CN2549555Y - Remote-control multi-articulation driving bionic machine fish - Google Patents
Remote-control multi-articulation driving bionic machine fish Download PDFInfo
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- CN2549555Y CN2549555Y CN 02241163 CN02241163U CN2549555Y CN 2549555 Y CN2549555 Y CN 2549555Y CN 02241163 CN02241163 CN 02241163 CN 02241163 U CN02241163 U CN 02241163U CN 2549555 Y CN2549555 Y CN 2549555Y
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- fish
- machine fish
- bionic machine
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 110
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 42
- 230000009182 swimming Effects 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 8
- 239000011551 heat transfer agent Substances 0.000 claims description 5
- 239000000284 extract Substances 0.000 claims description 2
- 238000002347 injection Methods 0.000 claims description 2
- 239000007924 injection Substances 0.000 claims description 2
- 238000005070 sampling Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 abstract description 3
- 238000011160 research Methods 0.000 description 10
- 238000010276 construction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000007789 sealing Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 239000003292 glue Substances 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 229920003023 plastic Polymers 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 241001481833 Coryphaena hippurus Species 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241001446480 Embiotoca jacksoni Species 0.000 description 1
- 241000238413 Octopus Species 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 210000000006 pectoral fin Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Abstract
The utility model relates to a remote-control multi-articulation driving bionic machine fish, comprising a control part and a multi-articulation driving bionic machine fish body; a first driving articulation is provided with an U-shaped groove which has an upward opening, and a driving motor is arranged inside the U-shaped groove; a second driving articulation is provided with a U-shaped groove which has a leftward opening; an ellipse fish body supporting frame which is provided with a rectangle hole, and the fish body is sleeved into the U-shaped groove which has a leftward opening and the U-shaped groove which has an upward opening through the rectangle hole. The utility model provides a testing body for researching the hydrodynamics, the swimming mechanism and the moving control method of fishes, and provides a testing platform for under water devices which have the advantages of high production efficiency, good mobility, low noise and small environment interference. The utility model is made into bionic machine fishes for entertainment or viewing.
Description
Technical field
The utility model relates to electromechanical integrated device, particularly remote-controlled multi-articulation driving bionic machine fish.
Background technology
Mainly was the research work of carrying out theoretical side for the bionic research of fish in the past in the nineties.After the nineties, along with the fast development of electronic technology, new material, Robotics, the research of bionic machine fish is at home and abroad progressively carried out.The seminar that U.S. MIT university is arranged that obtains better achievement in this respect is the bionic machine tuna that eddy current control and drag reduction Mechanism Study are developed.The machine eel that U.S. Northeastern University utilizes marmem and linkage assembly to develop.Toshio professor Fukuda of Japan Nagoya university has begun angle of rake research under the miniature fish and water of walking back and forth, and he successively develops marmem SMA and drives miniature health fluctuation formula underwater propeller] and the dipterus type Micro-Robot of piezoelectric ceramics (PZT) driving.The Kato development in laboratory of Japan's Tokai University study the test platform one imitative black perch machine fish of the maneuverability of artificial pectoral fin and propelling.Since 1999, Japan's transportation economized marine technology research (SRI) and has begun a series of machine fish research project, and has developed the power source of the semi-free piston-type of a kind of new work engine Stirling engine as the machine fish.Domestic, Harbin Engineering University has carried out the research work of bionic machine octopus under the support of National Defence Fund.Shenyang robotization research institute of the Chinese Academy of Sciences has made diarticular bionic machine fish model.BJ University of Aeronautics ﹠ Astronautics's robot research has been studied machine eel and robotic dolphin.The utility model is to develop on the basis of robot research institute of BJ University of Aeronautics ﹠ Astronautics robotic dolphin.
The purpose of this utility model is according to existing fish bionics theory, utilizes the physical construction of specially designed exquisiteness and computer technology, electronic technology, control technology to combine, and exploitation can be imitated the bionic machine fish of fish motion.
For achieving the above object, remote-controlled multi-articulation driving bionic machine fish comprises control section and multi-articulation driving bionic machine fish body,
First drives the joint, and it has a upper shed U type groove, and drive motor is placed in the U type groove;
Second drives the joint, and it has the U type groove of a left-hand opening;
The elliptical fish body support frame, it has a slot, by described slot fish body skeleton is inserted between the U of left-hand opening type groove and upper shed U type groove.
