JP2007210361A - Fish-shaped robot - Google Patents

Fish-shaped robot Download PDF

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Publication number
JP2007210361A
JP2007210361A JP2006029749A JP2006029749A JP2007210361A JP 2007210361 A JP2007210361 A JP 2007210361A JP 2006029749 A JP2006029749 A JP 2006029749A JP 2006029749 A JP2006029749 A JP 2006029749A JP 2007210361 A JP2007210361 A JP 2007210361A
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fish
robot
gravity
tank
water
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JP2006029749A
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JP4255477B2 (en
Inventor
Kunihisa Fujiwara
Tetsuo Ichikizaki
Yuuzou Kageyama
Taisuke Kubota
Hiroo Nagafuji
Seiji Nomura
Minoru Sueda
Eihiko Tsukamoto
泰輔 久保田
頴彦 塚本
哲雄 市来嵜
穣 末田
邦久 藤原
聖治 野村
浩朗 長藤
優造 陰山
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Mhi Solution Technologies Co Ltd
Mhiソリューションテクノロジーズ株式会社
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Publication of JP2007210361A publication Critical patent/JP2007210361A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a fish-shaped robot capable of advancing or retracting itself without depending on swinging of a pinna caudalis or a pinna pectorale. <P>SOLUTION: The fish-shaped robot is constituted so as to be able to swim in the water by swinging a rear part 16 of trunk including the pinna caudalis 17. The inclination in the longitudinal direction is applied to the fish-shaped robot 10 by a gravity center moving mechanism 40. An apparent specific gravity of the fish-shaped robot 10 is adjusted by changing water amount in a float/sink tank 31, and it is constituted so as to be able to advance or retract the fish-shaped robot by making the difference between the buoyant force and a gravity as an impelling force generated thereby without necessarily depending on swinging of the rear part 16 of trunk including the pinna caudalis 17 having a large power consumption. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a fish-like robot capable of moving the fish-like robot forward or backward without being moved by a caudal fin or a thorax.

  Various types of fish robots or artificial fish have been proposed, some of which have been put into practical use. Among them, some examples of the actual fish advance mechanism, horizontal turning mechanism, and vertical movement mechanism are shown, and it is also shown that a robot was prototyped. (For example, refer nonpatent literature 1.).

  However, there is a problem that the swimming requires a lot of energy for swinging the tail fin and the like, and if it is dependent on the built-in battery, frequent charging is required. Non-Patent Document 1 makes several proposals for vertical movement, but does not mention energy saving.

Koichi Hirata: Outline of Fish Robot, Japan Maritime Safety Institute Home Page

  In view of the above, the present invention provides a fish-like robot capable of moving the fish-like robot forward or backward without the swaying of a caudal fin or a pectoral fin in order to eliminate the above-described drawbacks of the prior art. There is.

In order to achieve the above object, the invention of claim 1 is characterized in that water is supplied to a floating tank that is covered with an outer or outer skin of a rubber-like elastic body that is formed into a fish-like appearance and is sealed with air. It is possible to control buoyancy by sending in or discharging water from the sinking tank, and to swim underwater by swinging the back of the trunk including the tail fin It is equipped with a center-of-gravity movement mechanism that moves the center of gravity in the longitudinal direction so that the fish-like robot tilts in the longitudinal direction at an arbitrary depression or elevation angle. In addition to giving a tilt in the longitudinal direction, the buoyancy and gravity of this fish-like robot are made unequal by the float / sink tank, and the difference between the buoyancy and gravity is used as a driving force, which always includes a caudal fin that consumes a large amount of power. Trunk rear Even irrespective of the swinging, it is configured to be capable of advancing or retracting the fish-like robot.

  According to a second aspect of the present invention, in addition to the configuration of the first aspect of the invention, the center of gravity moving mechanism is configured such that the weight is screwed into a longitudinal screw rod and moved in the longitudinal direction by the rotation of the screw rod. It is configured to

According to a third aspect of the present invention, in addition to the configuration of the first or second aspect of the present invention, at least a pair rotating around an axis extending outward in a lateral direction, a lateral direction, or a substantially lateral direction of the fish-like robot. With wings.

