outlet through a pipeline. Through the setting of immersible pump, be favorable to taking out the water after the degradation treatment, discharge to go, simultaneously, also can control waste water and get into in the reaction chamber.

Furthermore, the fish pectoral fin assembly comprises a shaft, a first motor and fish pectoral fins, wherein the shaft is rotatably arranged on the shell of the fish body assembly through a bearing mounting seat, and the fish pectoral fins are positioned outside the fish body assembly and symmetrically arranged at two ends of the shaft; the output shaft of the first motor is fixedly connected with a bevel gear, and the bevel gear is meshed with a gear fixedly mounted on the shaft. The bevel gear is driven to rotate through the rotation of the first motor, so that the bevel gear is meshed with the gear to drive the shaft to rotate, the angle and the state of the pectoral fins of the fish can be effectively controlled, and the robotic fish can move better.

Furthermore, the sinking-floating flow control assembly comprises a sinking-floating cavity, a second electric telescopic rod and a piston, a through hole is formed in the side wall of the sinking-floating cavity, the piston is slidably mounted in the sinking-floating cavity, the periphery of the piston is in sealing fit with the inner wall of the sinking-floating cavity, and the piston is fixedly connected with the driving end of the second electric telescopic rod. The piston can be pushed to move in the floating and sinking cavity by controlling the second electric telescopic rod to carry out water inflow or drainage work, so that the floating and submerging of the robot fish are realized by controlling the main weight of the fish body assembly.

Furthermore, the floating and sinking cavity is integrally arranged below the fish body assembly, and the through hole on the side wall of the floating and sinking cavity is communicated with the drain hole on the shell of the fish body assembly.

Furthermore, the swing assembly comprises a second motor, a push-pull rod piece, a connecting frame and a mounting shaft, wherein the driving end of the second motor is connected with one end of the push-pull rod piece through a rotating sleeve piece, and the other end of the push-pull rod piece is fixedly connected with one end of the connecting frame; the installation axle fixed mounting is on fish body subassembly shell. One end of the connecting frame connected with the push-pull rod piece is rotatably arranged on the mounting shaft, the other end of the connecting frame is movably connected with the hinge joint, and the fishtail assembly is fixedly connected with the hinge joint. Through the setting of swing assembly, can control the rotation of fish tail subassembly to be convenient for the machine fish turns to.

Furthermore, the swing assembly further comprises a third motor and a rotating shaft, the driving end of the third motor is hinged with one end of the rotating shaft, and the other end of the rotating shaft is hinged with the hinged joint through a connecting piece. Through the setting of third motor and pivot to restricted the great swing of fishtail subassembly, thereby more be favorable to the stable trip of machine fish.

Furthermore, the swing assembly further comprises a first rotating joint and a second rotating joint, the driving end of the third motor is connected with one end of the first rotating joint, and the other end of the first rotating joint is connected with the rotating shaft through the second rotating joint in an installing mode.

3. Advantageous effects

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the utility model discloses a high-voltage pulse discharge plasma water purification bionical machine fish, including fish body subassembly, the fish head subassembly, the fish tail subassembly, fish pectoral fin subassembly, the waste water treatment subassembly, ups and downs accuse flow subassembly and swing subassembly, through carrying out optimal design to the overall structure of machine fish, especially through setting up the waste water treatment subassembly in the fish head subassembly, purify waste water through utilizing high-voltage pulse discharge plasma technique, get rid of organic pollution and poisonous and harmful substance, promote the suction and the discharge of rivers through the produced pressure differential of utilizing the water pump at last, improve purification efficiency. The robot fish of the utility model can be effectively used for degrading organic matters in the wastewater; on the other hand, the swimming of the robotic fish is utilized, so that the problems that the traditional wastewater treatment instrument is single and heavy in appearance and cannot realize independent and flexible transfer of an operation place are effectively solved.

