KR20170143140A - Fish-robot for adjusting weight - Google Patents

Abstract

The present invention relates to a fish robot and, more specifically, relates to a weight adjustable fish robot, wherein a weight is provided to spray absorbed water to the inside of the fish robot for thrust of the fish robot to be supplied. Moreover, a space for storing water in the fish robot is provided to put or discharge the water. Therefore, the fish robot can float at a desirable depth in water. In addition, as each frequency is differently outputted on left and right surfaces of a leader fish robot of fish robots, the fish robots can follow the leader fish robot with the frequency.

Description

Fish-robot for adjusting weight "

The present invention relates to a fish robot capable of weight control, more specifically, by sucking and spraying water inside a fish robot, it can be utilized as an impelling force of a fish robot. In order to adjust the specific gravity of a fish robot to a weight like water, Fill the robot with water to increase or decrease the weight.

Aquariums and aquariums use robots or mechanical devices in the form of living creatures as well as sea creatures to provide spectators with spectacles. By using such a robot or a mechanical device, it was possible to produce a colorful and diverse visual effect, which led to an interest to visitors.

However, conventionally, it has been troublesome to control the weight of the robot or the machine in order to make the weight of the robot or the machine equal to the water when the robot or the machine is put into the water of the aquarium.

On the other hand, Korean Patent Laid-Open No. 10-2013-0079808 discloses a prior art related to a fish robot.

Disclosure of Invention Technical Problem [8] The present invention has been made to solve the above-mentioned problems of the prior art, and an object of the present invention is to inject water into the fish robot and inject it into the fish robot.

In addition, there is another purpose of providing a space for storing water inside the fish robot and injecting water into the fish robot to increase or decrease the weight of the fish robot.

In addition, another purpose of the fish fish robot is to transmit different frequencies backward from one side of the fish robot, to detect the frequency according to the transmitted fish frequency, and to follow the fish fish robot.

In order to accomplish the above object, there is provided a fish robot driven by water according to the present invention, comprising: a weight to increase or decrease weight of a fish robot so that water can be sucked into and sprayed from a piston tube within the fish robot body; A piston which is integrally formed with the weight and is located inside the piston tube and sucks water by a pressure difference or injects the sucked water; A power generator for allowing the fish robot to move when the fish robot is powered on the body of the fish robot; A controller for controlling the movement of the fish robot on the body of the fish robot; And a tail driving unit for transmitting the power generated by the power generating unit to the tail of the fish robot to move the fish robot.

The fish robot further includes a storage unit capable of storing water at the upper and lower ends of the body of the fish robot and adjusting the weight of the fish robot by injecting and extracting water.

In addition, if there is a large fish robot provided with an infrared ray output unit for outputting infrared ray on the right and left sides of the body part of the fish robot, there is an infrared ray receiving unit for receiving the infrared ray and there is a fish robot moving according to the received wavelength. do.

In addition, the material of the parts such as the shaft and the bushing, which form the fish robot, is characterized in that a special coating which is not reacted with salt water or seawater is produced.

Finally, the body of the fish robot is connected to the charging terminal at one side, and the charging circuit of the charging unit is connected to the charging circuit only when the voltage is applied due to the relay switch. When the voltage is not applied, So that no leakage current is generated outside the fish robot body.

The fish robot capable of weight control according to the present invention has the following effects.

First, as the fish robot sucks the water into the fish robot, the fish robot moves backward or abruptly brakes, and the fish robot pushes the suctioned water to the outside, . In the fish robot according to the present invention, a weight and a piston are integrally formed inside the body. The piston tube in which the piston is located is hermetically closed by the piston in the head direction and the spray tube connected to the piston tube in the tail direction is open to the outside. At this time, as the piston advances rapidly, the water sucked into the piston tube by the pressure lowered in the piston tube is pushed back to the spray pipe connected to the outside, and at the same time, the fish robot can obtain the driving force for rapidly advancing and accelerating. In addition, when the fish robot sucks the water, the fish robot may move backward or abruptly brak.

