KR20120125860A - Fish robot and charger for the fish robot - Google Patents

Abstract

PURPOSE: A fish robot and a charger therefor are provided to implement the natural swimming of the fish robot by collinearly combining a rotary shaft of a servo-motor with a rotary portion of a rotary body piece. CONSTITUTION: A body unit(400) includes a control piece(410) and one or more rotary body pieces(420a,420b). A rotary portion(600) and a servo-motor(100) are combined with each other on the same vertical rotary shaft in an accepting space of the rotary body pieces. The servo-motor includes a rotary shaft combined with the rotary portion. The rotary portion is rotated by the rotational force of the servo-motor. The shaft rotation of each rotary body piece is performed by the rotation of the rotary portion.

Description

FISH ROBOT AND CHARGER FOR THE FISH ROBOT}

The present invention relates to a fish robot and a fish robot charger.

The conventional fish robot attempted to enable a swimming operation with a plurality of body parts.

In a conventional fish robot, a servo motor is accommodated in a fish robot, and a link member such as a string or a wire connected to the servo motor is connected to the trunk and tail of the fish robot. In this state, when the servomotor is driven, power is transmitted to the tail of the fish robot and each body by link members such as strings and wires. This action causes the fish robot to swim underwater.

However, this operation structure is not able to drive each of the trunk and the tail independently, a problem that can not implement a natural swimming motion.

In addition, the problem of waterproofing between the separate trunks was also raised. In other words, the prior art has attempted a technical attempt to surround the outer surface of the space with a wrinkle (zavara) structure for the waterproof problem. However, even with such wrinkles, the waterproof problem is still not solved, and the problem of limiting the rotation angle range of the rotating shaft and the link member caused by the wrinkles has been further raised.

On the other hand, even in the assembly method of the fish robot, the conventional method of sequentially stacking from the back portion to the back portion has raised a problem that the repair and replacement of parts of the robot is difficult.

Fish robot and fish robot charger according to the present invention is derived to solve the above-mentioned conventional problems, and aims to solve the following problems.

First, each body piece is to provide a structure rotatable independently of each other.

Second, to provide a configuration for solving the leakage problem that occurs in the shaft portion during each shaft rotation.

Third, to provide a structure that can easily open and close the inside of the fish robot.

Fourth, to provide a beret that is smoothly performed up and down the fish robot.

Fifth, it is intended to provide an overturn prevention unit that prevents the fish robot from easily overturning from side to side.

Sixth, to provide a charger that can easily charge the fish robot in the water.

The solution to the problem of the present invention is not limited to those mentioned above, and other solutions not mentioned can be clearly understood by those skilled in the art from the following description.

The present invention relates to a fish robot having a head, a body having a control piece and a rotating body piece, and a tail portion connected to the rotating body piece.

Body portion 400 of the fish robot according to the present invention is spaced apart from the control piece 410 and the control piece 410 is provided with an inner receiving space, at least one rotating body piece 420 is provided with an inner receiving space do.

In the receiving space of the rotating body piece 420 according to the present invention, the servo motor 100 having the rotating part 600 coupled to the rotating body piece 420 and the rotating shaft coupled to the rotating part 420 is located on the same vertical axis of rotation. Are mutually coupled.

Fish robot according to the present invention is characterized in that the rotating part 600 is rotated by the rotational force of the servo motor 100, and each rotating body piece 420 is axially rotated in conjunction with the rotation of the rotating part 600, respectively. It is done.

In the fish robot according to the present invention, the center portion 605 of the hollow 610 shape is spaced apart so as not to be interlocked with the pivoting portion, and connected to the servomotor 100 of the rotating body. The wiring unit 200 is preferably connected through the hollow 610 of the central axis.

In the fish robot according to the present invention, the control piece 410 and the side of the rotating body piece 420 of the body portion 400 is preferably provided with an openable cover.