According to the invention of claim 4, water is fed into a floating tank that is covered with a shell of an integral or substantially integral rubber-like elastic body that is formed in a fish-like appearance, and in which air is enclosed. A fish-like robot configured to control buoyancy by discharging water and to swim underwater by swinging a rear part of the trunk including a tail fin, An auxiliary tank for storing the liquid is attached so that an arbitrary liquid not limited to water can be sent to the tank and the liquid can be discharged from the floating tank, and the volume of the auxiliary tank is the storage liquid. It is flexible so that it can be easily increased or decreased according to the volume, and the water surrounding the fish-like robot can be easily moved around or from the auxiliary tank according to the increase or decrease of the volume. Yes.

  In addition to the structure according to any one of claims 1 to 3, the invention of claim 5 is capable of sending an arbitrary liquid not limited to water to the floating tank and discharging the liquid from the floating tank. An auxiliary tank for storing the liquid is attached, and the auxiliary tank is flexible so that its volume can be easily increased or decreased depending on the amount of the stored liquid. Is configured to easily move around or from the auxiliary tank.

According to the first aspect of the present invention, when the amount of water in the float / sink tank is adjusted and the apparent specific gravity is the same as the specific gravity of the surrounding water, the buoyancy and gravity are equal, and the apparent If it is in the upper weightless state and no other force is applied, if it is stationary, it will stay at that position for many hours, and even if it is moving, it will decelerate due to the resistance of water and stop soon. On the other hand, if the apparent specific gravity of this fish-like robot is made larger or smaller than the specific gravity of water by adjusting the amount of water in the float / sink tank, the difference between the buoyancy and gravity becomes the driving force, and the fish-like robot If the posture is horizontal, it floats or sinks in the vertical direction as it is or almost as it is. The velocity increases with increasing difference between buoyancy and gravity.

Note that fish-like robots generally have a large front part and a small rear part, so the drag at the time of their ups and downs is different from the front and back, and the rear part slightly precedes the front part in the front-rear direction. Slightly inclined. Along with the inclination, this fish-like robot is small compared to the vertical direction, but the forward / backward component of the propulsive force is slightly generated and moves backward.

On the other hand, this fish-like robot has a longitudinal direction so that the center of gravity and the buoyant center are located on the same vertical line when the center of gravity is moved forward or backward from the neutral point by the center of gravity moving mechanism. However, it does not float or sink. However, if the apparent specific gravity of the fish-like robot is made larger or smaller than the specific gravity of water in this posture as described above, the difference between the buoyancy and the gravity becomes a propulsive force, so that it floats or sinks. In addition, since the fish-like robot is inclined in the longitudinal direction, it has a propulsive component in the longitudinal direction, so that the leading edge (for example, the head in the case of front-down) heads forward with the caudal fin. It is possible to move forward or backward in the direction of minimum resistance, which is closer to the front-rear direction of the fish-like robot, regardless of the swinging of the rear part of the trunk. The moving speed increases with an increase in the difference between buoyancy and gravity.

  Therefore, the longitudinal movement of the center of gravity is combined with the change in the difference between buoyancy and gravity, and the zigzag motion of moving forward while descending forward and then moving forward while moving upward and forward is alternated. By repeating the above, the fish-like robot 10 can be moved forward and energy saving can be achieved regardless of the rocking of the trunk rear portion 16 including the tail fin 17 which consumes a large amount of power.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, the structure of the center-of-gravity moving mechanism is simple, the installation space is small, and the center-of-gravity control is accurate and easy.

