KR20200050122A - Robot fish - Google Patents

Abstract

The present invention relates to a robot fish. The robot fish, wherein a body unit of the robot fish is composed of a plurality of segments and a joint unit is formed between the segments, comprises: a first coupling in which the joint unit is fixed to a motor shaft; and a second coupling wherein a power transmission shaft is formed on the lower surface and which is coupled to a load side. The first coupling and the second coupling form a recess unit and a protrusion unit on surfaces facing and coming in contact with each other. The second coupling is elastically supported by a spring. Therefore, if high torque is applied, a slip occurs while the protrusion unit is disengaged from the recess unit, and thus the high torque is prevented from being applied to a gear unit of a motor. Thus, the motor can be protected from high torque loads which are applied by rotational inertia.

Description

Robot Fish

The present invention relates to a robot fish, and more particularly, to a robot fish having a high torque damage preventing power transmission device for solving a gear damage problem due to a high torque load when a metal gear servomotor is applied to a joint. will be.

Growing ornamental fish in an aquarium requires careful management, such as aquatic plants, water change and feeding, and can be costly to maintain in many ways. Some ornamental fish are very expensive, and they may not be available because they are either endangered or rare fish banned from trading.

Recently, robot fishes that can mimic the movement of real fishes are often put in an aquarium together with real fishes, or robot fishes are only displayed in aquariums. For example, replacing a predatory fish with a robot fish eliminates the need to constantly supply food, and extinct fish can be reproduced as a robot fish and displayed for educational purposes.

Current robotic fish are being developed so that their fins and torso can move similar to real fish.

In order to dive or swim of the robot fish, a servo motor is installed in the joint portion of the robot fish, and the rotational force of the servo motor is transmitted to the joint link to rotate the segmented body from side to side to generate propulsion.

The link connection structure of the joint part is composed of a structure capable of reciprocating flow at a constant angle from side to side, and rotates in one direction and then rotates in the opposite direction again to shake from side to side to generate propulsive force.

However, since the fish-shaped body portion is shaken from side to side in the water, inertia in the water is very large. Accordingly, when generating the rotational force from the left and right ends in the opposite direction, high torque is generated by the inertia, and the problem of gear breakage of the motor arises due to the occurrence of high torque.

Republic of Korea Patent Registration No. 10-1268239 (2013.05.21.) 'Robot Fish and Robot Fish Charger' Republic of Korea Patent Registration No. 10-1329064 (2013.11.07.) 'Gas filling robot fish' Republic of Korea Patent Registration No. 10-1744642 (2017.06.01.) 'Robot Fish'

The present invention was created to solve this problem in consideration of various problems in the prior art as described above, and when a high torque load is applied to prevent damage to the gear portion of the motor, slip occurs in the power transmission structure and the gear of the motor is generated. It is to provide a robot fish that prevents damage to the motor by blocking high torque applied to the part, and also allows the rotational force of the motor to be smoothly transmitted to the link connection part.

The present invention is a means for achieving the above object,

The present invention corresponds to a first segment containing fish water (魚 首), a second segment that corresponds to a part of the body between the fish water and the mother, and provides a reference point when swimming, and a third segment including a mother fish (魚尾) Segmented into wealth; The first segment part and the second segment part are hinged and fixed by the main joint part and are assembled to be rotatable with each other, and the second segment part and the third segment part are hinged and fixed by the sub-joint part and assembled to be rotatable with each other. As a fish,

The first and second motors are composed of a servo motor or a geared motor controlled by a controller,

The first and second motor shafts of the first and second motors (CPL) are screwed into the motor shaft (MOT) of the first and second motors, and a plurality of irregularities are formed on the lower surface of the first coupling (CPL). A second coupling formed on the upper surface of the first coupling (CPL) corresponding to the uneven surface of the first coupling (CPL) is installed to be able to move up and down, and a power transmission shaft is formed on the lower surface of the second coupling. And, the spring coupled to the power transmission shaft is supported by the bracket is installed to elastically support the second coupling in the first coupling direction, the joint connection is formed on the power transmission shaft withdrawn to the lower portion of the bracket It is characterized by.

In addition, a sensor bar is protrudingly formed on one side of the second coupling, and the sensor bar is installed to operate the limit switch by rotation of the second coupling, but the limit switch can detect an intermediate position of left and right rotation of the joint. It is characterized in that it is installed in a location.

In addition, the first, second, and third segments are also characterized by being covered with a flexible skin.

In addition, the skin includes a first horizontal portion, a first inclined portion extending inclined from the first horizontal portion, an inclined deformation portion that is elastically deformed when swimming while being inclined and extended by a predetermined length from the first inclined portion, and the inclined portion It is composed of a second inclined portion gradually extended from the end of the deformed portion and a second horizontal portion extended horizontally from the second inclined portion, and this structure is also characterized in that it is configured to be continuously repeated.

In addition, the skin is further equipped with an OLED or an LED, and is connected to a controller to implement colors differently according to a control signal, and thus has a feature that is implemented in a chameleon type in which color changes over time.