In the fish robot according to the present invention, the inside of the control piece 410, the movable plate 720 capable of moving back and forth, the weight weight 730 seated on the upper side of the moving plate 720, the lower side of the moving plate 720 It is preferable that the buckle portion 700 further includes a rack gear 740 fastened to the spur gear 750 engaged with the rack gear.

In the fish robot according to the present invention, the weight 730 is preferably a power supply 300.

In the fish robot according to the present invention, the weight piece 810, the rack gear 820 coupled to the weight 810, the first spur gear 830 meshed with the rack gear 820 in the control piece 410. ), The second anti-roll gear 840 meshed with the first spur gear 830 and the roll-over prevention part 800 provided with the servo motor 850 connected to the second spur gear are further included.

The first spur gear and the second spur gear according to the present invention are different in number of gear teeth, and it is preferable that the weight is shifted left and right by left and right movement of the rack gear.

In the fish robot according to the present invention, a ring-shaped lip seal (630) is inserted into at least one of the rotating shaft or the rotating part 600 of the servomotor 100, the lip seal protrudes along the inner circumferential surface. At least one formed soft blade 631 is provided, a groove is formed on the outer circumferential surface of the lip seal, it is preferable that the compression ring 632 is seated in the groove.

In the fish robot according to the present invention, the rotating part 600 is inserted and coupled to the rotating body piece 420, the upper support 601 is provided on one side outer periphery of the rotating part 600, the upper support 601 O-ring 645 is inserted into the lower surface, the lower support 602 is provided on the lower outer circumference spaced from the O-ring 645, the upper support and the O-ring of the rotating portion in the insertion groove formed on the outer surface of the rotating body piece 420 Is disposed, the elastic member 640 is disposed between the inner surface of the rotary body piece 420 and the lower support 602, the elastic member elastically pressurizes the rotary body piece 420, the rotary body piece 420 and the O-ring 645 is preferably in close contact.

In the charger for charging a fish robot according to the present invention, there is provided a charger including a bottom portion 910 on which the fish robot is seated and a contact terminal 930 protruding from the bottom portion 910, and control of the fish robot. A fitting terminal 940 is formed at the lower side of the contact terminal 930 to be inserted into the contact terminal 930. An internal relay is provided in the control piece to release or maintain the operation according to the charging state. When the contact terminal is separated, it is preferable that the internal relay cuts off the power connection.

Fish robot and fish robot charger according to the present invention has the following effects.

First, the rotational axis of the servomotor and the rotating part of the rotational body piece are coupled on the same axis, so that the natural swimming of the fish robot is possible.

Second, there is an effect that each of the plurality of rotary body pieces rotate independently.

Third, the lip seal structure and the elastic member pressurized O-ring structure has an excellent effect of waterproofing during axial rotation.

Fourth, there is an effect that the ease of assembly and repair is increased through the side opening and closing method.

Fifth, by utilizing the power supply as the weight portion of the beret, there is an effect of efficiently implementing the beret while reducing the total weight.

Sixth, by arranging the gear structure under the weight moving plate there is an effect that the wiring interference is reduced.

Seventh, by introducing a rollover structure, there is an effect that can naturally swim without turning over left and right rotation.

Eighth, the charging is easy by inserting the fish robot into the charger terminal, and there is an effect that the short circuit does not occur in the water through the operation of the internal relay.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a side cross-sectional view of a fish robot according to the present invention.
2a and 2b is a front perspective view according to an embodiment of the beret portion according to the present invention.
Figure 3 is a rear perspective view according to an embodiment of the beret portion according to the present invention.
4 is a perspective view according to an embodiment of the rollover prevention unit according to the present invention.
5 is a partial perspective view illustrating a rotating part, a lip seal and a wiring part coupled to the servomotor according to the present invention.
Figure 6 is a conceptual diagram showing a lip seal structure in the present invention.
7 is a conceptual view illustrating a structure in which an O-ring and an elastic member are coupled to waterproof the rotating part.
8 is a conceptual diagram of a fish robot charger according to the present invention.
9 is a side cross-sectional view illustrating a process in which a fish robot according to the present invention is inserted into a charger and charged.
10 is a flowchart illustrating a process in which a fish robot according to the present invention is inserted into a charger and charged.