According to a third aspect of the invention, in addition to the effect of the first or second aspect, the fish-like robot is a wing that rotates about an axis extending outward in a lateral direction, a lateral direction, or a substantially lateral direction. However, if it is stationary, it will not be affected, but if it is exercising, it will receive lift or / and drag depending on its shape, area, and tilt. For example, if the area of the wing is made as large as possible and the wing is made parallel to the longitudinal direction of the fish-like robot, the drag in the direction perpendicular to it increases, so the horizontal movement distance for the same floating depth increases. Therefore, the number of ups and downs with respect to the same horizontal movement distance is reduced, and the power consumption required for water supply and drainage to the ups and downs tank for the up and down switching can be reduced. If the fish robot simply floats and sinks, the fish-like robot may be leveled and the wings may be perpendicular to the longitudinal direction to minimize the resistance during the sinking.

According to the invention of claim 4 or according to the invention of claim 5 (in addition to the effect of any of the inventions of claims 1 to 3), the fish-like robot hits and sinks from its floating tank Without draining water or introducing water from the surroundings, the liquid stored in the auxiliary tank attached thereto can exert the same effect as the surrounding water. Therefore, the pump / pipe for the float / sink tank does not come into contact with the surrounding water containing various substances, and contamination, clogging, corrosion, etc. due to the substances can be prevented.

The best mode for carrying out the fish-like robot of the present invention will be described with reference to FIGS. 1 (a), (b), and (c). Reference numeral 10 denotes a fish-like robot; It is made of a rubber-like elastic body that is integral or nearly integral, and has an appearance that resembles natural fish as much as possible, from its form, pattern, color, and touch. In addition, 15 is a trunk main body part of the fish-like robot, 16 is a trunk rear part integrally coupled to the rear of the trunk main body part 15, 17 is a rear part of the trunk rear part 16, and a tail fin integrally coupled thereto. It is a head integrally coupled to the front of the main body portion 15.

Next, 20 is a watertight container for watertightly accommodating most mounting components (described later), which is disposed in the trunk main body portion 15 and the head 18 and has a hollow cylinder 21 mainly opened at both ends and a front end. The cap 22 having a circular cross section that is closed and the rear end is opened, and discs 23 and 24 on which the respective ends of the hollow cylinder 21 are externally fitted, of which the disc 23 is turned for the reason described later. While being pulled out, the rear end of the cap 22 is also externally fitted. Although not shown in the drawings, an O-ring that seals between the discs 23 and 24, the hollow cylinder 21 and the cap 25, a plurality of struts stretched between the discs 23 and 24, and the like. Exists.

  Here, the configuration related to the forward or backward movement using the combination of the inclination in the longitudinal direction and the difference between buoyancy and gravity of the fish-like robot 10 which is the subject of the present invention will be described. Reference numeral 30 denotes an apparent specific gravity adjusting unit that adjusts the apparent specific gravity of the fish-like robot 10. Air is enclosed inside the float-like tank 31 that can store water and the outside of the float-and-sink tank 31 (the fish-like robot 10 In addition to the pump 32 for sucking water from the surroundings and discharging it to the outside, a water supply / drain pipe (not shown) is provided. The float / sink tank 31 extends forward beyond the hollowed out front disc 23. In addition, all the devices and parts are stored in a watertight container 20 in a watertight manner.

Next, 40 is a center-of-gravity moving mechanism that moves the center of gravity of the fish-like robot 10 in the longitudinal direction. The weight 41, a screw rod 42 that passes through the weight 41 in the longitudinal direction and is screwed to the weight 41, and the screw rod 42 Is provided with a weight moving servo motor 43 that rotates the shaft through a pair of gears (not shown), and a potentiometer 44 that detects the position of the weight 41. The screw rod 42 extends forward from the hollowed disc 22 in order to secure the required length, and the weight 41 is guided only in the longitudinal direction by the rotation of the screw rod 42. It is restrained.

Further, reference numeral 50 denotes a lifting force adjusting mechanism for adjusting the lifting force or the like of the fish-like robot 10, and a pair of wing rotating servomotors 51, 51 disposed in a portion where the disk 22 is perforated, and the servomotor 51. , 51 and attached to a pair of left and right shafts (symbol omitted) extending in the left-right direction or substantially left-right direction (in the figure, slightly inclined to the left and right in the drawing) through the punched disc 22 in the radial direction. Wings 51, 51 are provided. The devices and parts are stored in a watertight manner in the container body 20 except for the wings 51 and 51. In addition, 90 is a control part of this fish-like robot 10 whole, 95 is a storage battery which supplies electric power required for each part.

