KR20170091390A - Robot fish - Google Patents

Robot fish Download PDF

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Publication number
KR20170091390A
KR20170091390A KR1020160012345A KR20160012345A KR20170091390A KR 20170091390 A KR20170091390 A KR 20170091390A KR 1020160012345 A KR1020160012345 A KR 1020160012345A KR 20160012345 A KR20160012345 A KR 20160012345A KR 20170091390 A KR20170091390 A KR 20170091390A
Authority
KR
South Korea
Prior art keywords
fish
body portion
robot
robot fish
control unit
Prior art date
Application number
KR1020160012345A
Other languages
Korean (ko)
Inventor
주인성
Original Assignee
주인성
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주인성 filed Critical 주인성
Priority to KR1020160012345A priority Critical patent/KR20170091390A/en
Publication of KR20170091390A publication Critical patent/KR20170091390A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor

Abstract

The present invention relates to a robot fish, comprising: a body part; Servo motor; Tail; Waterproof portion; And a controller; It is easy and simple to manufacture and maintain, and it is not only cheaper to manufacture and maintain, but also features students' interest in robotic engineering.

Description

Robot fish {ROBOT FISH}

The present invention relates to a robot fish, and more particularly, to a robot fish which is easy and simple to manufacture and maintain, is low in manufacturing and maintenance costs, and can be enjoyed by robotics students.

Due to the development of robotic technology, a variety of robot technologies have been utilized in industrial and environmental fields.

In particular, robotic fish have been utilized in environmental fields such as water quality survey and ocean exploration. In addition, robot fishes are increasingly used in hospitals, banks, offices and homes where aquariums are installed for interior or humidification purposes.

Conventional robotic fish are supplied with power from a battery installed in the robot and swim inside the aquarium by driving a propeller or the like.

However, when the propeller-type propulsion mechanism is used, the energy efficiency is only 50 to 55% due to the resistance of the fluid. Therefore, a fish swimming mechanism imitating the swimming method of the fish which is considered to be more energy efficient than the propeller type has been introduced .

However, even if the fish swimming mechanism is used, there is a problem that the forward and backward flow ranges of the caudal fin for advancing the robot fish are not so wide, and it is difficult to advance in the water having the flow velocity.

In order to overcome this problem, a robot fish is manufactured with a structure having a degree of freedom of 2 or more using a plurality of motors. However, the robot fish is complicated in construction and is difficult to manufacture and maintain.

Accordingly, there is a need for a robot fish in which the above-mentioned problems are complemented.

Korean Patent No. 10-1267472

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide a robot fish which is easy to manufacture and maintain.

Another object of the present invention is to provide a robot fish which is low in manufacturing and maintenance costs.

It also provides robotic fish for students to experience robotics in an interesting way.

According to the present invention, the above object can be accomplished by a method of manufacturing a semiconductor device, comprising: a body portion made of a carbon material; A servomotor disposed in the body portion and provided with a servo horn for sequentially moving the servo horn in a clockwise and counterclockwise direction; A tail portion which is made of a material having elasticity and is connected to the servo horn and is reciprocated according to an operation direction of the servo horn to advance the body portion; A waterproof portion formed by a balloon covering between the body portion and the tail portion, and a sealing material surrounding the body portion, the balloon, the tail portion, and the balloon; And a controller electrically connected to the servo motor to control operation of the servo motor. Wherein the ratio of the length of the body part to the length of the tail part is 2: 8 to 4: 6.

A head portion connected to the body portion to be positioned on the opposite side of the tail portion and having a head shape of a fish to help the center of gravity and the balance of the fish body; And a pectoral fin provided on both sides of the body part and having a pectoral fin shape of a fish to help the center of gravity and balance of the pelvis; Is further included.

The body may further include a battery for supplying power to the servomotor and an additional weight for controlling the buoyancy.

The control unit may further include a remote control unit for remotely controlling the servomotor through the control unit. The control unit may include an antenna protruding outside the body and receiving the control signal of the remote control unit and transmitting the control signal to the control unit It is preferable to further include them.

Preferably, the tail portion is formed of an OHP film.

According to the present invention, a robot fish is provided which is simple and easy to manufacture and maintain.

In addition, the manufacturing and maintenance costs are low.

In addition, students will be able to experience robotics in an interesting way.