(2) The utility model discloses a high-voltage pulse discharge plasma water purification bionic machine fish, the high-voltage pulse discharge plasma technique of adoption almost have no choice and react with any organic pollutant in the waste water, and thorough oxidation pollutant is carbon dioxide, water or mineral salt, the feature of environmental protection of full play new technology. Compared with the traditional wastewater treatment method, the wastewater purification robot fish has the defects of long treatment time, expensive catalyst, high equipment cost, secondary pollution and the like, and by adopting the water treatment technology, organic matters and pollutants are effectively degraded and removed through substances such as hydroxyl radicals with strong oxidizing property, high-energy active particles and the like, toxic substances are converted into non-toxic substances, the water purification effect is achieved, the reaction conditions are not harsh, the reaction speed is high, the occupied area is small, and the water purification robot fish can also treat areas which are difficult to reach by large purification machines.

(3) The utility model discloses a high-voltage pulse discharge plasma water purification bionic machine fish has broken the walking about that traditional mode controlled the fish with the electric drive, has proposed mechanical structure such as motor drive connecting rod and has simulated the afterbody structure of fish to through the mode of going forward and turning to about of a plurality of joint coordinated movement simulation fishes. The robot fish adopts bionics, has simulated the motion mode of fish under water well, operates steadily, and is friendly to the environment, can not influence the normal life of aquatic organism.

(4) The utility model discloses a high-voltage pulse discharge plasma water purification bionic machine fish forms bionical fish truck main part by the fish head subassembly that is connected, fish body subassembly and fish tail subassembly, is provided with the fish pectoral fin in fish body subassembly, becomes the equilibrium of controlling bionical fish truck main part through fish pectoral fin and fish body institute angle for the bionic fish can remain stable in general diving. Meanwhile, the fish body assembly is also provided with a floating and sinking flow control assembly, so that the gravity of the bionic fish head assembly can be adjusted by controlling the water inflow and outflow amount, and the floating or sinking direction of the bionic fish can be adjusted and controlled. Furthermore, the utility model discloses still be provided with the swing subassembly, realize the whole swing of imitative fish body through the junction of swing subassembly drive fish body subassembly and fish tail subassembly, still can be used for controlling the amplitude of fluctuation by the regulation of push-pull rod spare simultaneously, improve its environmental suitability.

Drawings

FIG. 1 is the overall structural view of the water-purifying biomimetic robotic fish with the top shell of the fish body assembly removed;

FIG. 2 is a schematic view showing the internal structure of the fish head assembly (with the sealing cover removed) and the fish body assembly of the present invention;

FIG. 3 is a schematic view of the internal structure of the fish head assembly in the water absorption mode of the present invention;

FIG. 4 is a schematic view of the external structure of the fish head assembly in the water absorption mode of the present invention;

FIG. 5 is a schematic structural view of a pectoral fin assembly of the present invention;

fig. 6 is a schematic structural diagram of the middle swinging assembly of the present invention.

In the figure:

1. a fish head assembly; 101. a fish mouth; 102. a first drain port; 103. a support plate;

2. a fish body assembly; 201. a first fixing plate; 202. a second fixing plate; 203. a drain hole;

3. a fish tail assembly;

4. a wastewater treatment component; 401. a plate electrode; 402. a discharge electrode; 403. sealing the cover plate; 404. a first electric telescopic rod; 405. a reaction chamber; 406. a second water discharge port; 407. a submersible pump;

5. a pectoral fin assembly; 501. a first motor; 502. a bevel gear; 503. a gear; 504. a bearing mount; 505. a shaft; 506. a pectoral fin;

6. a swing assembly; 601. a second motor; 602. rotating the sleeve; 603. a push-pull rod member; 604. installing a shaft; 605. a connecting frame; 606. a hinge joint; 607. a third motor; 608. a first rotary joint; 609. a second rotary joint; 610. a rotating shaft;

7. a sinking and floating flow control assembly; 701. a second electric telescopic rod; 702. a piston; 703. a floating and sinking cavity.