Second, the weight of the fish robot can be easily adjusted by providing a space in which water can be stored at the top and bottom of the fish robot body. When a fish robot is operated by the user in the water, it is important to adjust the fish robot to the same weight as the water. That is, if the weight of the fish robot is too heavy, the fish robot will sink in the water, and if the weight of the fish robot is too light, the fish robot will float to the surface of the water. Therefore, it is necessary to control the weight of the fish robot in order to operate the fish robot at the desired depth. In the present invention, since the space for allowing water to be stored at the upper and lower ends of the body portion of the fish robot is adjusted, a minute amount of water is adjusted by the syringe and injected into or withdrawn from the fish robot. Fine weight control is possible.

Third, a separate signal can be applied when the fish robot is charged, thereby preventing leakage current from flowing from the charging terminal to the outside when not charged. When the charging terminal that supplies the power of the fish robot is exposed to the outside, current flowing in the fish robot can flow into the water outside the fish robot. Thus, leakage currents can also affect sea creatures inside the aquarium, which may hinder or even hinder the activity of marine life. However, in the fish robot according to the present invention, the charging circuit is connected and the power source is charged only when the charging robot is stationary when the charging robot is stationary. On the other hand, when the robot is not charging, Do not let even minute currents flow through the exposed charging terminals to avoid affecting other sea creatures in the water.

Fourth, a fish robot can output a different frequency from a fish robot to lead a fish robot crowd. That is, an infrared ray output unit is provided on upper, lower, left and right sides of the body of the large fish fish robot to emit infrared rays or ultrasonic waves through the infrared ray output unit.

1 is a front perspective view of a fish robot according to a first embodiment of the present invention;
FIG. 2 is a rear perspective view of the fish robot shown in FIG. 1. FIG.
Fig. 3 is a side view of the fish robot shown in Fig. 1. Fig.
Fig. 4 is a block diagram schematically showing the inside of the fish robot shown in Fig. 1. Fig.
FIG. 5 is a view showing a state in which water is injected into a storage unit by a syringe by enlarging a state of the storage unit in the block diagram shown in FIG. 4;
6 is a charging circuit diagram of a fish robot used in the present invention.
FIG. 7 is a view schematically showing a form in which a fish robot group according to a second embodiment of the present invention receives infrared rays output by a large fish robot and moves. FIG.
FIG. 8 is a view schematically showing a state in which a fish robot swung in a direction when the large fish robot shown in FIG. 7 turns to the left. FIG.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, some configurations which are not related to the gist of the present invention may be omitted or compressed, but the configurations omitted are not necessarily those not necessary in the present invention, and they may be combined by a person having ordinary skill in the art to which the present invention belongs. .

≪ Embodiment 1 >

FIG. 1 is a front perspective view of a fish robot according to a first embodiment of the present invention, FIG. 2 is a rear perspective view of the fish robot shown in FIG. 1, FIG. 3 is a side view of the fish robot shown in FIG. 5 is a view showing a state in which a storage unit is enlarged in a block diagram shown in FIG. 4 and water is injected into a storage unit by a syringe, and FIG. 6 is a charging circuit diagram of a fish robot used in the present invention.

A fish robot capable of adjusting the weight according to the first embodiment of the present invention includes a head part 100, a body part 200 and a tail part 300.

The head part 100 is a part composed of a fish head shape and can be easily attached to and detached from the body part 200.

The body part 200 is a body part of the fish robot and the body part 200 has a suction spray part 210, a storage part a 220, a storage part b 230, a control part 240, A dorsal fin 250, an acupuncture unit 260, a dorsal fin 270, a dorsal fin 280, and a dorsal fin 290.

The suction spraying unit 210 includes a weight 211, a weight guide piece 212, a guide rail 213, a piston 214, A piston tube 215, and a spray tube 216.