As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It is to be understood that the present invention means that there is a part or a combination thereof, and does not exclude the possibility of the presence or addition of one or more other features or numbers, step operations, components, parts or combinations thereof.

In this specification, the "front and rear movement" means a movement in a direction connecting the head and tail of the fish robot. 'Left and Right Movement' means movement in the direction connecting both sides of the body of the fish robot. Shanghaidong of fish robot means moving up and down in water. The forward and backward rotation of the fish robot means to turn left or right in the water.

Hereinafter, a fish robot and a fish robot charger will be described in detail with reference to the drawings.

1 is a side cross-sectional view of a fish robot according to the present invention. As shown in FIG. 1, a fish robot according to the present invention relates to a fish robot having a head, a body having a control piece and a rotating body piece, and a tail connected to the rotating body piece.

The trunk portion 400 according to the present invention is spaced apart from the control piece 410 and the control piece 410 provided with the inner receiving space, is provided with at least one rotating body piece 420 is formed the inner receiving space. Two rotary body pieces 420a and 420b are illustrated in FIG. 1.

In the receiving space of the rotating body piece 420 according to the present invention, the servo motor 100 having the rotating part 600 coupled to the rotating body piece 420 and the rotating shaft coupled to the rotating part 420 is located on the same vertical axis of rotation. To each other (see FIGS. 1, 5 and 7).

Servo motor 100 is preferably provided on the control piece 410 and the rotating body piece 420, respectively. In the conventional wire system, a structure in which one servo motor is provided in the main body is also possible. However, the present invention is characterized in that the servo motor is provided on each of the rotating body pieces 420 so that each of the rotating body pieces 420 is independently axially rotated.

One side of the rotating part 600 is vertically coupled to the body part 400 in the receiving space inside the body part 400, and the other side of the rotating part 600 is coupled to the rotation shaft of the servo motor 100. .

The rotating part 600 is rotated by the rotational force of the servomotor 100. When the rotating part 600 is rotated, the rotating body piece 420 connected to the rotating part 600 is axially rotated.

Rotating body piece 420 according to the present invention is provided with a lot of axial rotation, respectively, there is an advantage that the fine swimming of the actual fish is also implemented. In addition, since the servo motor 100 is coupled to the rotating part 600 on the same vertical axis, the rotational motion of the servo motor 100 is transmitted to the rotating part 600 as it is, so that the rotation angle is smoothly controlled and the rotation range is also increased. Can be.

In order to provide a plurality of rotating body pieces 420, it is preferable that the volume of the rotating body pieces 420 is set small. In this case, the power supply unit 300 for driving the servo motor 100 for axially rotating the rotating body piece 420 is preferably disposed on the control piece 410.

The wiring unit 200 supplied with power from the power supply unit 300 disposed on the control piece 410 is connected as shown in FIG. 5. That is, the center shaft 605 of the hollow 610 shape is spaced apart from the pivoting part 600 so as not to interlock with the pivoting part 600. That is, even if the rotation unit 600 is rotated in conjunction with the rotation of the servomotor 100, the central axis 605 of the hollow 610 shape disposed therein does not rotate. The wiring unit 200 is connected to the servo motor 100 of the rotating body piece 420 through the hollow 610 space.

It is preferable that the inside of the control piece 410 and the rotating body piece 420 are easily opened and closed for repair after assembly. For this purpose, as shown in Figure 1, the side of the control piece 410 and the rotating body piece 420 of the body portion 400 is preferably provided with an openable cover. The cover can also be a case structure, it is also possible to seal the fastening the front surface with a fastening member such as a bolt and then removable.