  A description will be given of the operation of the above configuration excluding that caused by rocking of the tail fin or the like. First, a simple ups and downs action will be described. This fish-like robot 10 adjusts the amount of water in the floating tank 31 constituting the apparent specific gravity adjusting unit 30, and when the apparent specific gravity is the same as the specific gravity of the water surrounding it, the buoyancy and gravity are equal, If it is apparently weightless and no other force is applied, if it is stationary, it will remain at that position until any time, and even if it is moving, it will decelerate due to the resistance of water and will soon stop.

On the other hand, when the apparent specific gravity of the fish-like robot 10 is made larger or smaller than the specific gravity of water by discharging or introducing the amount of water in the floating tank 31 by the pump 32, the difference between the buoyancy and gravity is the driving force. Thus, if the posture of the fish-like robot 10 is horizontal as will be described later, the fish-like robot 10 floats or sinks in the vertical direction as it is or almost as it is. The velocity increases with increasing difference between buoyancy and gravity.

It should be noted that the center of gravity of the fish-like robot 10 is filled with water in the vertical symmetry plane, buoyancy (buoyancy center: the inside of the fish-like robot 10 including the portion occupied by the mounted product) in order to stabilize the posture. The center of gravity and the buoyancy are set when the fish-like robot 10 is tilted in either the left-right width direction or the longitudinal direction. There is a shift in either the left-right width direction or the longitudinal direction between the two, and a restoring force acts to return to the original posture.

Next, the case where the fish robot 10 is tilted in the longitudinal direction will be described. The longitudinal movement of the center of gravity of the fish-like robot 10 can be performed as follows. That is, when the weight moving servo motor 43 constituting the gravity center moving mechanism 40 is rotated, the rotation is transmitted to the screw rod 42 through a set of gears, and the screw rod 42 is rotated. The weight 41 screwed to the screw rod 42 is restrained so as to be movable only in the longitudinal direction as described above, and moves forward or backward from the neutral point by the rotation of the screw rod 42. Along with this, the center of gravity also moves forward or backward.

When the apparent specific gravity is equal to the specific gravity of the water surrounding it, as described above, when the center of gravity moves forward or backward from its neutral point, the center of gravity and the buoyancy are either forward or downward or forward and upward. , Causing a tilt in the longitudinal direction. However, the fish-like robot 10 is still in its posture and does not rise or sink. On the other hand, if the amount of water in the floating tank 31 is changed in this posture as described above, and the apparent specific gravity of the fish-like robot 10 is made larger or smaller than the specific gravity of water, the difference between the buoyancy and gravity is changed. Ascends and sinks as a driving force, but moves forward or backward in the direction of minimum resistance starting from the leading end (for example, the head 18 in the case of front-down) at the top and bottom. The moving speed increases with an increase in the difference between buoyancy and gravity.

More specifically, the advancing or retreating in the direction of the minimum resistance described above, the propulsive force F of the fish-like robot 10 inclined forward and downward or forward and upward caused by the difference between the buoyancy and gravity is: For example, as shown in FIG. 2 (a), it is divided into a thrust component force Fp parallel to the longitudinal direction and a thrust component force Fv perpendicular thereto, and the velocity V is also parallel to the longitudinal direction and perpendicular component velocity Vp, Vv. Divided. The respective speeds Vp and Vv gradually increase with the elapsed time if there is no resistance of water surrounding the fish-like robot 10.

