WO2023097770A1

WO2023097770A1 - Bionic fishtail and bionic robot fish

Info

Publication number: WO2023097770A1
Application number: PCT/CN2021/137827
Authority: WO
Inventors: 谢锋然; 董兵兵; 左启阳; 郑长镇; 徐耀辉; 何凯
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2021-12-01
Filing date: 2021-12-14
Publication date: 2023-06-08
Also published as: CN114212228A; CN114212228B

Abstract

The present application provides a bionic fishtail and a bionic robot fish. The bionic robot fish comprises a head, a fish body and a bionic fishtail, wherein the head is arranged at a head end of the fish body; the bionic fishtail is arranged at a tail end of the fish body; and the head is provided with a waterproof steering engine for driving the fish body and the bionic fishtail to swing periodically. The bionic fishtail comprises: a driving mechanism which is arranged at a tail end of a fish body and electrically connected to a waterproof steering engine; and a caudal fin, wherein the driving mechanism is connected to the caudal fin, and is used for driving the caudal fin to open so as to increase the stress area of the caudal fin in water, or for driving the caudal fin to close so as to reduce the stress area of the caudal fin in water. In the bionic fishtail of the present application, the shape of the caudal fin can be actively adjusted in one swing period of the bionic fishtail, such that the caudal fin has a large-angle opening and closing function in a swimming process, thereby improving the overall swimming speed of a bionic robot fish.

Description

Bionic fishtail and bionic robot fish

technical field

The present application relates to the technical field of underwater bionic robots, in particular to a bionic fish tail and a bionic robot fish.

Background technique

The bionic robot fish imitates the shape and movement mode of fish in order to achieve the characteristics of high-efficiency and fast fish movement, and get rid of the shortcomings of traditional propeller propeller underwater robots such as loud noise, low efficiency and high energy consumption. Hotspots of device research. The bionic robot fish can be divided into two categories according to the different propulsion parts: body and/or caudal fin (BCF) robot fish and central fin/pair fin propulsion model (Median and/or parried fin, MPF) robot fish. robot fish. Among them, the body/tail fin propulsion model robotic fish is more popular among developers due to its advantages of faster swimming speed and excellent maneuverability. Studies have shown that most of the driving force for bionic robot fish swimming is generated by the tail fin. The main function of the body swing is to drive the movement of the tail fin, and the driving force generated by the body itself is relatively small. Therefore, the optimization of the caudal fin has a crucial impact on the improvement of the overall swimming performance of the bionic robotic fish.

At present, bionic robot fish mainly adopt rigid or flexible passive tail fins, and focus on the influence of tail fin shape and stiffness on swimming performance. For example, Alexander Matta et al. studied the driving force of the square, oval, and half-moon-shaped caudal fins and found that the driving force generated by the half-moon-shaped caudal fin is the largest, followed by the oval-shaped caudal fin, and the square-shaped caudal fin has the smallest driving force. For another example, Zhong Yong et al. developed a bionic robotic fish based on a pull-wire mechanism. The bionic robotic fish is mainly composed of a fish body driven by a wire and a flexible caudal fin made of silica gel installed on the tail. In particular, they studied the stiffness design of the flexible tail fin to enhance its swimming performance.

technical problem

However, no matter the shape is optimized or the tail fin is designed with the best stiffness, it will generate both driving force and resistance during one swing cycle of the fish tail. The resulting resistance part will weaken the overall swimming performance of the robotic fish, but the tail fin at this stage still cannot cope well, resulting in a slow overall swimming speed of the bionic robotic fish.

technical solution

The present application provides a bionic fish tail and a bionic robot fish to solve the technical problem that the overall swimming speed of the bionic robot fish is relatively slow in the prior art.

In order to solve the above problems, in the first aspect, the technical solution provided by the embodiment of the present application is: a bionic fishtail, comprising:

Drive mechanism;

Tail fin, the driving mechanism is connected with the tail fin, and the driving mechanism is used to drive the tail fin to open to increase the stress area of the tail fin in the water or to drive the tail fin to shrink to reduce the pressure of the tail fin in the water. force bearing area.

According to the bionic fish tail provided by the embodiment of the present application, it includes a driving mechanism and a tail fin, the driving mechanism is connected with the tail fin, and the driving mechanism is used to drive the tail fin to expand to increase the force-bearing area of the tail fin in water or to drive the tail fin to shrink to reduce the tail fin. The force-bearing area in the water is such that when the bionic fish tail is in a swing cycle, the reaction force of the water to the bionic robotic fish is mainly the propulsion force. At this time, the caudal fin can be driven by the driving mechanism to maximize the force-bearing area of the caudal fin. , increase the driving force by opening the caudal fin, thereby increasing the swimming speed of the bionic robotic fish; when the reaction force of water to the bionic robotic fish is mainly resistance, the caudal fin can be driven by the driving mechanism to minimize the force-bearing area of the caudal fin, The resistance of the bionic robotic fish is reduced, thereby weakening the influence of external resistance on the swimming speed of the robotic fish. In this way, by actively adjusting the shape of the caudal fin, the caudal fin has a larger angle of opening and closing function during swimming, thereby improving the overall swimming speed of the bionic robotic fish.