On the other hand, the control unit 350 for controlling various swimming motions of the fish robot is also provided on the control piece through the control of the servo motor 100, the rotating body piece 420 and the beret portion 700, the rollover prevention portion 800 It is preferable to control the back and the like.

Inside the control piece 410 according to the present invention, the movable plate 720 capable of moving back and forth, the weight 730 seated on the upper side of the movable plate 720, the rack gear fastened to the lower side of the movable plate 720 740 and a beret portion 700 provided with a spur gear 750 engaged with the rack gear.

In other words, the servo motor is coupled to the spur gear 750 of the beret portion 700 so as to be rotatable. Here, the rack gear 740 connected to the spur gear 750 is driven by the rotation of the spur gear 750, and the movable plate 720 coupled to the rack gear 740 moves.

2a and 2b is a front perspective view according to an embodiment of the beret portion according to the present invention, Figure 3 is a rear perspective view according to an embodiment of the beret portion according to the present invention.

2 and 3, the bure portion 700 includes a fixing portion 710 having an opening 711 and a moving plate 720 movably connected to the fixing portion 710. ), A weight 730 coupled to the upper side of the moving plate 720, a rack gear 740 coupled to the moving plate 720 from the lower side to the moving plate 720, and a lower side of the moving plate 720. The spur gear 750 is connected to the rack gear 740 in the. The fixing part 710 has a plurality of protrusions 713 protruding upwardly facing and is provided with a plurality of connection parts 715 connected to the protrusions 713, and the movable plate 720 has a connection part 715. A plurality of insertion portions 721 to be inserted are formed, and the structure is movable along the connection portion 715.

In more detail, the fixing part 710 may have a plurality of protrusions 713 protruding to face upward, and a plurality of connection parts 715 connected to the protrusions 713 may be provided. . Preferably, the plurality of protrusions 713 are provided in four and may be formed at the corners of the fixing part 710. In this case, two connection parts 715 may be provided so that the protrusions 713 may be connected to each other in the horizontal direction. The moving plate 720 is provided with a plurality of inserting portions 721 into which the connecting portion 715 is inserted, and may be provided to be movable along the connecting portion 715. That is, as shown in FIG. 2 (b), after the connecting portion 715 is inserted into the two inserting portions 721 formed at both sides of the moving plate 720, the connecting portion 715 is connected to the protrusion 713. Can be connected. Here, the moving plate 720 is provided to be movable along the connection portion 715. Here, the position, shape or number of the protrusion 713 may be provided in various ways, the above-described structure is only one embodiment.

3, the opening 711 may be formed, and the rack gear 740 is coupled to the lower side of the movable plate 720 through the opening 711. In addition, the spur gear 750 is connected to one side of the rack gear 740 through the opening 711. Here, the rack gear 740 and the spur gear 750 are located below the moving plate 720, which is more than the case where the rack gear 740 and the spur gear 750 are located above the moving plate 720. The interference with the wiring is minimized. As a result, the rotational motion of the spur gear 750 is converted into the linear motion of the rack gear 750, and the distance that the movable plate 720 can move by the linear movement of the rack gear 750 can be maximized.

Thereby, the weight is also movable to the maximum, and can increase the degree of movement in the vertical direction during the vertical swimming of the fish robot, it is also possible to more naturally control the movement in the vertical direction. When the weight 730 is moved back and forth by the front and rear movement of the moving plate 720 according to the present invention, the center of gravity of the fish robot is moved back and forth. When the center of gravity moves forward, the fish robot descends, and when the center of gravity moves backward, the fish robot rises.

In the present invention, it is characterized in that to use the power supply unit 300 as the weight 730. Using the weight of the power supply unit 300 as the weight 730 can reduce the unnecessary weight of the fish robot, and further has the advantage of maximizing space utilization. The power supply 300 will generally be introduced in the form of a battery, but is not limited thereto.