According to the present invention, the following effects can be obtained.

First, it is possible to increase waterproofness and durability through a double O-ring compression structure.

Second, by forming a skin to seal the joints, it is possible to implement a smooth diving swim by preventing the joints from jamming.

Third, it is possible to implement a chameleon fish robot by allowing various colors to appear on the skin, providing fun, entertainment, and various attractions.

Fourth, it is easy to dive by causing water flow upward from the body.

Fifth, by implementing a rotating diving swim, it is possible to dive in a limited space, thereby solving the problem of hitting the outer wall during a simple diving swim consisting only of a swim by tilt and propulsion and an evasive action by a sensor.

Sixth, by setting the maximum submersible depth, it is possible to swim smoothly at a desired height by limiting the swimming range from the maximum diving depth to a certain height.

Seventh, it is possible to increase obstacle avoidance by using pulsation and easily escape when a pinch occurs.

Eighth, the buoyancy control function can be implemented in double to finely adjust the buoyancy, so that smooth and smooth swimming can be realized.

1 is an exemplary side view of a robot fish according to an embodiment of the present invention.
2 is an exemplary plan view of a robot fish according to an embodiment of the present invention.
3 is an exemplary view showing a structure of a joint portion of a robot fish according to an embodiment of the present invention.
4 is a cross-sectional view of an exemplary main portion showing a waterproof structure of a motor constituting a joint portion of a robot fish according to an embodiment of the present invention.
5 is an exemplary view showing another example of a motor constituting a joint portion of a robot fish according to an embodiment of the present invention.
6A and 6B are explanatory views of a structure for preventing high torque damage of a motor constituting a joint portion of a robot fish according to an embodiment of the present invention.
7 is an explanatory diagram of a method for controlling joint rotation of a robot fish according to an embodiment of the present invention.
8 is an exemplary view showing an example in which a buoyancy control unit of a robot fish according to an embodiment of the present invention is installed.
9 is an exemplary view of the buoyancy control unit of FIG. 8.
10 is an exemplary view illustrating a waterproof structure of a robot fish according to an embodiment of the present invention.
11 is an exemplary configuration block diagram showing a control configuration of a robot fish according to an embodiment of the present invention.
12 is an exemplary view of a robot fish showing an example to which the configuration of FIG. 11 is applied.
13 is an exemplary view showing a skin structure of a robot fish according to an embodiment of the present invention.
14 is an exemplary view showing a joint structure of a robot fish according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

Prior to the description of the present invention, the following specific structures or functional descriptions are merely exemplified for the purpose of illustrating the embodiments according to the concept of the present invention, and the embodiments according to the concept of the present invention may be implemented in various forms, It should not be construed as being limited to the embodiments described herein.

In addition, embodiments according to the concept of the present invention can be applied to various changes and may have various forms, so specific embodiments will be illustrated in the drawings and described in detail herein. However, this is not intended to limit the embodiments according to the concept of the present invention to a specific disclosure form, and it should be understood that it includes all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

1 and 2, the robot fish according to the present invention is composed of a plurality of joints, and each joint is hinged and configured to be rotatable by an ultra-small servo motor.

That is, the robot fish according to the present invention basically corresponds to the first segment 110 including fish water (어) and a part of the body between the fish water and the mother's body to implement abrupt direction change and rapid acceleration. It is divided into a second segment part 120 that provides a reference point when swimming, and a third segment part 130 that includes a mother, which are all connected by joints to rotate and flow with respect to each other coupled to each other. Can be configured.

At this time, the first segment portion 110 and the second segment portion 120 are hinged and fixed by the main joint portion 210 and are assembled to be rotatable with each other, and the second segment portion 120 and the third segment portion The 130 is hinged and fixed by the sub-joint part 220 and assembled to rotate and flow.

In addition, the third segment 130 may be separated into a tail segment (TAL) through the tail link (LNK) again, wherein the tail link (LNK) may be made of a simple hinged link, and the tail segment (TAL) is made of a soft silicone material, such as the material applied to the fins, so that when the third segment 130 flows, it can be configured to flow in a swaying form following it, so that a natural streamer can be seen. have.

Usually, the main joint part 210 and the sub-joint part 220 are generally configured to be capable of joint movement using a known servomotor.

Therefore, a configuration not specifically described below may be considered as employing a structure that is conventionally applied in the art, and the description of the joint will be described later.

In addition, a dorsal fin 140 is formed from the first segment 110 to the second segment 120 on the back portion of the robotic fish, and the dorsal fin 140 maintains direction It is preferably made of silicone for the purpose of doing so.

In addition, a pair of discharge fins (Pelvic Fin) 150 is formed on both lower sides of the first segment portion 110 of the belly portion of the robot fish, and the discharge fin 150 prevents shaking up and down to balance (equilibrium It is preferably made of silicone as well as to keep).