However, since the respective partial speeds Vp and Vv are subjected to the resistance of the water, the respective thrust component forces and the corresponding drag forces (KpVp and KvVv) are equal to each other, and are constant values (terminal velocities Vpt and Vvt = (propulsion minutes). Force Fp, Fv) / (proportional constant Kp, Kv)). The proportional constants Kp and Kv are the products of the cross-sectional areas Ap and Av, respectively, and the shape factors Dp and Dv determined depending on whether or not vortices are easily generated. In addition, when the proportional constants Kp and Kv are compared with each other, the proportional constant Kv in the direction perpendicular to the proportional constant Kp in the longitudinal direction is significantly larger than the proportional constant Kp in the longitudinal direction due to the shape of the fish-like robot 10. Although the force Fp is smaller than the propulsive component force Fv perpendicular thereto, the terminal speeds Vpt and Vvt are determined by the above formula for calculating the terminal speed, and the fish-like robot 10 approaches the direction parallel to the longitudinal direction and has the minimum resistance. Move forward or backward in the direction.

  Therefore, as shown in FIG. 2 (b), the longitudinal movement of the center of gravity and the change in the difference between the buoyancy and gravity are combined, and then first moved forward while sinking, and then moved forward and upward. By alternately repeating the zigzag motion to move forward while ascending, the fish-like robot 10 can be moved forward, regardless of the swaying of the torso part 16 including the tail fin 17, which consumes a large amount of power. Can be planned.

Moreover, the center of gravity moving mechanism 40 includes a weight 41, a screw rod 42, a weight moving servo motor 43, and a potentiometer 44. The weight 41 can be moved in the longitudinal direction, so that the center of gravity can be easily moved in the longitudinal direction, the mechanism is simple and the occupied space is small, and the center of gravity can be controlled as compared with other means. Accurate and easy.

Next, the lift and other adjustment mechanism 50 for adjusting the lift and the like of the fish-like robot 10 will be described. A pair of wing rotating servomotors 51 and 51 arranged in the hollowed portion of the disk 23, the servomotor 51, 51 are attached to a pair of left and right shafts (symbol omitted) extending outwardly in the left-right direction or substantially left-right direction (slightly inclined to the left and right in the figure). Wings 52 and 52 are provided. The devices and parts are stored in a watertight manner in the container body 20 except for the wings 52 and 52.

The action of the lifting force adjusting mechanism 50 will be described. When the fish-like robot 10 is in a horizontal stationary state, simply rotating the wings 51, 51 does not change the difference between buoyancy and gravity, and therefore changes in its behavior. Does not occur. Further, even if the center of gravity is moved in the longitudinal direction, it simply tilts in the longitudinal direction and remains stationary thereafter. However, the fish-like robot 10 in motion receives a lift force and / or a drag force according to the inclination of the wings 51 and 51, and various changes occur in the motion.

That is, for example, when the fish-like robot 10 is tilted in the longitudinal direction, the buoyancy is increased or decreased, and the wings 51 and 51 are horizontally leveled in the longitudinal direction, the drag in the direction parallel to them hardly changes. Depending on the area, the drag in the direction perpendicular to them increases, so the horizontal movement distance for the same floating depth increases, and the number of floating times for the same horizontal movement distance decreases accordingly, to the floating tank for switching between floating and sinking The power consumption required for water supply and drainage can be reduced.

On the other hand, when the fish robot 10 is simply floated and lowered, the fish-like robot 10 is leveled and the wings 51 and 51 are perpendicular to the longitudinal direction of the fish-like robot 10, thereby minimizing the drag force during the float and sink. It is also possible to make it. In addition, when the wings 51 and 51 are tilted forward and upward while ascending vertically or substantially vertically in a horizontal posture, the forward and upward lift force can be applied thereby, and the fish-like robot 10 is moved regardless of the movement of the center of gravity. Both can be moved forward and upward.

Here, although not the subject of the present invention, an example of a configuration related to the swing of the rear trunk 16 including the tail fin 17 and the turning of the fish-like robot 10 in the horizontal plane will be described. First, the swing mechanism 60 will be described. Reference numeral 61 denotes a single metal swing plate that is easily elastically deformed, and its front end is a shaft support member coupled to the rear of the rear disk 24 of the watertight container 20. 27 is fixed to the rear end. Reference numeral 62 denotes a rocking shaft, which is rotatably supported by a pair of bearings (symbol omitted) vertically attached to the shaft support member 27. 63 and 63 are vertically attached to the swing shaft 62, and a pair of upper and lower levers extending in the left-right direction around the swing shaft 62. 64 and 64 are rear portions of the lever 63 and the swing plate 61, respectively. A pair of left and right metal thin wires stretched between and 65 is a power transmission portion for swinging, which is interposed between the swinging shaft 62 and a swinging servomotor 67 for driving the horizontal shaft. 66 and other members.