By the way, when the power supply unit 300 is utilized as the weight 730, the power supply unit 300 is moved. In this case, a stable connection with wires connected to the power supply unit 300 and a collision between the wires may be problematic. Accordingly, the present invention minimizes this problem by arranging the rack gear 740 and the spur gear 750 under the moving plate 720.

4 is a perspective view according to an embodiment of the rollover prevention unit according to the present invention. The rollover prevention part 800 according to the present invention is disposed inside the control piece 410. Preferably, the fish robot may be positioned above the center line A of FIG. 1 to prevent the fish robot from overturning from side to side or inclined from side to side. However, it can also be arrange | positioned in other places, such as a lower side.

The anti-overturning part 800 according to the present invention includes a weight 810, a rack gear 820 coupled to the weight 810, a first spur gear 830 meshed with the rack gear 820, and a first spur gear. A roll preventing part 800 provided with a second spur gear 840 meshed with 830 and a servo motor 850 connected to the second spur gear is provided. The first spur gear 830 and the second spur gear 840 have different numbers of gear teeth, and the weight 810 is moved left and right by left and right movement of the rack gear.

When the number of gear teeth of the first spur gear 840 is smaller than the number of gear teeth of the second spur gear 830, the number of revolutions of the second spur gear 830 is reduced compared to the number of revolutions of the first spur gear 840. If the gear tooth number relationship is reversed, the rotation speed of the second spur gear 830 is increased. Using this relationship, it is desirable to set appropriately according to the shape or overall size of the fish robot and the swimming motion to be implemented.

Under the independent axial rotation structure of the rotating body piece 420 according to the present invention may be a problem of waterproofing during axial rotation. To this end, the present invention proposes a lip seal structure and an O-ring structure that is elastically pressurized.

Figure 6 is a conceptual diagram showing a lip seal structure in the present invention. The lip seal 630 is coupled to a rotating shaft to prevent leakage between shafts, and has elasticity and strong resistance to frictional heat.

In the lip seal structure according to the present invention, as shown in FIG. 6, a ring-shaped lip seal (leap-Seal) 630 is inserted into and coupled to at least one of the rotating shaft or the rotating part 600 of the servomotor 100. The lip seal is provided with at least one soft blade 631 protruding along the inner circumferential surface, a groove is formed on the outer circumferential surface of the lip seal, characterized in that the compression ring 632 is seated coupled inside the groove. When the compression ring 632 presses the lip seal itself to the inside, the annular soft blade 630 is in close contact with the rotating shaft such as the rotation unit 600 to prevent leakage through the rotating portion. Lip seal 630 is tightly coupled to the rotating part 600, even when the rotating part 600 is stopped as well as rotating the rotating part 600 is compressed (壓着) to be waterproof.

In more detail with reference to the present embodiment, as shown in Figure 5, the rotating part 600, the bearings (650a, 650b) may be coupled, the bearings (650a, 650b) is the rotating part 600 Coupled to support. Here, the bearings (650a, 650b) may be provided with a ball bearing to increase the structural stability.

7 is a conceptual view illustrating a structure in which an O-ring and an elastic member are coupled to waterproof the rotating part. A ring-shaped lip seal 630 is inserted into and coupled to at least one of the rotating shaft of the servo motor 100 or the rotating part 600.

Rotating part 600 is inserted and coupled to the rotating body piece 420, the upper support 601 is provided on one side outer periphery of the rotating part 600, the O-ring 645 is inserted into the lower surface of the upper support 601 The lower support 602 is provided on a lower outer circumference spaced apart from the O-ring 645. The upper support 601 and the O-ring 645 of the rotating part 600 is disposed in the insertion groove formed on the outer surface of the rotating body piece 420. Insertion groove formed on the outer surface of the rotating body piece 420 is preferably provided with a diameter that can be seated on the upper support (601). The lower portion of the upper support 601 is preferably provided with a size corresponding to the diameter of the rotating part 600.