FIG. 1 is a schematic view showing a schematic configuration of a robot fish according to an embodiment of the present invention.
FIG. 2 is an exploded view schematically showing a robot fish according to an embodiment of the present invention;
FIG. 3 is a view showing the coupling of the robot fish shown in FIG. 2,
4 (a) to 4 (c) are explanatory diagrams showing a use state of a robot fish according to an embodiment of the present invention.

Hereinafter, a robot fish according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a schematic exploded view of a robot fish according to an embodiment of the present invention. FIG. 3 is a cross-sectional view of a robot fish according to an embodiment of the present invention. Of the robot fish.

1 to 3, a robot fish 100 according to an exemplary embodiment of the present invention includes a body 10, a servomotor 20, a tail 30, a head 40, (50), a waterproof portion (60), and a control portion (70).

The body part 10 is a central part in which various components necessary for driving the robot fish 100 according to an embodiment of the present invention are located inside. In the present invention, the body part 10 is made of carbon, .

Carbon is a very lightweight material and is resistant to corrosion and can be manufactured in various forms. It has excellent characteristics in terms of elasticity and strength and weight. In the present invention, carbon rods having a thickness of about 1 mm And is used as the body portion 10.

A battery B for supplying power to the servomotor 20 described below and a weight W for adjusting the buoyancy of the robot fish 100 are disposed inside the body 10.

The battery B supplies power to various components provided inside the robot fish 100, that is, inside the body 10. The battery B may be a rechargeable battery which is charged by supplying power from a commonly used battery or an external power source such as an outlet (not shown). In the present invention, a lithium polymer battery (Lithium Polymer Batteries, 3.7 V, 60 mAh), which is a kind of a secondary battery which is charged semi-permanently by using an external power source, is used.

As described above, the battery connector 74 (charging cable) can be used for charging the battery B used in the present invention. The battery connector 74 is made of a wire that is as thin as possible and can not be broken, and is formed to have a small size so that external water and moisture can not flow therethrough, thereby protecting the battery B and safely supplying power thereto. It is good to do.

The weight weight W helps balance the robot fish 100 by adjusting the buoyancy of the robot fish 100 and by reducing the rocking back and forth when the robot fish 100 is swimming in the water. The weight W is preferably made of a metal material having a small volume, for example, a lead or the like.

A servomotor 20 is disposed within the body 10 to generate a driving force for moving the robot fish 100 in water according to an embodiment of the present invention. The servo motor 20 used in the present invention is provided with a servo horn 22. The servo horn 22 is sequentially shifted in a clockwise direction and a counterclockwise direction according to the driving of the servo motor 20 .

The servo motor 20 is largely divided into a standard servo that operates within an angle range of 180 degrees and a continuous rotation servo that allows rotation of 360 degrees. The present invention is applicable to a standard type servo motor and a small size micromotor Micromotor), the robot fish 100 has one degree of freedom. In the present invention, the speed of the robot fish 100 can be easily controlled by controlling the dynamic frequency by using the servo motor 20 as the driving means.

The tail portion 30 is located behind the body portion 10 and receives the driving force of the servo motor 20 to advance the body portion 10, that is, the robot fish 100. The tail portion 30 used in the present invention is made of a material having elasticity, for example, an OHP film.

The tail portion 30 is connected to the servo horn 22 of the servo motor 20 and reciprocates left and right according to the operation direction of the servo horn 22. The tail portion 30 is made of elastic material, As shown in FIG. Here, the reciprocating motion of the tail unit 30 operates reciprocally within a predetermined angle range. The range and direction of the reciprocating angle are set and changed according to the use environment in which the robot fish 100 is to be used This is possible.

In the present invention, the ratio of the length of the body portion 10 to the length of the tail portion 30 is 2: 8 to 4: 6. Particularly, when a sample of the robot fish 100 according to an embodiment of the present invention was tested, the highest performance was obtained when the ratio of the length of the body part 10 to the length of the tail part 30 was 3: 7.

That is, the robot fish 100 having the ratio of the length of the body part 10 to the length of the tail part 30 of 3: 7 has been confirmed to have a speed of about 25 cm per second in water and a turning radius of about 5 cm when turning. The short turn radius has the advantage of increasing the energy consumption efficiency.

The head portion 40 is connected to the body portion 10 on the opposite side of the tail portion 30, i.e., in front of the body portion 10. The head portion 40 may be formed in various shapes, but it is preferable that the head portion 40 has a shape of a fish head. When the robot fish 100 swims in water, Helping control.