Detailed Description

It should be noted that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are only used for convenience of description and simplification of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the scope of the present invention.

The present invention will be further described with reference to the following specific embodiments.

Example 1

As shown in fig. 1-6, the high-voltage pulse discharge plasma water purification bionic robot fish of the embodiment is characterized in that a fish head component 1, a fish body component 2 and a fish tail component 3 which are connected are sequentially installed, the tail part of the fish head component 1 is connected with the front part of the fish body component 2 through screws at the upper part and the lower part, and waterproof glue is adopted in a connecting gap for bonding, so that firm and sealed connection is ensured. After the skeleton of whole machine fish, the inside a plurality of parts of shell installation are accomplished, still lay the waterproof fish skin of one deck elasticity corrugate on its shell, this fish skin is moulded plastics by rubber and is formed, has good elasticity and waterproof performance, can firmly overlap and establish on the shell, for further guaranteeing seal and installation fastness, also can use glue to glue the fish skin on the shell to waterproof effect has further been guaranteed.

Wherein, install waste water treatment component 4 in the fish head subassembly 1 of this embodiment, this waste water treatment component 4 is arranged in carrying out the ionization degradation to organic matter in the waste water, purifies waste water through utilizing high-voltage pulse discharge plasma technique, gets rid of organic pollution and poisonous and harmful substance, and purifying effect is good, efficient.

The rotatable fish pectoral fin subassembly 5 of installing in 2 upper portions of fish body subassembly guarantees the equilibrium of bionical machine fish trunk when swimming, makes it stably swim in aqueous. Simultaneously, the lower part of fish body subassembly 2 is equipped with ups and downs accuse and flows subassembly 7, and the ups and downs accuse that sets up flows subassembly 7 and can control the come-up and sink of bionical machine fish through the volume that control gets into fish body subassembly water. In addition, the tail part of the fish body component 2 is movably connected with the fish tail component 3 through a swinging component 6 and is used for controlling the swinging, the swimming and the steering of the robot fish. The utility model effectively solves the defects of the traditional water purifying device that the secondary pollution is easy to cause, the operation cost is high and the removal and purification effect is not added by well combining the wastewater treatment equipment and the bionic robot fish, and on one hand, the utility model can be effectively used for degrading organic matters in the wastewater; on the other hand, by utilizing the movement of the robot fish, the problems that the traditional wastewater treatment instrument is single and heavy in appearance and cannot autonomously and flexibly transfer an operation place can be solved.

Example 2

As shown in fig. 2 to 4, the main structure of the high-voltage pulse discharge plasma water purification biomimetic robotic fish of the present embodiment is basically the same as that of embodiment 1, and the main differences are as follows: the fish head assembly 1 is processed into a structure similar to a cone, a supporting plate 103 is fixedly arranged inside the fish head assembly 1, and the supporting plate 103 is fixedly connected with the inside of a shell of the fish head assembly 1 through screws or integrally poured with the shell to form the fish head assembly. In order to ensure the wastewater treatment capacity and the range of the supplied pulse electric working voltage, the installation position of the support plate 103 is determined, and under the condition that the voltage is enough, the support plate 103 can be arranged below the fish head so as to ensure that the wastewater treatment capacity is larger, so that a larger space is formed above the support plate 103, and the wastewater treatment efficiency is improved.

The wastewater treatment component 4 mainly comprises a sealing cover plate 403, a reaction cavity 405, a plate electrode 401 and a discharge electrode 402, wherein the reaction cavity 405 is arranged at the upper part of the support plate 103 and is a closed space during reaction. The upper side and the lower side of the reaction cavity 405 are respectively provided with a plate electrode 401 and a discharge electrode 402, so that a high-voltage pulse gas-liquid double-phase needle-plate reactor is formed, the plate electrode 401 and the discharge electrode 402 are spaced at a certain distance, the discharge electrode 9 is connected with high-voltage pulse electricity, and the plate electrode 8 is grounded, so that a wastewater ionization channel is formed. The discharge electrode 402 is wrapped by a shell, the shell is made of an organic glass round tube, the discharge electrode 9 is connected with high-voltage pulse electricity, air blowing can be achieved in organic wastewater during working, ionization degradation is conducted on the wastewater located in an ionization channel, substances such as hydroxyl radicals with strong oxidizing property and high-energy active particles generated through ionization effectively degrade and remove organic matters and pollutants, toxic substances are converted into non-toxic substances, the water purification effect is achieved, the reaction condition is not harsh, the reaction speed is high, the occupied area is small, and the degradation effect is good.