The utility model can provide experiment body for hydrodynamics, the mechanism of moving about, the motion control method of researching fish motion, for manufacturing efficient height, maneuverability is good, noise is low, provide basic experiment porch to the little transportation equipment under water of environmental perturbation, makes amusement type or ornamental type bionic machine fish.
Description of drawings
Fig. 1 is the three-view diagram of machine fish head;
Fig. 2 is a bionic machine fish internal mechanical structure;
Fig. 3 is fish head and internal mechanical part web member three-view diagram;
Fig. 4 is the web member three-view diagram in fish tail and the terminal joint of machine fish;
Fig. 5 is a bionic machine fish control circuit structured flowchart;
Fig. 6 is a bionic machine fish Circuit Design schematic diagram;
Fig. 7 is a bionic machine fish fish body waterproof covering;
Fig. 8 is a bionic machine fish internal mechanical structure;
Fig. 9 is the bionic machine fish in water that all installs.
Embodiment
Below in conjunction with accompanying drawing physical construction of the present utility model, control circuit, waterproof sealing are described.
(1) physical construction of bionic machine fish
The physical construction part of bionic machine fish mainly comprises head, joint, afterbody, web member etc.The head of bionic machine fish as shown in Figure 1, previous section is fairshaped, aft section is similar to rectangular parallelepiped, inner hollow, two holes are arranged at the top, communication antenna and the air intake valve that detects water resistance are drawn from the hole 1 of position shown in Fig. 1, and charging plug is drawn from the hole 2 of position shown in Figure 1, are connected used screw 3 with the fish head in a fish both sides respectively one for fixing with web member.
The bionic machine fish swimming moves required multi-joint mechanism as shown in Figure 2, according to actual needs, by the number in joint in the middle of increasing and decreasing, can adjust the machine fish and close joint number between the 2-6 joint.Each articulation mechanism is with the certain thickness material of having of firm light weight, and for example aluminium, intensity plastics preferably carry out processing and fabricating.In Fig. 2,1 indication is a control circuit board, and two of 3 indication positions screws are for driving control circuit board two screws that screw is fixed together with screw and nut of 5 indication positions on the joint 4 on it with web member 2 and first.2 indications are the web member that control circuit board and machine fish head are fixed together among the figure, concrete structure as shown in Figure 3, the screw that is used for fixing among this figure can add the fine setting of carrying out the position man-hour according to concrete matching requirements.The first upper shed U type groove that drives in 4 structures of joint is the setting of installation drive motor.6 places refer to that two screws and 7 places refer to that two screws are used for motor is fixed in the upper shed U type groove, and the connector that a joint drive motor axle carries by motor passes 9 indication screws with 8 indication screws and the second driving joint 12 is fixed together.11 indication screws withstand on first by 10 indication screws and drive in the 4 upper shed U type trench bottom shallow grooves of joint to support the second driving joint 12.All screws can guarantee assembly precision by the method for adding the pad nut, alleviate back one and drive the joint because of gravity and the installation accuracy problem pressure to last driving joint motor driving shaft.13 indications are the smooth carrot-free elliptical fish body support frame of edge through polishing, by 14 indication slots on it fish body skeleton 13 is inserted in and is welded in part between 12 left-hand opening U type grooves and the upper shed U type groove, the long limit of slot is parallel with the base, right side of left-hand opening U type groove.The circular hole of 15 indications is a cable hole on the fish body skeleton 13, and each supply lines and control line that drives joint motor passes from its centre.The second upper shed U type groove that drives in 12 structures of joint is the setting of installation drive motor.16 places refer to that two screws and 17 places refer to that two screws are used for motor is fixed in the upper shed U type groove, and the connector that two joint drive motor axles carry by motor passes 19 indication screws with 18 indication screws and the 3rd driving joint 22 is fixed together.21 indication screws withstand on second by 20 indication screws and drive in the 12 upper shed U type trench bottom shallow grooves of joint to support the 3rd driving joint 22.23 indications are the smooth carrot-free elliptical fish body support frame of edge through polishing, it is slightly less than fish body skeleton 13, by 24 indication slots on it fish body skeleton 23 is