The weight 211 is provided inside the body of the fish robot to move the center of gravity of the fish robot. That is, when the user operates the fish robot using the remote controller, the weight 211 is seated on the weight guide piece 212, and the center of gravity is moved in the direction of the head 100 of the fish robot through the advancement of the weight 211 Or the center of gravity may be moved in the direction of the tail 300 by the backward movement of the weight 211.

The weight guide guide piece 212 is configured to guide the weight 211 to be moved forward or backward, and is positioned inside the body 200 to move forward or backward.

The guide rail 213 is a rail for guiding the weight guide piece 212 to move forward or backward.

The piston 214 is integrally formed with the weight 211 and is located in the piston tube 215. As the weight 211 advances or retracts, the water is sucked into the fish robot or injected outside.

The piston tube 215 provides a reciprocating space in which the piston 214 can be located and the piston 214 can be advanced or retracted, whereby the piston tube 215 is inhaled or sprayed.

The spray tube 216 is connected to the piston tube 215 inside the fish robot and exposed to the outside of the fish robot. At this time, as the weight 211 moves forward or backward, the piston 214 integrally formed is also advanced or retracted by the piston tube 215. When the piston 214 advances, the pressure inside the piston tube 215 Water is introduced into the piston tube 215 from the injection tube 216 and the water that has flowed into the piston tube 215 is pushed out when the piston 214 is moved backward, To the spray tube 216.

The storage units 220 and 230 are portions where empty spaces are formed on the upper and lower ends of the fish robot body 200, respectively. Each of the storage units 220 and 230 has injection ports 221 and 231 formed of a material such as silicone or rubber. Through the ports 221 and 231, the user injects water into the storage units 220 and 230 The weight of the fish robot can be adjusted by removing or removing it. 5, the user can inject water using the syringe 222 having water therein by the injection ports 221 and 231 provided in the storage units 220 and 230, respectively. When the syringe 222 is inserted, the injection ports 221 and 231 are folded in a direction in which the syringe 222 is inserted when the syringe 222 is inserted. (220, 230). This is to set the fish robot at the same weight as the water and operate the fish robot at the water depth desired by the user. In contrast, if the weight of the fish robot is adjusted by adding the parts, the weight of the fish robot is not easily adjusted because the weight is adjusted to the weight of only one additional part. In addition, adjusting the minute weight by adding the components complicates the structure because the weight control components must be provided in various sizes and the weight control components must be separately mounted on the fish robots. In addition, since the weight adjusting parts must be combined one by one, the work may become uncomfortable.

In the present invention, the weight of the fish robot can be adjusted by providing the storage units 220 and 230 to eliminate the hassle of the weight control. The two storage units 230 and 240 have the same roles, but for convenience of explanation, the storage unit of the fish robot or the like is referred to as a storage unit a 220 and the storage unit of the fish robot boat is referred to as a storage unit b 230.

The control unit 240 controls the overall movement of the fish robot by sensing a signal transmitted by the user operating the remote controller. That is, it is possible to control the advancement of the fish robot or the divergence of the fish robot by manipulating each of the fins 280, 281, 282, and 320 connected to the fish robot and to control the power generation unit 250, The piston operation part 270 connected to the piston guide 215 advances and retracts the weight guide piece 212 so that water is sucked into the piston tube 215 and the sucked water is injected outside the fish robot. Since the control unit 240 is embedded in the body 200, it is possible to increase the degree of integration between the components, thereby facilitating the wiring. If the control unit 240 is embedded in the head unit 100, the head unit 100 may be detached and the control unit 240 may be easily reprogrammed or the setting may be changed.

The power generating unit 250 generates and transmits power for driving the fish robot according to the operation of the fish robot sensed by the control unit 240 and drives the piston operating unit connected to the suction spraying unit 210.

The charging unit 260 includes a battery of the fish robot and receives power for operating the power generating unit and the control unit of the fish robot from the outside, and the charging unit 260 includes the charging circuit shown in FIG. 5 .