In this embodiment, in order to achieve the tightness of the reaction chamber 405 during operation, a sealing cover plate 403 is telescopically installed at the fish mouth 101 of the fish head assembly 1 through the first electric telescopic rod 404. The sealing cover plate 403 is symmetrically provided with two first electric telescopic rods 404 along the circumferential direction, the first electric telescopic rods 404 are miniature telescopic rods, and the main function of the sealing cover plate is to eject the sealing cover plate 403 out of the fish mouth 101, so that external wastewater can enter the reaction cavity 405 from the fish mouth 101 for treatment. The wastewater after treatment can be drained in time by arranging a drain hole on the side wall of the reaction cavity 405. More optimally, in order to further ensure the tightness of the connection between the sealing cover plate 403 and the fish mouth 101, a sealing ring can be fixedly arranged around the sealing cover plate 403 or around the inner side of the fish mouth 101; the sealing rings can be fixedly installed on the periphery of the sealing cover plate 403 and the periphery of the inner side of the fish mouth 101 at the same time, so that the sealing cover plate 403 and the fish mouth 101 can be attached in a sealing mode, the tightness of the reaction cavity 405 is guaranteed, and the waste water ionization degradation treatment effect is guaranteed.

In addition, in order to better enable the wastewater to enter the reaction cavity 405, and simultaneously, the degraded wastewater is rapidly discharged out of the fish head assembly 1. The utility model discloses fixed mounting has immersible pump 407 in backup pad 103, and immersible pump 407 water inlet has seted up the second outlet 406 through the pipeline and has linked to each other on the reaction cavity 405 lateral wall, and immersible pump 407's delivery port passes through the pipeline and links to each other with first drain 102. The first drain port 102 is preferably disposed below the support plate 103, so that the reaction chamber 405 above the support plate 103 is more sealed, and at the same time, a through hole for passing a pipe is formed in the support plate 103.

The utility model discloses well fish head subassembly 1 is regional for main aqueous cleaning, the machine fish is when moving about, waste water gets into from fish mouth 101 under immersible pump 407's effect, then sealed apron 403 closed back in the control fish mouth 101, high-voltage pulse adds on needle type discharge electrode 402, with plate electrode 401 ground connection, can produce arc discharge when the added voltage reaches a definite value between the two electrodes, plasma channel extends to plate electrode 401 from discharge electrode 402 in discharge process, the liquid medium between two electrode gaps is dissociation under the effect of strong electric field, ionization and collision, form the discharge channel, thereby produce the free radical and the low temperature nonequilibrium plasma of strong oxidizing property, rapidly and indiscriminately for organic matter degradation in the industrial waste water is molecular weight littleer, the organic matter that the toxicity is lower is inorganic even with it. Subsequently, the valve of the second water discharge port 406 is opened, the submersible pump 407 is started to operate, the degraded wastewater enters the submersible pump 407 from the second water discharge port 406 through the pipeline and is pressed out from the water outlet of the submersible pump 407, and finally the water is pressed out of the fish head component 1 from the first water discharge port 102 through the pipeline, so that the water treatment efficiency can be improved.

More optimally, in order to realize the automatic control of the fish head assembly 1, the electric control part involved in the wastewater treatment assembly 1 can directly purchase the existing conventional control chip, the existing control circuit is adopted for connection, the treatment duration is set through programming, and the automatic control pump, the electric telescopic rod and the electrode discharge work alternately or simultaneously according to a certain period.