Although not shown, a light emitting body such as a light emitting diode (LED) is placed on the head 40 so that light of various colors and brightness can be diverted, and when the robot fish 100 is swimming in the water, It is preferable that the user can confirm the position of the robot fish 100 while illuminating the front of the robot 100.

The pectoral fin part 50 is provided on both sides of the body part 10 and is a part that helps to adjust the center of gravity and balance when the robot fishes 100 are swimming in water and is preferably formed in the shape of pectoral fins of fish .

When the robot fish 100 swims in water, the pectoral fin 50 exhibits a natural motion like a living fish by the action of a wave or the robot fish 100.

The waterproofing portion 60 is a portion which waterproofs the servo horn 22 side of the servo motor 20 to which the body portion 10 and the tail portion 30, particularly the tail portion 30 are connected, (60) comprises a balloon (62) and a sealant (64).

The balloon 62 may be a normal rod balloon having a diameter of about 5 cm which is usually used. The balloon 62 is sandwiched between the body 10 and the tail 30 so as to be first waterproofed.

The seal member 64 is waterproofed at the opening of the balloon 62, that is, the portion opened to blow air into the normal balloon 62 in a state in which the balloon 62 is covered. In other words, the second waterproofing treatment is performed by enclosing and sealing the connection part between the body part 10 and the balloon 62, or sealing the connection part between the tail part 30 and the balloon 62. In this case, when a part of the balloon 62 is cut and used to form openings on both sides of the balloon 62, the connection between the body 10 and the balloon 62 and the connection between the tail 30 and the balloon 62 It is possible to enclose all of the parts with the sealing material 64 and seal them.

The sealing material 64 can use either or both of the sealing tape 64a and the sealing adhesive 64b. In the present invention, the second sealing material 64 is subjected to the second waterproofing treatment. At this time, the sealing tape 64a can use various tapes, but in the present invention, a urethane Teflon tape is used. A wood-lock adhesive is used as the sealing adhesive 64b, but it is not limited thereto.

The controller 70 is a component for controlling the overall operation of the robot fish 100 according to an embodiment of the present invention and in particular is electrically connected to the servo motor 20 to control the operation of the servo motor 20 .

The controller 70 may be implemented in a variety of ways such as a microcomputer, a built-in circuit, and the like, and may have a shape of a substrate on which various components are mounted, as shown in FIGS. At this time, the battery B may also be configured to be mounted and used in the controller 70 of the substrate shape.

Meanwhile, the robot fish 100 according to an embodiment of the present invention can be configured so that a user can remotely control the remote control unit 200 via the remote control unit 200.

The control unit 70 may include an antenna 72 for receiving the control signal of the remote control unit 200 and transmitting the control signal to the control unit 70. The antenna 72 protrudes outside the body 10 from the control unit 70, that is, the substrate, so as to smoothly receive the signal of the remote control means 200, and is made of thin and tough wires. Of course, the shape and material of such an antenna 72 can be appropriately changed according to the use environment of the robot fish 100 and the like.

The remote control means 200 remotely controls the servomotor 20 through the control unit 70 using the antenna 72 and the remote control means 200 used in the present invention controls the steering radius of about 1 km .

Although not shown, the remote control means 200 includes a power button for controlling whether the robot fish 100 is powered or not, a speed control button for increasing or decreasing the speed of the robot fish 100, A direction selection button for selecting a direction, a battery indicator for displaying a remaining amount of the battery B, a transmission / reception channel selection button, and the like.

Here, the battery indicator light indicates a safety indicator such as a blue indicator when the battery residual amount is sufficient, a warning indicator indicating a yellow indicator when the battery residual amount is insufficient, and a red charging indicator And may control the controller 70 to detect the remaining amount of the battery B and display the remaining amount.

In addition, the transmission / reception channel selection button is a button for controlling a plurality of robot fishes 100 to be controlled by one remote control means 200, to be.

The remote communication between the remote control means 200 and the robot fish 100 can utilize various communication systems such as infrared communication or wireless RF communication.

Hereinafter, the operation of the robot fish according to an embodiment of the present invention will be described.

4 (a) to 4 (c) are explanatory diagrams showing a use state of a robot fish according to an embodiment of the present invention.

4 (a) shows a state before the robot fish 100 operates according to an embodiment of the present invention, and shows a state immediately after being put into water or put into water.

When the robot fish 100 is put into the water, the servo motor 20 is driven under the control of the control unit 70. This can be performed by controlling the power supplied to the servo motor 20 from the control unit 70 through the remote control means 200.