The piston operating portion 270 may be a solenoid or another type of linear moving actuator and may be connected to the power generating portion 270 to convert the rotational motion of the power generating portion 270 into a linear motion, To move forward or backward.

The dorsal fin 280 of the fish robot's fin is responsible for balancing and steering the fish robot body and the dorsal fin 281 maintains the set direction while the dorsal fin 282 also helps maintain the body balance .

The tail portion 300 also includes a tail driver 310 and a tail fin 320.

The tail drive unit 310 receives the power generated by the power generation unit 250 and moves the tail fin 320 of the fish robot to the left and right to advance the fish robot.

The user first charges the battery to operate the fish robot. The fish robot according to the present invention incorporates the circuit shown in Fig. 5 in the charging unit 260 of the fish robot to charge the battery. That is, the circuit shown in FIG. 5 is designed to prevent the charging terminal 261 of the fish robot from being exposed to the outside of the body and preventing leakage current from flowing through the exposed terminal. Referring to the circuit diagram shown in FIG. 5, there are three input signal stages 'Charge +', 'Charge-' and 'Charge S'. 'Charge S' and 'Charge +' are connected to the same (+) terminal node, and 'Charge +' and 'Charge -' are the charging terminals of the fish robot and are connected to the terminals of the charger.

The operation of the circuit will be described with reference to FIG. When a voltage is applied to CInput in the schematic, the current flowing in 'Charge S' flows to pin 1 and pin 16 of the RELAY switch. At this time, 'RELAY' switch operates and '6' pin is connected to pin 4 and pin 8, so 'Charge +' is electrically connected to 'Battery +'. Likewise, when the RELAY switch is operated, the 11th pin is connected to the 13th pin and the 9th pin, so that the 'Charge-' and 'Battery-' are electrically connected. Accordingly, the battery of the charger 260 starts to be charged, and the fish robot supplies necessary power through the POUT connected to the charger 260. In addition, D1 connected to 'Charge S' emits light at the indication of charging.

If no voltage is applied to CInput after that, no current will flow through the relay switch, and it will not operate. Accordingly, the 6th pin and the 11th pin no longer connect the 8th pin and the 9th pin. Accordingly, the 'Battery +' and the 'Battery' of the charger 260 and the electrical connection between the 'Charge +' and the Charge- Is released.

When the fish robot touches the charger due to this charging principle, the relay switch connects and disconnects the charging circuit. Therefore, even if the charging terminal is exposed to one side of the fish robot, no leakage current flows from the charging terminal 261 because no signal is applied to the 'Charge S' during charging operation of the fish robot.

When the charging of the fish robot is completed, the user drives the fish robot with the remote controller. The driven fish robot receives the signal of the remote controller operated by the user from the control unit 240 and controls the power generation unit 250. The power generated by the motor is transmitted to the tail drive unit 310 of the tail unit 300 and is transmitted to the tail of the fish robot 320) to the left and right to generate thrust. In addition, the control unit 240 can control the vertical movement of the fish robot. That is, the direction of movement of the fish robot is determined according to the movement of the fish fin 280 of the body 200, and the back fin 281 maintains its orientation and the back fin 282 maintains balance.

In addition, in the present invention, the fish rod can obtain the propulsive force by the weight 211 and the piston 214. The weight 214 is formed integrally with the weight 211 so that the weight 211 and the piston 214 may be integrally formed with each other. The fish robot sucks and injects water into the body 200 to obtain a sudden propulsion force. Let me explain this in detail. The piston 214 is located in the piston tube 215 installed in the body 200 and the weight 211 formed integrally with the piston 214 is seated in the weight guide piece 212. When the user operates the remote controller to operate the piston operating portion 270 connected to the power generating portion 250 and the weight portion guide 212 connected to the piston operating portion 270 is advanced, And the piston 214 integrally formed with the weight 211 is also advanced from the piston tube 215 so that the internal pressure of the piston tube 215 in which the piston 214 is located is lower than the external pressure, The water is instantaneously and rapidly sucked into the piston tube 215 through the capillary tube 216. At this time, the fish robot can undergo rapid braking and descent. When the user turns the weight guide guide 212 with the weight 211 backward by the user's operation of the remote controller, the weight 100 of the fish robot is directed to the water surface, The piston 214 integrally formed with the piston tube 215 is moved backward by the piston tube 215 so that the water sucked into the piston tube 215 is instantaneously and rapidly discharged to the outside of the spray tube 216, .