In addition, a pair of anal fins 160 is formed on both lower sides of the second segment 120 close to the tail of the robotic fish, and the rear fins 160 prevent rotation, thereby maintaining a vertical state. For maintenance purposes, it is also preferably made of silicone.

In addition, a controller 300 in the form of a microprocessor is mounted inside the first segment 110, and the controller 300 is configured to be watertight so that it is not flooded even when the robot fish swims in the water.

In addition, while forming the same watertight structure with the controller 300, the battery 310 is mounted to be configured to supply power.

On the other hand, in one embodiment according to the present invention, as shown in the example of Figure 3, the main joint 210 and the sub-joint portion 220 is configured to be moved by an ultra-small servo motor, the ultra-small servo motor is the main joint ( It consists of a first motor 212 for joint movement 210, and a second motor 222 for joint movement of the sub-joint portion 220.

At this time, the main joint part 210 is concave toward the fish from the first segment part 110 at the boundary between the first segment part 110 and the second segment part 120 in order to have a structure capable of rotating and flowing. A first recess 112 is formed, and a first protrusion 122 protruding from the second segment 110 toward the first recess 112 is formed to be mutually compatible.

In addition, the sub-joint portion 220 is concave toward the fish from the second segment portion 120 at the boundary between the second segment portion 120 and the third segment portion 130 to have a structure capable of rotating and flowing. A second recess 124 is formed, and a second protrusion 134 protruding from the third segment 130 toward the second recess 124 is formed to be mutually compatible.

In addition, the first motor 212 has a two-axis structure in which the first motor shaft 214 protrudes from both ends, and the first driving gear 216 is fixed to an end of the first motor shaft 214.

In addition, the first gear groove 116 is formed on the opposite side surfaces of the first yaw groove 112 on the inner circumferential surface with a gear meshed with the first driving gear 216.

In this case, for assembling the first drive gear 216, the first gear groove 116 is formed by a first assembly piece 118 that is separated and assembled, and the first assembly piece 118 is manufactured during assembly. One gear groove 116 is shaped to form a shape and is not shown, but is fixed to the first segment 110 through screws.

When the first motor 212 is driven in the assembled state, the first segment 110 is rotated based on the second segment 120 where the first motor 212 is fixed according to the rotational direction. Is done.

Likewise, the second motor 222 also has a two-axis structure in which the second motor shaft 224 protrudes from both ends, and the second driving gear 226 is fixed to the end of the second motor shaft 224.

In addition, a second gear groove 126 is formed on opposite sides of the second yaw groove 124 and gears engaged with the second driving gear 226 are formed on the inner circumferential surface.

Even in this case, the second gear groove 126 is formed by the second assembly piece 128 separately assembled for the assembly of the second driving gear 226, and the second assembly piece 128 is assembled. The second gear groove 126 is shaped to make a shape, and although not shown, is fixed to the second segment 120 through a screw.

When the second motor 222 is driven in the assembled state, the second segment 120 is rotated based on the third segment 130 where the second motor 222 is fixed according to the rotation direction. Is done.

However, since the second segment 120 is interposed between the first and third segment parts 110 and 130, both ends of the second segment part are not in a free end state, and thus the rotational flow is the third segment in which the second motor 222 is installed. It will happen in the wealth 130.

Here, the first and second motors 212 and 222 are very vulnerable to flooding because they must be driven by receiving electricity.

Therefore, thorough waterproofing is very important.

Moreover, in the case of the robot fish swimming constantly in the water as in the present invention, the power is lost when water enters the motor due to poor waterproofing, so it is more so.

To this end, the present invention may be configured to block the occurrence of flooding at all by having a unique waterproof structure as described below.

For example, according to FIG. 4, the first and second motors 212 and 222 according to the present invention have a rotor (permanent magnet) rotating between a stator (iron core + coil), a stator 232 and a rotor ( 242) are provided to face each other.

At this time, the stator 232 is a coil wound around the core, and is fixedly installed inside the motor case 230, and the rotor 242 protrudes while sealing open portions on both sides of the motor case 230. It is installed inside the fixed shaft boss 240.

Here, the rotor 242 is a structure in which a permanent magnet is attached to the disk plate, and facing the stator 232 is fixed to the first and second motor shafts 214 and 224 in a spline manner to rotate together. Can be configured.

In addition, for smooth rotation of the first and second motor shafts 214 and 224, the inner diameter of the shaft boss 240 through which the first and second motor shafts 214 and 224 penetrate, and the first and second motor shafts 214 and 224, Between the outer diameter of the bearing 250 is interposed.

In addition, the openings formed on both sides of the motor case 230 are completely sealed by a thin plate-shaped separator plate 260 fixed inside the motor case 230.

Therefore, the stator 232 and the rotor 242 are completely separated.

This structure only changes the arrangement, and the rotational force generated by the relationship between the general stator and the rotor is the same.