Example 3

As shown in fig. 1 and fig. 5, the main structure of the high-voltage pulse discharge plasma water purification biomimetic robotic fish of the present embodiment is basically the same as that of embodiment 2, and the main differences are as follows: the pectoral fin assembly 5 comprises a shaft 505, a first motor 501 and a pectoral fin 506, the shaft 505 being rotatably mounted on the housing of the fish body assembly 2 by means of a bearing mount 504.

Specifically, two pectoral fins 506 are located on the outside of the body assembly 2 and symmetrically mounted on opposite ends of the shaft 505. The shaft 505 is located entirely within the body assembly 2 and has its ends extending out of the housing of the body assembly 2 and hinged to the pectoral fins 506. The fish body assembly 2 is provided with a first fixing plate 201, and the first fixing plate 201 is formed by screws or integrally pouring with the shell of the fish body assembly 2. The first motor 101 is fixedly mounted on the first fixing plate 201 through screws, an output shaft of the first motor 501 is fixedly connected with a bevel gear 502, and the bevel gear 502 is meshed with a gear 503 fixedly mounted on a shaft 505. Rotate through first motor 501 and drive bevel gear 502 and rotate to meshing gear 503 drives axle 505 and rotates, thereby adjusts the installation angle of fish pectoral fin 506, makes fish pectoral fin 506 can present different angles, and then supplementary come-up and the motion of sinking that realizes the fish body, simultaneously, when fish pectoral fin 506 is in horizontal position, also can play the effect of keeping the fish balanced in aqueous.

Example 4

As shown in fig. 2, the main structure of the high-voltage pulse discharge plasma water purification biomimetic robotic fish of this embodiment is basically the same as that of embodiment 3, and the main differences are as follows: the sinking and floating flow control assembly 7 comprises a sinking and floating cavity 703, a second electric telescopic rod 701 and a piston 702, wherein the sinking and floating cavity 703 is integrally arranged below the fish body assembly 2 and is a relatively sealed area. The side wall of the sinking-floating cavity 703 is provided with a through hole which is communicated with a water discharge hole 203 on the shell of the fish body assembly 2. A piston 702 is slidably mounted in the sinking-floating cavity 703, the periphery of the piston 702 is in sealing fit with the inner wall of the sinking-floating cavity 703, and the piston 702 is fixedly connected with the driving end of the second electric telescopic rod 701.

The sinking and floating flow control assembly 7 pushes or pulls the piston 702 to move in the sinking and floating cavity 703 by controlling the extension and retraction of the second electric telescopic rod 701 fixed on the internal framework of the fish body assembly 2, when the second electric telescopic rod 701 extends, the piston 702 is pushed to move forwards in the sinking and floating cavity 703, the volume of the sinking and floating cavity 703 is reduced, industrial wastewater is discharged through the water discharge hole 203 under the action of pressure, and therefore the weight of the fish is reduced, and floating can be achieved. When the second electric telescopic rod 701 contracts, the piston 702 is pulled to move backwards in the floating and sinking cavity 703, the volume of the floating and sinking cavity 703 is increased, and industrial wastewater can be sucked into the floating and sinking cavity 703 through the drain hole 203, so that the weight of the fish is increased, and the fish can sink.

Example 5

As shown in fig. 1-2 and fig. 6, the main structure of the high-voltage pulse discharge plasma water purification biomimetic robotic fish of the present embodiment is basically the same as that of embodiment 4, and the main differences are as follows: the swing assembly 6 includes a second motor 601, a push-pull rod 603, a connecting frame 605 and a mounting shaft 604. A second fixing plate 202 is further arranged in the fish body assembly 2, and the second motor 601 is mounted on the second fixing plate 202 through screws. The mounting shaft 604 is fixedly mounted on the housing of the fish body assembly 2.