≪ Embodiment 2 >

FIG. 7 is a schematic view of a fish robot cluster according to a second embodiment of the present invention when it receives and transmits infrared rays output from a large fish robot, and FIG. 8 is a cross- And the direction of the fish robot moves accordingly.

The fish robot according to the second embodiment of the present invention has the same driving method as that of the first embodiment, but a method for controlling the fish robot when the fish robot moves in a crowd is added. That is, in the second embodiment, there is a crowd of fish robots leading fish fish robots and fish fish robots following large fish fish robots. The large fish robot has four infrared ray output units 210 'for outputting infrared rays of different wavelengths to the back, right, and left sides of the body 200', and outputs infrared rays simultaneously with driving . For example, 100 Hz is output from the back side, 200 Hz from the side, 300 Hz from the left side, and 400 Hz from the right side. In order to receive the infrared rays output from the four infrared ray output units 210 'of the fish robot, the fish robot's infrared ray receiver 310' is provided on one side of the body 300 ' Respectively. Each infrared ray output section 210 'is designed to go straight in the linear direction. Therefore, a group of fish robots detect the infrared ray when the fish rod of the large fish turns and change direction accordingly.

This can be explained in detail. First, we assume that the large fish robots and fish robots are driven at the same depth. At this time, if the user controls the direction of the large fish robot by remote control operation, the infrared ray receiving unit 310 'of each of the fish robot scans senses a straight infrared ray output from the infrared ray output unit 210' of the large fish fish robot. 8, when the large fish robot changes its direction to the left, the infrared ray received by the infrared ray output unit 210 'is detected by the infrared ray receiver 310' of the fish robot swarms, It senses the direction change to the left, and the fish robot crowd also turns to the left. As a result, fish robots that have disappeared for a while can also follow the robotic fish robots normally. In addition, when it is turned to the upper side, the infrared ray output from the infrared ray output part 210 'of the back side is sensed and the direction of the fish robot is shifted upward, leading to a fish robot. In this way, the right side and the bottom side can be redirected in the same manner.

As described above in detail, the fish robot capable of adjusting the weight according to the present invention is capable of moving the fish robot backward or drastically braking while sucking water into the fish robot, and pushing the sucked water outward It is possible to obtain a driving force that allows the fish robot to rapidly accelerate forward. In the fish robot according to the present invention, a weight and a piston are integrally formed inside the body. The piston tube in which the piston is located is hermetically closed by the piston in the head direction and the spray tube provided in the piston tube is opened toward the tail in the direction of the tail. At this time, as the piston advances, the water sucked into the piston tube by the pressure lowered inside the piston tube is pushed back into the spray pipe connected to the outside, and at the same time, the fish robot can obtain the propulsion force to advance.

In addition, the weight of the fish robot can be easily adjusted by providing a space where water can be stored at the upper and lower portions of the fish robot body. When a fish robot is operated by the user in the water, it is important to adjust the fish robot to the same weight as the water. That is, if the weight of the fish robot is too heavy, the fish robot will sink in the water, and if the weight of the fish robot is too light, the fish robot will float to the surface of the water. Therefore, it is necessary to control the weight of the fish robot in order to operate the fish robot at the desired depth. In the present invention, the weight of the fish robot is adjusted by providing a space in which water can be stored at both the upper and lower ends of the body. Therefore, by controlling the minute amount of water by the syringe and injecting or extracting the fish into the fish robot, It is possible to adjust the weight of fine.