In addition to this, as shown in enlarged view in FIG. 4, the separator plate 260 is rotated in the rotor 242 because it is installed inside the motor case 230 to maintain a gap of about 1 mm from the rotor 242. It does not affect the driving, and even if water permeates due to unforeseen reasons, the first and second motor shafts 214 and 224 do not fall or fall through the gaps, and because the water is already sealed, the water that permeates is very small and the water The flow of the stator 232 toward the source is blocked.

Therefore, even if the stator 232 side to which the electricity is connected is completely immersed in water at all times, it is completely waterproof, so that safety is maximized, and the separator plate 260 and the first and second motor shafts 214 and 224 do not contact each other. The first and second motor shafts 214 and 224 are also smoothly driven.

Although it is obvious that such a structure is easy to seal the gap between the non-moving mechanism and the sealing of the moving mechanism is very difficult, it is possible to completely eliminate such a problem in the present invention.

In addition, it is better to waterproof the surface of the rotor 242 to prevent even the slightest amount of water that has penetrated from affecting the rotor 242.

Meanwhile, in the present invention, as illustrated in FIG. 5, the first and second motors 212 and 222 may be applied as a servo motor or a geared motor.

The servo motor or the geared motor shown in FIG. 5 may have a single shaft structure.

However, in the case of a servo motor or a geared motor, when the forward motion is realized while shaking from side to side, gear damage due to high torque load may be caused. That is, a large torque is applied when the joint is rotated left and right by the inertia force in the water. Due to this, when starting to rotate in the opposite direction, a large torque is applied and there is a high risk of gear damage.

Provided is a motor rotational force transmission structure that allows a slim phenomenon to occur at a large torque generated by such an inertia force, and transmits the rotational force normally again in the reverse rotation.

In the present invention, the first coupling 201 of a disk shape fixed to the motor shaft (MOT) of the first and second motors 212 and 222 composed of a servo motor or a geared motor and having recesses formed on the lower surface, and the first coupling A disk-shaped second coupling 202 formed with an upper portion of a projection that can be inserted or removed from the recessed portion of the lower surface of 202 and a power transmission shaft 203 protruding from the lower surface of the second coupling 202 And, a spring 204 coupled to the power transmission shaft 203 to support the second coupling 202 by being in close contact with the first coupling 201, and a bracket 204 for supporting the spring 204 ( 205), fixed to the lower end of the power transmission shaft 203 drawn out to the lower portion of the bracket 205, the joint coupling portion 206 for transmitting the rotational force, and the second coupling 202 of The sensor bar 207 that protrudes to one side, and is installed on the motor bracket, and rotates by rotation of the sensor bar 207. Is configured to include a limit switch 208 for detecting the focus, the limit switch (208) is characterized in that is installed to detect the intermediate position of the reciprocal rotation angle depends on the motor rotation.

The present invention configured as described above, as shown in Figure 6 (a) and (b),

During normal rotational force transmission, as shown in FIG. 6 (A), the first coupling 201 and the second coupling 202 are in close contact with each other by the elastic force of the spring 204, and the first coupling 201 ), The protrusion 202a of the second coupling portion 202 is coupled to the groove 201a of the), and the rotational force is transmitted. That is, the rotational force of the motor is transmitted to the joint coupling portion 206 to rotate the joint portion normally.

However, the motor generates rotational force in the opposite direction immediately after rotating a certain angle, thereby generating a left and right rotational dielectric. Therefore, when the motor is rotated in the opposite direction, the second coupling 202 is torqued in the opposite direction to the first coupling 201 by the inertial force of the joint. When the torque applied in the opposite direction increases, as shown in FIG. 6 (B), the spring 204 while the second coupling 202 protrusion 202a is disengaged from the groove 201a of the first coupling 201a ) Is compressed, the rotational force is not transmitted, and frictional sliding occurs.

Subsequently, when the rotational force transmitted to the joint is blocked, the inertia force decreases, and when the first coupling 201 is rotated half a turn, the grooves 201a and the protrusions 202a coincide and are engaged by the spring 204 force. Becomes, and the rotational force is transmitted again. However, even in this case, if the torque in the opposite direction is large, the rotational force is not transmitted because the protrusion 202a does not rest on the groove 201a and passes through the groove. Afterwards, the rotational force is normally transmitted when the force applied by inserting the protrusions into the spring force and Hyo-Hopmu becomes smaller than the torque in the opposite direction.

After all, according to the present invention, after generating the rotational force in one direction, when generating the rotational force in the opposite direction, the torque generated by the inertia force is eliminated by slipping, and when the torque is subsequently reduced, the rotational force can be normally transmitted.

As described above, the joint portion cannot be rotated in the opposite direction during the time during which a slip occurs because the projection is displaced from the recess by the torque in the opposite direction at the time of the rotation direction change. Therefore, when the servo motor is controlled to rotate and move the joint from one side to the other, it is normally controlled by the forward-reverse driving time, but a lost time occurs.