The driving end of the second motor 601 is fixedly connected to the rotating sleeve 602, the rotating sleeve 602 is fixedly connected to one end of the push-pull rod 603 through a screw or a bolt, and the other end of the push-pull rod 603 is fixedly connected to the connecting frame 605 through a screw or a bolt. The end of the connecting frame 605 connected to the push-pull rod 603 is rotatably mounted on the mounting shaft 604 via a bearing. Not only can play the supporting role to link 605 through setting up installation axle 604, can also carry on spacingly to link 605 to push-and-pull power conversion that will push away pull rod member 603 and be used in link 605 turns to the turning force of link 605, and then drives the turning to of whole fish tail subassembly 3, makes the fish body turn to.

The connecting frame 605 is provided with a mounting column, the hinge 606 is sleeved on the surface of the mounting column and is fixedly connected with the fishtail assembly 3 through the outside of the hinge 606 of the connecting rod. The utility model discloses a swing subassembly 6 drives rotatory external member 602 through the rotation of second motor 601 and is the rotary motion of deciding the angle, and rotatory external member 602 rotates the in-process pulling push-pull rod member 603 and carries out push-and-pull motion to drive fishtail subassembly 3 and turn to one side, thereby can change the direction of motion of machine fish, control it and turn to.

In addition, more optimize, swing for further control fish tail subassembly 3, the utility model discloses still through setting up third motor 607 and pivot 610. Specifically, as shown in fig. 6, the third motor 607 is fixedly mounted on the second fixing plate 202 by a screw or a bolt, a driving end of the third motor 607 is hinged to one end of the rotating shaft 610, a main body of the rotating shaft 610 is rotatably mounted on the connecting frame 605 by a bearing, and the other end of the rotating shaft 610 is fixedly connected to the hinge 606 by a connecting member. The third motor 607 rotates to drive the rotating shaft 610 to rotate, the rotating shaft 610 rotates to drive the hinge 606 to rotate, and the hinge directly acts on the fishtail assembly 3, so that the fishtail assembly 3 starts to swing to push the whole robot fish to move forwards. Unstable situation with too large amplitude.

Furthermore, for guaranteeing that pivot 610 rotates steadily, be unlikely to the range too big and rotate too acutely, the utility model discloses still through setting up first rotary joint 608 and second rotary joint 609, third motor 607 drive end links to each other with first rotary joint 608 one end, and the first rotary joint 608 other end passes through second rotary joint 609 and links to each other with pivot 610 installation, and the during operation can effectively realize the continuous small-angle swing of fishtail subassembly 3 to make the machine fish produce the power that moves about forward.

The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching of the present invention, without departing from the inventive spirit of the present invention, the person skilled in the art should also design the similar structural modes and embodiments without creativity to the technical solution, and all shall fall within the protection scope of the present invention.

Claims (10)

1. The utility model provides a bionic machine fish of high-voltage pulse discharge plasma water purification, includes consecutive installation fish head subassembly (1), fish body subassembly (2) and fish tail subassembly (3), its characterized in that: a wastewater treatment component (4) is arranged in the fish head component (1), and the wastewater treatment component (4) is used for ionizing and degrading organic matters in wastewater; rotatable fish pectoral fin subassembly (5) of installing in fish body subassembly (2) upper portion, the lower part is equipped with heavy superficial accuse and flows subassembly (7), and the afterbody passes through swing subassembly (6) and links to each other with fish tail subassembly (3) activity, wherein, fish pectoral fin subassembly (5) and fish tail subassembly (3) drive machine fish jointly and move about, heavy superficial accuse flows subassembly (7) and controls the machine fish come-up and sink.

2. The high-voltage pulse discharge plasma water purification bionic robot fish as claimed in claim 1, characterized in that: the waste water treatment component (4) comprises a sealing cover plate (403), a reaction cavity (405), a plate electrode (401) and a discharge electrode (402), wherein the sealing cover plate (403) is telescopically installed at the fish mouth (101) through a first electric telescopic rod (404), when the sealing cover plate (403) is sealed and attached to the fish mouth (101), the sealed reaction cavity (405) is formed, the plate electrode (401) and the discharge electrode (402) are symmetrically arranged inside the reaction cavity (405), the discharge electrode (402) is connected with high-voltage pulse electricity, and the plate electrode (401) is grounded.