The upper support 601 and the lower support 602 according to the present invention can be provided separately, it is also possible to position the bearing portion to perform its function.

An elastic member 640 is disposed between the inner surface of the rotary body piece 420 and the lower support 602, and the elastic member elastically pressurizes the rotary body piece 420 to rotate the rotary body piece 420 and the O-ring 645. Make it tight. In general, the elastic member 640 may be a spring. Since the elastic member is arranged to be compressed, it generates an elastic pressing force to the outside. By the way, since the lower support 602 is fixed to the lower side, it is a structure that elastically pressurizes the rotary body piece 420 disposed on the upper side. In this case, the X part of the rotating body portion (see FIG. 7) and the O-ring are in close contact with each other for efficient waterproofing.

Since the fish robot according to the present invention is applied to the O-ring structure and / or lip seal structure that is elastically pressurized for waterproofing, there is no need to form wrinkles (jara) on the outer surface of the fish robot as in the prior art, thereby the servo motor 100 The problem that the control range of the rotation angle is reduced also occurs.

8 is a conceptual diagram of a fish robot charger according to the present invention, Figure 9 is a side sectional view showing a process in which the fish robot according to the present invention is inserted into the charger, Figure 10 is a fish robot according to the present invention to the charger It is a flow chart illustrating the process of being inserted and charged.

The charger 900 according to the present invention includes a bottom portion 910 on which a fish robot is seated and a contact terminal 930 protruding from the bottom portion 910, and a contact terminal 930 below the control piece of the fish robot. An insertion terminal 940 is formed to be inserted into the inside of the control piece, which is provided with an internal relay for releasing or maintaining operation according to the charging state. It is characterized in that for cutting off the power connection. Preferably, a plurality of contact terminals are provided.

The plurality of contact terminals 930 include terminals for supplying power or terminals for signals of an internal relay included in the fish robot. In addition, the plurality of contact terminals 930 may support a fish robot so that the fish robot can be fixed to the charger 900.

The bottom part 910 is provided with support parts 920 which are respectively formed to extend in an upward direction of the bottom part 910. That is, the support part 920 contacts the one side of the fish robot to prevent the fish robot from tilting left and right when the fish robot is charged, and supports the fish robot to be stably charged.

On the other hand, referring to Figure 10, the filling process of the fish robot is as follows. First, when the insertion terminal 940 of the fish robot is inserted into and coupled to the contact terminal 930 formed on the bottom 910, the support 920 supports the fish robot, and an internal relay included in the fish robot operates. Charging is started by starting (S10).

Next, it is determined whether the charging of the fish robot is completed. If the charging is not completed, the internal relay maintains operation, but if the charging is completed, the fish robot proceeds to the charging standby mode (S20).

Next, the fully charged state is maintained in the charge standby mode (S30).

Next, it is determined whether to release the fish robot inserted into the charger, and if the charge is maintained, the internal relay maintains operation, but if the charge is released, the internal relay releases the operation (S40).

Next, the fish robot is maintained in a state in which the internal relay is deactivated after the charge is completed, it is possible to prevent the short-circuit phenomenon that can occur in the water (S50).

The embodiments and the accompanying drawings described in the present specification are merely illustrative of some of the technical ideas included in the present invention. Accordingly, the embodiments disclosed herein are for the purpose of describing rather than limiting the technical spirit of the present invention, and it is apparent that the scope of the technical idea of the present invention is not limited by these embodiments. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: servo motor 200: wiring
300: power supply 400: body
410: control piece 420: rotating body piece
500: tail
600: rotating part 601: upper support
602: lower support 605: central axis
610: hollow 630: lip seal
640: elastic member 645: O-ring
650a, 650b: bearing 700: berebu
710: fixing part 711: opening
713: protrusion 715: connection
720: moving plate 721: insertion unit
730: weight 740: rack gear
750: spur gear 800: rollover prevention part
810: Weight 820: Rack Gear
830: 1st spur gear 840: 2nd spur gear
850: Servo motor 900: Charger
910: bottom portion 920: support portion
930: Contact terminal 940: Fitting terminal