In a way to solve this, the controller for driving the motor of the joint part of the robot fish sets a motor driving time required to rotate from the intermediate position of the reciprocating rotation angle to the left or right stop position, and the limit switch rotates in the intermediate position. At the time of detecting the detection signal, the motor driving time for rotating to the left or right stop position is reset to control the motor driving.

7 is an exemplary view for explaining a motor control method according to the present invention.

The motor is driven to generate propulsion while rotating the joints right and left to O2 to O2 in FIG. 8. This is usually controlled by setting the driving time to drive the motor in the forward and reverse directions, that is, the time to rotate from O1 to O2.

If a slip occurs by the first and second couplings 201 and 202 at a point in time after controlling the forward rotation after the forward rotation, the joint is not rotated in the opposite direction during the time during which the slip occurs, so that it is controlled at the same time If you do, you cannot rotate the joint to the desired angle.

In order to solve this, in the present invention, the sensor bar 207 is integrally formed on the second coupling 202, and the limit switch 208 is configured to detect the rotation intermediate point O ₀ of the joint by the sensor bar 207. Install it. Accordingly, irrespective of the occurrence of the slip, if the intermediate point of rotation of the limit switch 208 is detected, by driving the motor only for a time corresponding to the angle to proceed from the intermediate point (eg, the time corresponding to A or B), It is possible to control the rotation angle at an accurate left and right angle.

In addition, when the limit switch 208 detects an intermediate point, the driving speed may be controlled to reduce the inertia force. As a result, gear damage caused by high torque can be prevented.

In addition, since the propulsion speed of the robot fish is determined by the driving speed of the motor, when the intermediate point is detected and is driven only with a predetermined set time, it is controlled at the same speed, so the section is driven in proportion to the robot fish speed. Robot fish speed can be controlled by varying the time.

On the other hand, the robot fish according to the present invention further has a unique buoyancy control unit 400 as illustrated in FIGS. 8 and 9.

The buoyancy control unit 400 is an arc-shaped intake (INTAKE) 410 opened in the advancing direction of the robot fish, an impeller housing 412 assembled to the lower end of the intake 410, and the impeller housing 412 ), The impeller 414 and the impeller motor 416 embedded in the lower end of the impeller housing 412 and penetrated through the first segment 110 of the robot fish vertically and exposed to the bottom surface of the water introduction pipe 420 and a diffuser 430 assembled at an end of the water introduction pipe 420.

At this time, the intake 410 is formed to have a relatively larger diameter than the water introduction pipe 430 to increase the amount of water introduced during the diving of the robot fish to change the direction in the downward direction to reduce the time required to dive.

In addition, the impeller motor 416 may take the form of the sealing type first and second motors 212 and 222 as described above, but the motor shaft may be improved to a single shaft structure instead of two shafts.

In addition, the water introduction pipe 420 has a smaller diameter than the intake 410 in order to produce a water jet effect during water introduction and flow, but is preferably designed to be 1 cm or less.

In addition, as the diffuser 430 is enlarged and illustrated in FIG. 9, when the water introduced by the impeller 414 moves downward, a swirling flow occurs. When the swirling flow is released, the robot fish is in place. Can rotate.

In order to prevent this, a diffuser 430 may be installed, and the diffuser 430 may have a diffuser pipe 432 having a shape that can be assembled to fit the end shape of the water introduction pipe 420, and the diffuser pipe 432 It consists of a triangular projection (434) protruding at an angle in the opposite direction of the swirl flow at a predetermined interval along the inner diameter of.

Thus, when the swirling flow descends, the swirling flow hits the angled portion of the triangular projection 434 so that the swirling is canceled so that the robot fish can be suppressed from being rotated unnecessarily by switching to a straight stream as much as possible.

According to the buoyancy control, the impeller 414 rotates according to the control signal of the controller 300 to inhale water from the upper part of the robot fish through the intake 410 and discharge it downward through the water introduction pipe 420. Due to the change in the water flow at the top of the robot fish, the robot fish rises.

Conversely, when the impeller 414 is rotated in the reverse direction, the robot fish is lowered because water under the robot fish is introduced to the upper portion and then discharged through the intake 410.

The buoyancy control unit 400 may be used in combination with a conventional method of varying the height of the weight and a method using a ballast tank to enable fine and detailed buoyancy control.

That is, while using the weight weight method as the main buoyancy control function, the buoyancy control unit 400 described in the present invention may be used to provide a fine buoyancy control function, or the ballast tank method may be used as the main buoyancy control function. The buoyancy control unit 400 may be used in combination to provide a fine buoyancy control function, or all three may be used in combination.

Here, the weight method is installed in the height direction inside the first segment 110, a ball screw (not shown), a micro motor for rotating the ball screw under the control of the controller 300, a built-in ball screw The weight can be installed in a block form to adjust the height of the weight according to the direction of rotation of the miniature motor.

In addition, in the ballast tank method, when a ballast tank (not shown) and a pump (not shown) are installed inside the first segment 110, the operation of the pump is controlled according to the control signal of the controller 300. It may be in the form of controlling the buoyancy of the robot fish by filling the ballast tank with suction of water and discharging the water in the ballast tank when rising.