The servo horn 22 is sequentially shifted in the clockwise and counterclockwise directions as shown in Figs. 4B and 4C as the servo motor 20 is driven, The robot 30 moves forward and backward in accordance with the operation direction of the servo horn 22 to move the robot fish 100 forward.

In addition, when the robot fish 100 moves forward or when it desires to change its direction to the left or right, it is possible to configure the angular range in which the servo motor 20 operates through the control unit 70 to advance in a desired direction .

For example, the tail portion 30 is reciprocally operated only at an angle of about 30 to 90 degrees from the left or right side of the drawing as shown in Fig. 4 (b) or 4 (c) ) Can switch the direction to the left or right.

The robot fish 100 according to the embodiment of the present invention is configured such that the ratio of the length of the body portion 10 to the length of the tail portion 30 is 3: Is directly connected to the servo horn (22) of the servo motor (20) and is made of an OHP film having elasticity, so that the range of reciprocation of the tail portion (30) becomes large.

Therefore, the robot fish 100 according to an embodiment of the present invention can advance rapidly even in water having a flow velocity with a strong propelling force and can be advanced for 30 minutes through first and second waterproofing through the balloon 62 and the sealing material 64 The water does not flow into the robot fish 100, particularly, the body portion 10 even when swimming in the water.

Meanwhile, the robot fish 100 according to an embodiment of the present invention may be configured to perform environmental monitoring by providing a sensor (not shown) for measuring the degree of contamination of the robot underwater.

As described above, the robot fish 100 according to an embodiment of the present invention can be easily and simply manufactured and maintained, and can be manufactured and maintained at a low cost. It is also a useful invention that allows students to experience robotics in an interesting way.

The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms of embodiments within the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

10: Body part 20: Servo motor
22: Servo Horn 30: Tail
40: head part 50: pectoral fin
60: waterproof part 62: balloon
64: sealing material 64a: sealing tape
64b: sealing adhesive 70:
72: antenna 74: battery connector
100: Robot fish 200: Remote control means
B: Battery W: Weight

Claims (5)

For robot fish,
A body portion made of a carbon material;
A servomotor disposed in the body portion and provided with a servo horn for sequentially moving the servo horn in a clockwise and counterclockwise direction;
A tail portion which is made of a material having elasticity and is connected to the servo horn and is reciprocated according to an operation direction of the servo horn to advance the body portion;
A waterproof portion formed by a balloon covering between the body portion and the tail portion, and a sealing material surrounding the body portion, the balloon, the tail portion, and the balloon; And
A control unit electrically connected to the servo motor to control operation of the servo motor; / RTI >
Wherein the ratio of the length of the body portion to the length of the tail portion is from 2: 8 to 4: 6. The method according to claim 1,
A head portion connected to the body portion to be positioned on the opposite side of the tail portion and configured to have a head shape of a fish to help the center of gravity and the balance of the fish body; And
A pectoral fin provided on both sides of the body and having a shape of a pectoral fin of a fish, Wherein the robot further comprises a robot. The method according to claim 1,
In the body portion,
A battery for supplying power to the servomotor and a weight for controlling buoyancy are further included inside the robot. The method according to claim 1,
Further comprising remote control means for remotely controlling the servomotor through the control unit,
In the control unit,
Further comprising an antenna protruding outward from the body portion and receiving the control signal of the remote control means and transmitting the control signal to the control unit. 5. The method according to any one of claims 1 to 4,
And the tail portion is configured to be composed of an OHP film.

KR1020160012345A 2016-02-01 2016-02-01 Robot fish KR20170091390A (en)

Priority Applications (1)

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KR1020160012345A KR20170091390A (en) 2016-02-01 2016-02-01 Robot fish

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Application Number Priority Date Filing Date Title
KR1020160012345A KR20170091390A (en) 2016-02-01 2016-02-01 Robot fish

Publications (1)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109291060A (en) * 2018-09-28 2019-02-01 北京信息科技大学 Machine fish heading control method based on region division and interim point auxiliary
CN110254671A (en) * 2019-05-17 2019-09-20 河海大学 It is a kind of to merge wired and wireless underwater communications system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109291060A (en) * 2018-09-28 2019-02-01 北京信息科技大学 Machine fish heading control method based on region division and interim point auxiliary
CN110254671A (en) * 2019-05-17 2019-09-20 河海大学 It is a kind of to merge wired and wireless underwater communications system

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