Claims (9)

In the fish robot having a head, a body having a control piece and a rotating body piece and a tail connected to the rotating body piece,
The body portion 400 is spaced apart from the control piece 410 and the control piece 410 is provided with an inner receiving space, is provided with at least one rotating body piece 420, the inner receiving space is formed,
In the receiving space of the rotating body piece 420, the rotating part 600 coupled to the rotating body piece 420 and the servo motor 100 having the rotating shaft combined with the rotating part 420 are mutually coupled on the same longitudinal rotation axis. Became,
Rotating portion 600 is rotated by the rotational force of the servo motor 100, the fish robot, characterized in that each rotation body piece 420 is axially rotated in conjunction with the rotation of the rotation portion 600. The method of claim 1,
The center shaft 605 of the hollow 610 shape is spaced apart from the rotation part 600 so as not to interlock with the rotation part,
The wiring part 200 connected to the servo motor 100 of the rotating body piece is a fish robot, characterized in that connected through the hollow 610 of the central axis. The method of claim 1,
Fish robot, characterized in that the opening and closing cover is provided on the side of the control piece 410 and the rotating body piece 420 of the body portion 400. The method of claim 1,
Inside the control piece 410, the movable plate 720 capable of moving back and forth, the weight weight 730 seated on the upper side of the movable plate 720, the rack gear 740 fastened to the lower side of the movable plate 720 And fish robot characterized in that it further comprises a beret portion 700 provided with a spur gear 750 meshed with the rack gear. 5. The method of claim 4,
The weight 730 is a fish robot, characterized in that the power supply 300. The method of claim 1,
The control piece 410 has a weight 810, a rack gear 820 coupled to the weight 810, a first spur gear 830 meshed with the rack gear 820, and a first spur gear 830. And a rollover prevention part 800 provided with the second spur gear 840 meshed with the servo motor 850 connected to the second spur gear,
The first spur gear and the second spur gear have different numbers of gear teeth, and the weight robot is moved left and right by left and right movement of the rack gear. The method of claim 1,
A ring-shaped lip seal 630 is inserted into and coupled to at least one of the rotating shaft of the servo motor 100 or the pivot 600.
The lip seal is provided with at least one soft blade (631) protruding along the inner circumferential surface, a groove is formed on the outer circumferential surface of the lip seal, the fish robot, characterized in that the compression ring (632) is seated and coupled inside the groove. The method of claim 1,
Rotating portion 600 is inserted and coupled to the rotating body piece 420,
The upper support 601 is provided on one side outer periphery of the rotating part 600, the O-ring 645 is inserted into and coupled to the lower surface of the upper support 601, and the lower support 602 on the lower outer periphery spaced apart from the O-ring 645. Is equipped,
The upper support and the O-ring are rotated in the insertion grooves formed on the outer surface of the rotating body piece 420, the elastic member 640 is disposed between the inner surface and the lower support 602 of the rotating body piece 420, elastic The member is a fish robot, characterized in that the rotary body piece 420 is elastically pressurized so that the rotary body piece 420 and the O-ring 645 is in close contact. A charger for charging a fish robot according to any one of claims 1 to 8,
A charger including a bottom portion 910 on which a fish robot is seated and a contact terminal 930 protruding from the bottom portion 910 is provided.
A fitting terminal 940 is formed below the control piece of the fish robot and is inserted into the contact terminal 930. An internal relay is provided inside the control piece to release or maintain the operation according to the state of charge.
The fish robot charger, characterized in that the internal relay cuts off the power connection when the fitting terminal and the contact terminal of the fish robot is separated after the charging is completed.

Images