Furthermore, an example of a turning mechanism 70 that bends the trunk rear portion 16 including the tail fin 17 and turns the fish-like robot 10 left and right within a horizontal plane will be described. Reference numeral 71 denotes a turning shaft, which is rotatably supported by a pair of bearings (symbol omitted) vertically attached to the shaft support member 27 and the swing shaft 62 in front and above. Reference numeral 72 denotes a lever that is vertically integrated with the pivot shaft 71, and a lever that extends in the horizontal direction about the pivot shaft 71. 73 and 73 are stretched between the lever 72 and the front portion of the swing plate 61. A pair of left and right metal thin wires, 74 is a turning power transmission portion, and is interposed between the turning shaft 71 and a turning servo motor 76 for driving the turning shaft 71, and a horizontal shaft 75 penetrating the disk 24. It consists of a plurality of other members. According to the above configuration, when the trunk rear portion 16 including the tail fin 17 is bent with respect to the trunk main body portion 15, not only when the trunk rear portion 16 including the tail fin 17 is swung but also as described above. Even when the fish robot 10 floats and sinks in a posture inclined in the longitudinal direction, the fish-like robot 10 can be turned left and right.

Thirdly, the internal structure of the trunk rear portion 16 including the tail fin 17 will be briefly described. A reference numeral 80 denotes a plate row portion in which a plurality of discs 81 (or a plate having a shape equivalent thereto) are arranged with a gap in the longitudinal direction. In addition, the outer skin 11 covering the trunk rear portion 16 including the tail fin 17 is supported from the inside, and the respective discs 81 are integrally coupled to the swing plate 61, and the sectional shape thereof is not changed at all or almost. In addition, by changing the gap between the discs 81, it can be easily bent with the swing plate 61 to the left and right so that it can swing. By being configured as described above, the trunk rear portion 16 including the tail fin 17 can be swayed flexibly like that of natural fish.

The combined action of the swing mechanism 60 of the trunk rear part 16 including the tail fin 17, the apparent specific gravity adjusting unit 30, the gravity center moving mechanism 40, and the lift adjusting mechanism 50 will be described. The combination with the apparent specific gravity adjusting unit 30 simply moves up and down, and need not be described. Next, when the fish-like robot 10 is operated in combination with the swing mechanism 60 and the gravity center moving mechanism 40, even if the apparent specific gravity is the same as the specific gravity of water, the fish robot 10 floats upward or sinks downward. It is possible to In addition, when the apparent specific gravity adjusting unit 30 is combined and operated, the thrust generated by the swing is added with the thrust that moves forward or downward due to the difference between the above buoyancy and gravity. Thus, power consumption per horizontal movement distance is reduced accordingly.

Next, when the swing mechanism 60 of the trunk rear portion 16 including the tail fin 17 and the lift adjusting mechanism 50 including the wings 51 and 51 are combined, even if the apparent specific gravity of the fish robot 10 is equal to the specific gravity of water, the fish robot Since lift is generated according to the speed of 10 and the inclination of the wings 51, 51, the wing 51, 51 floats or sinks in a direction close to the inclination direction. If the fish-like robot 10 maintains its speed and the inclination of the wings 51, 51 in the longitudinal direction, the inclination in the longitudinal direction will gradually increase. However, as the inclination increases, the center of gravity and buoyancy are increased. Since the displacement in the longitudinal direction increases and the restoring force increases, the increase in the inclination also decelerates, and finally settles to a constant value according to the speed and the inclination of the blades 51, 51. Furthermore, if the movement of the position of the weight 41 is further combined, the inclination in the longitudinal direction of the fish-like robot 10 can be made larger than any one alone.