In addition, a separate signal can be applied when the fish robot is charged, thereby preventing leakage current from flowing from the charging terminal to the outside when not being charged. When the charging terminal that supplies the power of the fish robot is exposed to the outside, current flowing in the fish robot can flow into the water outside the fish robot. Thus, leakage currents can also affect sea creatures inside the aquarium, which may hinder or even hinder the activity of marine life. However, in the fish robot according to the present invention, the charging circuit is connected and the power source is charged only when the charging robot is stationary when the charging robot is stationary. On the other hand, when the robot is not charging, Do not let even minute currents flow through the exposed charging terminals to avoid affecting other sea creatures in the water.

Finally, a fish robot can output a different frequency from a fish robot in a herd of fish robots, leading to a fish robot crowd. That is, an infrared ray output unit is provided on upper, lower, left and right sides of the body of the large fish fish robot to emit infrared rays or ultrasonic waves through the infrared ray output unit.

On the other hand, in the second embodiment of the present invention, it has been described that the fish robot is moved by the infrared ray emitted by the large fish robot, but this is only one example, and it is possible to control the behavior of the fish robot swarm with ultrasonic waves or other waves Do.

In addition, parts such as shafts, bearings, and bushings, which form the fish robot according to the present invention, are manufactured by aluminum plating and chemical reactions such as corrosion do not occur even when the parts touch the water containing seawater or salinity.

In the present invention, the storage unit is separately provided. However, if there is a sufficient space for storing water in the components constituting the fish robot, the space may be used as the storage unit.

The connection between the power generating unit and the piston actuating unit used in the present invention may be achieved by connecting the solenoid or the rack gear and the pinion gear or by rotating the power generating unit such as the screw gear by moving the weight guide member connected to the piston actuating unit forward or backward. It is possible to use it if it is possible to have linear motion.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, And additions should be considered as falling within the scope of the claims of the present invention.

≪ Embodiment 1 >
100: Head
200:
210:
211: Weights
212: Weight guide guide
213: guide rail
214: piston
215: Piston tube
216: Distributor
220: storage part a
221: inlet a
222: Syringe
230: storage part b
231: inlet b
240:
250:
260:
270: piston operating part
280: Dorsal fin
281: dorsal fin
282: anal fin
300: tail
310: tail driver
320: tail fin
≪ Embodiment 2 >
200 ': Large fish fish robot body
210 ': Infrared ray output section
300 ': Fish Robot Batch Body
310 ': Infrared receiver

Claims (5)

In a fish robot driven in the water,
A weight weight for increasing or decreasing the weight of the fish robot so that water can be sucked and injected into the piston tube from inside the fish robot body;
A piston which is integrally formed with the weight and is located inside the piston tube and sucks water by a pressure difference or injects the sucked water;
A power generator for allowing the fish robot to move when the fish robot is powered on the body of the fish robot;
A controller for controlling the movement of the fish robot on the body of the fish robot; And
And a tail driving unit for transmitting the power generated by the power generating unit to the tail of the fish robot to allow the fish robot to move.
The method according to claim 1,
And a storage unit capable of controlling the weight of the fish robot by providing a space in which water can be stored at the upper and lower ends of the body of the fish robot and injecting and extracting water to adjust the weight of the fish robot. robot.
The method according to claim 1,
A fish robot having an infrared ray output unit for outputting infrared rays to the left and right of the body of the fish robot includes an infrared ray receiving unit for receiving the infrared ray and a fish robot body moving according to the received wavelength, Adjustable fish robot.
The method according to claim 1,
The weight of the fish robot is controlled by a special coating which is not reacted with salty water or seawater, such as shafts and bushings, which form the fish robot.
The method according to claim 1,
The charging circuit of the charging unit is connected to the charging circuit of the fish robot only when the voltage is applied due to the relay switch. When the voltage is not applied, the connection is released. A fish robot capable of weight control, characterized in that leakage current is not generated outside the fish robot body.

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