3. The high-voltage pulse discharge plasma water purification biomimetic robotic fish of claim 2, characterized in that: and sealing rings are arranged at the peripheral edges of the sealing cover plate (403) and/or the fish mouth (101).

4. The high-voltage pulse discharge plasma water purification biomimetic robotic fish of claim 2, characterized in that: the wastewater treatment component (4) further comprises a submersible pump (407), a second water outlet (406) is formed in the side wall of the reaction cavity (405), the second water outlet (406) is connected with a water inlet of the submersible pump (407) through a pipeline, and a water outlet of the submersible pump (407) is connected with the first water outlet (102) through a pipeline.

5. The high-voltage pulse discharge plasma water purification biomimetic robotic fish of any of claims 1-4, wherein: the fish pectoral fin assembly (5) comprises a shaft (505), a first motor (501) and fish pectoral fins (506), the shaft (505) is rotatably mounted on a shell of the fish body assembly (2) through a bearing mounting seat (504), and the fish pectoral fins (506) are positioned outside the fish body assembly (2) and symmetrically mounted at two ends of the shaft (505); an output shaft of the first motor (501) is fixedly connected with a bevel gear (502), and the bevel gear (502) is meshed with a gear (503) fixedly arranged on a shaft (505).

6. The high-voltage pulse discharge plasma water purification biomimetic robotic fish of any of claims 1-4, wherein: the sinking and floating flow control assembly (7) comprises a sinking and floating cavity (703), a second electric telescopic rod (701) and a piston (702), wherein a through hole is formed in the side wall of the sinking and floating cavity (703), the piston (702) is slidably mounted in the sinking and floating cavity (703), the periphery of the piston (702) is in sealing fit with the inner wall of the sinking and floating cavity (703), and the piston (702) is fixedly connected with a driving end of the second electric telescopic rod (701).

7. The high-voltage pulse discharge plasma water purification biomimetic robotic fish of claim 6, characterized in that: the floating and sinking cavity (703) is integrally arranged below the fish body assembly (2), and the through hole on the side wall of the floating and sinking cavity (703) is communicated with the drain hole (203) on the shell of the fish body assembly (2).

8. The high-voltage pulse discharge plasma water purification bionic robotic fish according to any one of claims 1-4, characterized in that: the swing assembly (6) comprises a second motor (601), a push-pull rod piece (603), a connecting frame (605) and a mounting shaft (604), wherein the driving end of the second motor (601) is connected with one end of the push-pull rod piece (603) through a rotating sleeve piece (602), and the other end of the push-pull rod piece (603) is fixedly connected with one end of the connecting frame (605); the mounting shaft (604) is fixedly mounted on the shell of the fish body assembly (2); one end of the connecting frame (605), which is connected with the push-pull rod piece (603), is rotatably arranged on the mounting shaft (604), the other end of the connecting frame (605) is movably connected with the hinge joint (606), and the fishtail assembly (3) is fixedly connected with the hinge joint (606).

9. The high-voltage pulse discharge plasma water purification biomimetic robotic fish of claim 8, characterized in that: the swing assembly (6) further comprises a third motor (607) and a rotating shaft (610), the driving end of the third motor (607) is hinged to one end of the rotating shaft (610), and the other end of the rotating shaft (610) is fixedly connected with the hinged joint (606) through a connecting piece.

10. The high-voltage pulse discharge plasma water purification biomimetic robotic fish of claim 9, characterized in that: the swing assembly (6) further comprises a first rotating joint (608) and a second rotating joint (609), the driving end of the third motor (607) is connected with one end of the first rotating joint (608), and the other end of the first rotating joint (608) is connected with the rotating shaft (610) through the second rotating joint (609).

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