Here, the flexible auxiliary tank will be described with reference to FIG. That is, an auxiliary tank 35 for storing the liquid is attached so that an arbitrary liquid (for example, oil) that is not limited to water can be fed into the float / sink tank 31 and the liquid can be discharged from the float / sink tank 31. Moreover, the volume of the auxiliary tank 35 can be easily increased or decreased according to the amount of stored liquid, and the water surrounding the fish-like robot 10 is increased around the auxiliary tank 31 according to the increase or decrease of the volume. It is configured to move easily to or from its periphery.

With this configuration, the fish-like robot 10 was stored in the auxiliary tank 35 attached thereto without being discharged from the floating tank 31 to the surroundings or introduced from the surroundings when floating. The same effect as the surrounding water can be exhibited by the liquid. Accordingly, the pump / pipe for the float / sink tank 31 does not come into contact with surrounding water containing various substances, and contamination, clogging, corrosion, etc. due to the substances can be prevented.

BRIEF DESCRIPTION OF THE DRAWINGS It is the best form example for implementing this invention, (a) is the vertical longitudinal cross-section, (b) is the horizontal cross-sectional view, (c) is a cross-sectional view of the wing vicinity. The behavior of the fish-like robot of FIG. 1 will be described. (A) is a vector diagram of propulsive force and speed, and (b) is a route diagram. A liquid tank for carrying out the present invention is provided with an optional liquid (a) or discharged from the liquid tank (b), and an auxiliary tank for storing the liquid is attached. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Fish-like robot 11 Outer skin 15 trunk | drum body part 16 trunk | drum rear part 17 caudal fin 18 head 20 watertight container 21 hollow cylinder 22 cap 23 disk 24 disk 27 shaft support member 30 apparent specific gravity adjustment part 31 float / float tank 32 pump 35 auxiliary tank 40 Center of gravity moving mechanism 41 Weight 42 Screw rod 43 Weight moving servo motor 44 Potentiometer 50 Lifting force adjusting mechanism 51 Wing rotating servo motor 52 Wing 60 Swing mechanism 61 Swing plate 62 Swing shaft 63 Lever 64 Metal wire 65 Swing Dynamic power transmission portion 66 Horizontal shaft 67 Oscillating servo motor 70 Turning mechanism 71 Turning shaft 72 Lever 73 Metal wire 74 Turning power transmission portion 75 Horizontal shaft 76 Turning servo motor 80 Plate row portion 81 Disc 90 Control portion 95 Storage battery

Claims (5)

  1. To feed water into and out of a float / sink tank that is covered with a rubber-like elastic body that is formed into a fish-like appearance and covered with a rubber-like elastic body. The fish-like robot is configured to be able to control buoyancy and to swim in the water by swinging the rear part of the trunk including the tail fin. It is equipped with a center-of-gravity movement mechanism that moves the center of gravity in the longitudinal direction so that an inclination is generated in the longitudinal direction at an elevation angle, thereby giving the fish-like robot a tilt in the longitudinal direction, and by the floatation tank The buoyancy and gravity of the fish-like robot are made unequal, and the difference between the buoyancy and gravity is used as the driving force, and this fish-like robot is moved forward, not necessarily by the back of the trunk, including the caudal fin, which consumes a lot of power. Or Fish shaped robot, wherein a letting retreat is configured to be.
  2. The said gravity center moving mechanism is comprised so that the said weight may be screwed together with the screw rod of a longitudinal direction, and it may be moved to a longitudinal direction by rotation of the screw rod. Fish robot.
  3. The fish according to claim 1 or 2, further comprising at least a pair of wings that rotate around an axis extending outward in a lateral direction, a lateral direction, or a substantially lateral direction of the fish-like robot. Robot.
  4. To feed water into and out of a float / sink tank that is covered with a rubber-like elastic body that is formed into a fish-like appearance and covered with a rubber-like elastic body. Is a fish-like robot that can control buoyancy and can swim in the water by swinging the rear part of the trunk including the tail fin, and is not limited to water to the float / sink tank An auxiliary tank for storing the liquid is attached so that the liquid can be pumped in and discharged from the floating tank, and the volume of the auxiliary tank can be easily increased or decreased according to the amount of the stored liquid. A fish having flexibility and configured so that water surrounding the fish-like robot easily moves around or from the auxiliary tank according to the increase or decrease of the volume. Robot.
  5. An auxiliary tank for storing the liquid is attached so that an arbitrary liquid not limited to water can be fed into the floating tank and the liquid can be discharged from the floating tank, and the auxiliary tank has a volume of It is flexible so that it can be easily increased or decreased according to the amount of stored liquid, and the water surrounding this fish-like robot can be easily moved around or from the auxiliary tank according to the increase or decrease of its volume. The fish-like robot according to claim 1, wherein the fish-like robot is provided.
JP2006029749A 2006-02-07 2006-02-07 Fish robot Expired - Fee Related JP4255477B2 (en)