inserted in and is welded in part between 22 left-hand opening U type grooves and the upper shed U type groove, the long limit of slot is parallel with the base, right side of left-hand opening U type groove.The circular hole of 25 indications is a cable hole on the fish body skeleton 23, and the supply lines of joint drive motor and control line are from its middle passing.The 3rd upper shed U type groove that drives in 32 structures of joint is the setting of installation drive motor.26 places refer to that two screws and 27 places refer to that two screws are used for motor is fixed in the upper shed U type groove, and the connector that three joint drive motor axles carry by motor passes 29 indication screws with 28 indication screws and machine fish tail joint 32 is fixed together.31 indication screws withstand on the 3rd by 30 indication screws and drive in the 22 upper shed U type trench bottom shallow grooves of joint to support machine fish tail joint 32.33 indications are the smooth carrot-free elliptical fish body support frame of edge through polishing, it is slightly less than fish body skeleton 23, fish body skeleton 33 is inserted in and is welded near the base, right side of 32 left-hand opening U type grooves by 34 indication slots on it, the long limit of slot is parallel with the base, right side of left-hand opening U type groove.The circular hole of 35 indications is a cable hole on the fish body skeleton 33, and the supply lines of joint drive motor and control line are from its middle passing.The concrete structure of web member 38 can be referring to Fig. 4.Insert in the groove of web member 38 front end cylinders in machine fish tail joint 32, and be in the same place with the screw retention of 40 indications by the screw of 36 indications and the screw of 37 indications.Machine fish tail 42 inserts the intermediate groove of web member 38 rear end cones, and is fixed by screw 39 with 41 indication screws.
Can between 2-6, adjust the number that the machine fish drives the joint by increasing and reduce with the 22 the same middle joints that drive, and the adjustment length of fish body.Fig. 8 provides the picture of the concrete physical construction realization of bionic machine fish of one 4 joint driving.
(2) control circuit of bionic machine fish
The control circuit structural drawing of bionic machine fish mainly comprises communication module, micro controller module, heat transfer agent acquisition module, motor drive module, several parts of controlled variable memory module as shown in Figure 5.Communication module mainly carries out data communication, realizes the following biography of control command and uploading of machine fish internal information; The heat transfer agent acquisition module mainly carries out the sampling of information such as sense of touch, vision, orientation, attitude, sonar; The controlled variable memory module is mainly stored the needed various fish bulk wave controlled variable of machine fish swimming, guarantees the control of moving about of machine fish; Micro controller module is by handling heat transfer agent, and according to the control command and the task that pass down, extracts controlled variable, provides the Electric Machine Control order; Motor drive module is accepted the Electric Machine Control order that micro controller module issues the stepper motor rotational angle that the machine fish respectively drives the joint is controlled the motion that realizes the machine fish.The whole control circuit and drive motor use rechargeable battery to power, and the charging wire plug that rechargeable battery uses is drawn and is fixed on the fish head from the fish head bore.
Control circuit theory diagrams during bionic machine fish specific implementation providing according to this bionic machine fish control circuit structured flowchart, as shown in Figure 6.
(3) waterproof sealing of bionic machine fish
As shown in Figure 7, bionic machine fish waterproof covering is to use the rubber cylinder of rubber injection mold moulding, presents 2 indications among regular ripple such as Fig. 7 above, and cylinder one end is big, 1 indication place among Fig. 7, and the other end is little, 3 indication places among Fig. 7.Machine fish fish head and each joint except that fish tail all are installed together, and with waterproof covering cover thereon, the end 1 that fish-skin is big can rely on the elasticity of rubber skin tightly to wrap in fish head such as Fig. 1 rear portion then, uses rubber glue that fish-skin and fish head are cemented; The little end 3 in fish-skin rear portion relies on the elasticity of rubber skin tightly to wrap in the barrel portion of fish body afterbody web member, uses rubber glue that fish-skin and fish tail web member barrel portion are cemented; After finishing waterproof sealing fish tail is installed on the fish tail web member, is screwed tight.The bionic machine fish that whole sealings finish that Using such method provides, as shown in Figure 9.