In addition, the robot fish according to an embodiment of the present invention minimizes bolt assembly so as to assemble only the necessary parts when assembling each segment in the longitudinal direction, as shown in the example of FIG. 10, double sealing structure and hook assembly structure It is configured to further increase the waterproofing ability by having.

For example, FIG. 10 is a view illustrating an excerpt of a boundary portion where segments are assembled when one robot fish is formed by assembling each segment separately and assembling each other in the longitudinal direction.

According to FIG. 10, when the assembled portion and the to-be-assembled portion of the segment are assembled, the o-ring 510 is formed on the assembly boundary 500 provided in the assembling portion, and a sealer 540 is applied to the width between the O-rings 510. By forming a hook 520 at a distance from the O-ring 510, and forming a hook-hanging part 530 on the counterpart to be assembled, when hooking each other, hook engagement occurs and at the same time double sealing is possible. Water resistance can be further increased.

At this time, the sealer 540 may be a marker.

Having this assembly structure, when tightening the existing bolts, bolt loosening occurs when the robot fish swims, resulting in poor sealing, and also requires detailed and detailed work such as increasing the number of bolts and tightening with a uniform torque. However, in the present invention, it is very convenient, close and excellent waterproof property can be secured simply by fitting, and above all, even when vibrations such as vibration occur when swimming a robot fish, bolt loosening does not occur and the hook is firmly fixed so that it is sealed. You will be able to maximize your sex.

In addition, in the present invention, even in the case of the fins described above, the gyro sensor, accelerometer, and geomagnetic sensor are connected to the controller 300, and these fins are controlled to be tilted from side to side or controlled to be tilted in the vertical direction through a miniature motor. It will be possible to easily achieve self-control that maintains the horizontal and vertical states.

In addition, as illustrated in FIG. 11, a memory unit (MOM) and a wireless communication unit (WIR) are connected to the controller 300. The memory unit (MOM) may include information collected by various sensors or programmed commands. At the same time, the storage part is a means for the controller 300 to access and input necessary information at any time, and the wireless communication unit (WIR) receives a signal for controlling the swimming of the robot fish while communicating wirelessly with a joystick-type remote controller or a control sensor. It is a means to do.

Of course, in addition to the wireless control method, it is also possible to pre-program the method in which the robot fish will swim and mount it as software, so that it can be configured to enable self-learning control without controlling it from the outside with a remote control.

In this case, the learning-type control may follow a machine learning technique, for example.

At this time, the machine learning technique is one of the machine learning algorithms that predicts the future by collecting and analyzing data by the computer itself, first learning the computer based on an algorithm, and then inputting new data to predict the results. It refers to a technique that analyzes a large amount of big data to judge future actions or possibilities.

When this technique is applied to the robot fish, the robot fish itself can learn the spatial information that it swims, learn the swimming pattern, that is, the obstacle information, the water temperature change according to the water depth, and so on.

In addition, as illustrated in FIGS. 11 and 12, a left sensor 340, a right sensor 350, a front sensor 360, and a bottom sensor 370 are further connected to the controller 300.

At this time, the left sensor 340 and the right sensor 350 are preferably installed on both sides of the mouth of the robot fish, such as detecting whether there is an obstacle or other robot fish in the front to avoid it. It can be a proximity sensor.

In this case, if the ultra-small CCD camera 380 to be described later is operated in parallel, the discrimination power can be further increased to increase the freedom of swimming.

In addition, the front sensor 360 is preferably installed directly under the phrase, and PSD (Position Sensing Device) is preferred.

The PSD sensor is a sensor that measures the distance using an infrared triangulation method. The infrared light emitting diode, lens, and one-dimensional CCD sensor are composed of one system, so that the distance from the phrase to the obstacle can be read immediately. The detected value of 360) is a reference data for determining the direction, speed, etc. when the controller 300 changes direction to avoid.

In addition, the lower sensor 370 is preferably installed on the lower surface of the fish at a distance from the front sensor 360, for example, it may be configured to detect the depth using an ultrasonic sensor.

Therefore, the information detected by these sensors is stored in real time in the memory unit (MOM), and the controller 300 controls the swimming of the robot fish by referring to these detection values.

In particular, the lower sensor 370 may be designed to measure the depth to the bottom surface of the aquarium, store it in a memory unit (MOM), and receive a depth capable of swimming according to a control signal of the controller 300.

That is, the controller 300 sets a maximum depth for diving to a certain depth by setting a maximum diving time when swimming, and also sets an ascent time to limit the range of activity from the maximum diving depth to a certain height. When the bottom is sensed by the bottom sensor 370, it is automatically designed to rise upwards when the bottom is detected, and then variously designed and set to maintain after rising up to a certain height to enable intensive swimming around the desired height in the aquarium. This is preferred.

Furthermore, the sound wave generator 390 may be further provided in the fish water, and is connected and controlled to the controller 300.