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Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101767642A (en) * 2010-02-11 2010-07-07 北京大学 Underwater biomimetic robotic fish
KR101003834B1 (en) * 2010-02-03 2010-12-23 에스알시 주식회사 Robot fish
CN102180249A (en) * 2011-04-11 2011-09-14 中国科学院深圳先进技术研究院 Intelligent biomimetic robotic dolphin
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CN102180249A (en) * 2011-04-11 2011-09-14 中国科学院深圳先进技术研究院 Intelligent biomimetic robotic dolphin
CN102180249B (en) * 2011-04-11 2013-08-07 中国科学院深圳先进技术研究院 Intelligent biomimetic robotic dolphin
CN102411307A (en) * 2011-11-30 2012-04-11 中国科学院自动化研究所 Fast and precise motion control method of C-type starting of bio-mimetic robot fish
CN103847943A (en) * 2012-12-07 2014-06-11 苏州科技学院 Multiple-joint movement water-proof mechanism used for bionic robot fish
CN103196685A (en) * 2013-03-04 2013-07-10 重庆大学 Two-wheel differential wheel type mobile robot experimental platform with adjustable gravity center
CN104338325A (en) * 2013-08-01 2015-02-11 常州金刚文化科技集团有限公司 Outdoor performance robot
CN104338325B (en) * 2013-08-01 2016-09-07 江苏金刚文化科技集团股份有限公司 A kind of outdoor performance robot
CN103625624A (en) * 2013-12-12 2014-03-12 中国人民解放军国防科学技术大学 Flexible bionic thruster
CN104627342A (en) * 2014-12-08 2015-05-20 中国科学院自动化研究所 Gliding machine dolphin
CN104943839A (en) * 2015-07-16 2015-09-30 北京航空航天大学 Novel modular bionic underwater robot based on full-flexible pectoral fins
WO2017010060A1 (en) * 2015-07-16 2017-01-19 パナソニックIpマネジメント株式会社 Underwater robot
CN104943839B (en) * 2015-07-16 2017-04-19 北京航空航天大学 Modular bionic underwater robot based on full-flexible pectoral fins
CN105059511B (en) * 2015-07-28 2018-02-23 中国科学院自动化研究所(洛阳)机器人与智能装备创新研究院 A kind of underwater highly emulated device fish
CN105292418A (en) * 2015-11-23 2016-02-03 南京信息工程大学 Skeleton structure of electromagnetic mechanical fish
CN106184673A (en) * 2016-07-11 2016-12-07 尹钢 Peritoneum row pressure formula high-speed and low-noise ship power propulsion plant and arrangement thereof
CN107466280A (en) * 2017-04-28 2017-12-12 博雅工道(北京)机器人科技有限公司 Machine fish in a kind of simple joint water
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CN108423147A (en) * 2017-09-28 2018-08-21 范望平 Three-dimensional spiral axis drives the method and its device of bionical power fish
CN107648865A (en) * 2017-10-27 2018-02-02 台山燊乐塑胶电子制造有限公司 Can automatic cleaning fish tank toy fish
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