Embodiment
According to the illustrated physical construction of the utility model, the control circuit structure, the waterproof sealing method has been made the machine fish in one four joint.The used plastic production streamlined head of machine fish and the web member that afterbody uses, what aluminium sheet had been made the machine fish respectively drives the joint, flake aluminum has been made the web member of machine fish fish body skeleton and machine fish head, and plastic board is made has flexible machine fish fish tail, and structure as shown in Figure 8.Control circuit according to Fig. 6 circuit theory diagrams are realized uses 51 series monolithic chips as microcontroller, and wireless communication module is as communication module, E
2PROM24C02 is as the controlled variable memory module, and CPLD is as the motor movement control drive unit.This system uses rechargeable battery to be motor, control circuit power supply.The waterproof covering is enclosed within the mechanism of machine fish, uses rubber glue that the waterproof covering is cemented at machine fish head and afterbody web member place, as shown in Figure 9.
Claims (7)
1. a remote-controlled multi-articulation driving bionic machine fish comprises control section and multi-articulation driving bionic machine fish body, it is characterized in that:
First drives the joint, and it has a upper shed U type groove, and drive motor is placed in the U type groove;
Second drives the joint, and it has the U type groove of a left-hand opening;
The elliptical fish body support frame, it has a slot, by described slot fish body skeleton is inserted between the U of left-hand opening type groove and upper shed U type groove.
2. by the described bionic machine fish of claim 1, it is characterized in that the connector by the drive motor axle links to each other between the described driving joint.
3. by the described bionic machine fish of claim 1, it is characterized in that a shallow grooves is arranged at the bottom of described upper shed U type groove, drive the joint so that screw supports second.
4. by the described bionic machine fish of claim 1, it is characterized in that on the described elliptical fish body support frame cable hole being arranged.
5. by the described bionic machine fish of claim 1, it is characterized in that described control section comprises:
Communication module is used for data communication, realizes the following biography of control command and uploading of machine fish internal information;
The heat transfer agent acquisition module is used for the sampling of information such as sense of touch, vision, orientation, attitude, sonar;
The controlled variable memory module is used to store the needed various fish bulk wave controlled variable of machine fish swimming, guarantees the control of moving about of machine fish; Micro controller module is by handling heat transfer agent, and according to the control command and the task that pass down, extracts controlled variable, provides the Electric Machine Control order;
Motor drive module is accepted the Electric Machine Control order that micro controller module issues the stepper motor rotational angle that the machine fish respectively drives the joint is controlled the motion that realizes the machine fish.
6. by the described bionic machine fish of claim 1, it is characterized in that described multi-articulation driving bionic machine fish body also comprises the waterproof covering that presents regular ripple.
7. by the described bionic machine fish of claim 6, it is characterized in that described waterproof covering made by rubber injection mold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02241163 CN2549555Y (en) | 2002-07-04 | 2002-07-04 | Remote-control multi-articulation driving bionic machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02241163 CN2549555Y (en) | 2002-07-04 | 2002-07-04 | Remote-control multi-articulation driving bionic machine fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2549555Y true CN2549555Y (en) | 2003-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02241163 Expired - Lifetime CN2549555Y (en) | 2002-07-04 | 2002-07-04 | Remote-control multi-articulation driving bionic machine fish |
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| Country | Link |
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| CN (1) | CN2549555Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101435739B (en) * | 2007-11-15 | 2010-08-18 | 中国科学院自动化研究所 | Bionic long fin fluctuating propulsion experimental apparatus |
| CN1801248B (en) * | 2004-12-30 | 2010-10-06 | 中国科学院自动化研究所 | Design and control method for tail motion mechanism of bionic robot fish |
-
2002
- 2002-07-04 CN CN 02241163 patent/CN2549555Y/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1801248B (en) * | 2004-12-30 | 2010-10-06 | 中国科学院自动化研究所 | Design and control method for tail motion mechanism of bionic robot fish |
| CN101435739B (en) * | 2007-11-15 | 2010-08-18 | 中国科学院自动化研究所 | Bionic long fin fluctuating propulsion experimental apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20120704 Granted publication date: 20030507 |