The sound wave generating unit 390 is for generating pulsation in front of the fish water so that the robot fish can avoid it when it is caught by an obstacle by periodically generating sound waves to generate pulsations.

This is to induce a change in the jamming state of the robot fish and to solve the jamming state by inducing a wave change around the robot fish by pulsation in the case of a simple jam or jam.

In addition, a booster pump 392 capable of rapid propulsion and a screw pump 394 capable of reverse propulsion may be provided in combination to overcome the swimming obstacle condition, and they are also controlled by the controller 300. .

Here, the booster pump 392 may be installed on the lower surface of the second segment 120, and boosted in accordance with the control signal of the controller 300 to push water rapidly and rapidly backwards, thereby causing the robot fish to instantly It is a means to make the body and tail shake very rapidly and to advance rapidly.

In this case, since it can be reproduced close to the swimming form of a real fish, the viewer becomes more and more focused and can faithfully perform the function as an ornamental fish.

In addition, the screw pump 394 may be installed on the lower surface of the first segment portion 392, it is possible to reverse propulsion to easily solve the failure state.

In this case, the difference between the force of the reverse propulsion injection and the force of waving the tail may be adjusted to control the reverse propulsion or stop or slow forward.

In addition, in the present invention, as illustrated in FIG. 13, the skin 600 may be covered with the outer surface of the robot fish.

Since robot fish have a large number of joints and the joints are operated in an exposed state, they often get caught in the joints due to obstacles such as various water plants or strings existing in the aquarium.

However, in the conventional case, there is no way to solve this, and it is necessary to manage the robot fish after the rescue, so a lot of inconvenience was caused in management.

Accordingly, in the present invention, the flexible skin 600 is composed of an outer skin, and the joint portion is sealed to prevent exposure, so that obstacles such as waterweeds and strings may not be caught in the joint in advance.

At this time, the skin 600 should not interfere with the movement of the joint.

To this end, in the present invention, as illustrated, the skin 600 has a first horizontal portion 610, a first inclined portion 620 extending inclined from the first horizontal portion 610, and the first inclined portion ( From 620, the inclined deformation part 630 which is stretched and deformed when swimming at a predetermined length while being inclined again, and the second inclined part 640 which is inclined elongated from the end of the inclined deformation part 630, and the second inclination It is composed of a second horizontal portion 650 horizontally extended from the portion 640, and this structure is configured to be continuously repeated.

Thus, as the front and rear ends are fixed, the inclined deformation unit 630 is stretched and deformed when the joint is bent, thereby cushioning the deformation of the skin 600 due to the joint bending, and the joint of the robot fish is smooth without being caught in a few seconds. You can swim.

In addition, an OLED may be further installed on the skin 600, and the color of the OLED may be changed according to a control signal of the controller 300 to realize color change over time, thereby realizing a chameleon robot fish.

In particular, the controller 300 may adjust the OLED so as to be able to produce a color suitable for it based on the image information captured by the CCD camera 380, and in some cases, it may be implemented to display an advertisement or a promotional phrase.

In this case, the color expression means installed on the skin 600 is not limited to OLED, and other expression means such as LED are also possible.

On the other hand, in the robot fish according to the present invention, the sub-joint portion 220 may be deformed in a cam-actuator manner as shown in FIG. 14.

According to FIG. 14, a cam disk 700 that is rotationally driven by a motor (not shown) may be installed inside the second segment 120, and an eccentric eccentric shaft ( One end of the camshaft 720 may be hinged to 710.

In addition, the other end of the camshaft 720 is fitted to the shaft housing 730 so as not to be separated, and is configured to be disengaged while being buffered by the shaft spring 790 inside the shaft housing 730 to form the camshaft 720. It can be configured to be adjustable in length.

In addition, the drive gear shaft 740 is screwed to the other end of the shaft housing 730, the drive gear 750 is integrally formed at the end of the drive gear shaft 740, and the drive gear 750 is The circle center is axially fixed to the gear base 760.

In addition, a driven gear 770 is rotatably fixed to the gear base 760, and the driven gear 770 is gear-coupled with the driving gear 750.

In addition, a driven gear shaft 780 is connected to the driven gear 770, and the driven gear shaft 780 extends into the third segment 130 and is fixed therein by a fixing member (not shown). Hinged.

Accordingly, when the cam disc 700 is rotated, while receiving the elastic force of the shaft spring 790, the cam shaft 720 rotates with the 폄 core 710 while moving in the shaft housing 730 while driving the gear ( 750), the eccentric shaft 710 is reciprocated within the eccentric angle range.

Accordingly, the driven gear 770 also flows in a corresponding manner, thereby allowing the robot fish to move smoothly by flowing the third segment 130 as if waving its tail.

Unlike the previous embodiment, this structure has an advantage in that the motor can automatically swing its tail by the cam-actuator structure even if the motor continues to rotate in only one direction.

In other words, the above-described embodiment may increase fatigue because the motor itself needs to generate torque while rotating in the normal direction, but the embodiment of FIG. 14 has an advantage of reducing fatigue as much.

As described above, the robot fish according to the present invention is capable of smooth swimming through various functions, thereby achieving a longer lifespan, and having excellent obstacle avoidance ability, and in particular, a rapid dive by controlling the controller 300 to enable rotational diving during diving. It is possible, and it is also possible to fine-tune buoyancy, providing fresh fun to visitors at a desired swimming height.

110: first segment
120: second segment
130: third segment
210: main joint
220: sub joint
300: controller

Claims (8)

In the fish-shaped body portion is divided into a plurality of segments, each segment is a robot fish configured to be rotated left and right by a motor drive of the joint;
The joint portion,
A disk-shaped first coupling 201 fixed to the motor shaft (MOT) and having a groove formed on its lower surface,
The second coupling 202 in the shape of a disk is formed on the upper surface of the protrusion that can be inserted or removed from the recess in the lower surface of the first coupling 202,
A power transmission shaft 203 protruding from a lower surface of the second coupling 202,
A spring 204 coupled to the power transmission shaft 203 to elastically support the second coupling 202 to the first coupling 201,
A bracket 205 for supporting the spring 204 and a joint coupling part 206 for fixing the lower portion of the power transmission shaft 203 drawn out below the bracket 205 to transmit rotational force are provided. Robot fish characterized in that it comprises.
The method according to claim 1,
A sensor bar 207 protruding from one side of the second coupling 202,
It is installed on the motor bracket, and includes a limit switch 208 for detecting a rotational midpoint by rotation of the sensor bar 207,
The limit switch 208 is a robot fish, characterized in that installed to detect the intermediate position of the left and right reciprocating rotation angle by motor rotation.
The method according to claim 1,
The controller for driving the joint motor of the robot fish,
Set the motor driving time required to rotate from the intermediate position of the reciprocating rotation angle to the left or right stop position,
When the limit switch detects the rotation intermediate position detection signal, the robot fish characterized in that to control the motor driving by resetting the motor driving time to rotate to the left or right stop position.
The method according to claim 1,
The robot fish body portion, the buoyancy control unit 400 is further installed,
The buoyancy control unit 400 is an arc-shaped intake (INTAKE) 410 opened in the advancing direction of the robot fish, an impeller housing 412 assembled to the lower end of the intake 410, and the impeller housing 412 ) Built in the impeller 414 and the impeller motor 416 and the impeller housing 412, the water introduction pipe which is assembled at the bottom of the impeller housing 412 and penetrates the first segment 110 of the robot fish up and down to expose the bottom surface. Robot fish, characterized in that consisting of a diffuser (430) assembled to the end of the (420), the water introduction pipe (420).
The method according to claim 4,
The diffuser 430 is a diffuser pipe 432 of a shape that can be fitted to fit the end shape of the water introduction pipe 420, and a predetermined distance along the inner diameter of the diffuser pipe 432 in the opposite direction to the swirl flow Robot fish characterized in that it consists of a triangular projection (434) protruding at an angle.
The method according to claim 1,
The entire body of the robot fish is covered with a flexible skin 600 and protected.
The skin 600 includes a first horizontal portion 610, a first inclined portion 620 extending inclined from the first horizontal portion 610, and a predetermined length inclined extension from the first inclined portion 620 again. As it is swimming, the inclined deformation part 630 which is elastically deformed during swimming, and the second inclined part 640 which is stepwise inclined from the end of the inclined deformation part 630, and horizontally extended from the second inclined part 640 It is made of a second horizontal portion 650, the robot meat characterized in that this structure is configured to be repeated continuously.
The method according to claim 6,
A robot fish characterized in that an OLED or an LED is further installed on the skin 600 and is connected to the controller 300 to implement colors differently according to a control signal, so that color changes over time.
The first segment part 110 including fish water and the second segment part 120 corresponding to a part of the body between the fish water and the mother and providing a reference point when swimming is rotated, and the mother segment Segmented into a third segment 130; The first segment part 110 and the second segment part 120 are hinged and fixed by the main joint part 210 so as to be rotatable with each other, and the second segment part 120 and the third segment part 130 ) Is in the robot fish which is hinged and fixed by the sub-joint part 220 and is assembled to be able to rotate with each other;
The main joint part 210 is rotationally driven by the first motor 212;
The sub-joint portion 220 is rotationally driven by the second motor 222;
A controller 300 for controlling driving and power supply of the first and second motors 212 and 222 is built in the first segment 110;
When the assembling portion and the to-be-assembled portion of the first, second and third segment portions 110, 120 and 130 are assembled, the O-ring 510 is formed on the assembly boundary 500 provided in the assembling portion, and the width between the O-rings 510 is The sealer 540 is applied, and the hook 520 is formed at a distance from the O-ring 510, and the hook engaging portion 530 is formed on the counterpart to be assembled, so as to fit into each other, the hooks are combined and double sealing is possible. Robot fish, characterized in that configured to.

Images