In a possible design, the tail fin includes a plurality of fin bones and a flexible surface body, and several fin bones are respectively fixed at different positions of the flexible surface body to support the flexible surface body; the driving mechanism and at least part of the The fins are connected and used to drive at least part of the fins to move, so as to drive the flexible surface to expand or retract.

In a possible design, at least part of the fins can be driven by the driving mechanism to rotate respectively and expand or fold along a fan shape.

In a possible design, the bionic fishtail also includes a mounting frame, and the driving mechanism is mounted on the mounting frame;

The plurality of fins include fixed fins and at least two movable fins; the fixed fins are fixed at the middle of the flexible surface body and one end protrudes from the flexible surface body to be fixed on the mounting frame, each The movable fins are arranged symmetrically on opposite sides of the fixed fins, and one end of each movable fin protrudes from the flexible surface to connect with the driving mechanism, and the driving mechanism is used to drive each The movable fins are symmetrically expanded or folded symmetrically to both sides with the fixed fins as the center.

In a possible design, the fins have opposite first ends and second ends, the first ends of several fins are close to or connected to the driving mechanism, and the first ends of several fins are The connection at the two ends is V-shaped.

In a possible design, a side edge of the flexible surface body corresponding to the plurality of second ends is adapted to a shape of a connecting line of the plurality of second ends.

In a possible design, the driving mechanism includes a first motor and a plurality of gears in transmission connection with each other, and each of the movable fins is respectively coaxially connected with different gears.

In a possible design, the bionic fish tail includes at least two groups of movable fins, the movable fins include two movable fins arranged symmetrically with the fixed fins, at least two groups of movable fins The groups of movable fins are sequentially arranged on opposite sides of the fixed fins at intervals;

The drive mechanism includes at least two gear sets, one of which is connected to the output end of the first motor, and two adjacent sets of gear sets are directly connected or connected through a transmission assembly; the gear sets include Two mutually externally meshing gears; at least two groups of the movable fins are provided in one-to-one correspondence with at least two of the gears, and the two movable fins of each group of the movable fins are respectively connected to each group The two gears of the gear set are coaxially connected.

In a possible design, the bionic fish tail includes two groups of movable fins, which are respectively the first movable fin, the second movable fin, the third movable fin and the fourth movable fin. One movable fin is arranged symmetrically with the second movable fin, the third movable fin is symmetrically arranged with the fourth movable fin, and the first movable fin and the second movable fin are respectively arranged at the first movable fin The outer side of the third movable fin and the fourth movable fin;

The drive mechanism includes a first gear set, a transmission assembly and a second gear set; the first gear set is connected to the first motor, and the transmission assembly is connected to the first gear set and the second gear Between groups, the first gear set is used to drive the first movable fin bone and the second movable fin bone to rotate respectively, and the second gear set is used to drive the third movable fin bone and the fourth movable fin bone to rotate respectively. Movable fins rotate.

In a possible design, the first gear set includes a first gear and a second gear, the first gear is connected to the output end of the first motor, and the second gear is connected to the first gear External meshing connection, the rotation of the first gear and the second gear is opposite, the transmission ratio of the first gear and the second gear is 1; the first movable fin bone is the same as the first gear The second movable fin bone is coaxially connected with the second gear.

In a possible design, the second gear set includes a third gear and a fourth gear, the third gear is connected to the output end of the transmission assembly, and the fourth gear is meshed with the third gear , the rotation of the fourth gear is opposite to that of the third gear, and the transmission ratio between the third gear and the fourth gear is 1; the third movable fin bone is coaxially connected with the third gear, The fourth movable fin bone is coaxially connected with the fourth gear.

In a possible design, the transmission ratio of the first gear to the third gear is 3:2.

In a possible design, the transmission assembly includes a fifth gear, a sixth gear, and a seventh gear, the fifth gear is coaxially connected to the first gear, and the sixth gear is connected to the fifth gear The seventh gear is coaxially connected to the sixth gear, and the third gear is connected to the seventh gear by external meshing.

In a possible design, the bionic fish tail includes at least two groups of movable fins, the movable fins include two movable fins arranged symmetrically with the fixed fins, at least two groups of the movable fins The groups of movable fins are sequentially arranged on the opposite sides of the fixed fins at intervals;

The drive mechanism includes at least two second motors and at least two third gear sets, at least two third gear sets are respectively connected to the output ends of at least two second motors, and at least two of the third gear sets are respectively connected to the output ends of at least two second motors. The three gear sets are respectively used to drive at least two groups of movable fin bone groups to rotate.

In the second aspect, the present application also provides a bionic robot fish, which includes a head, a fish body and the above-mentioned bionic fish tail, the head is arranged at the head end of the fish body, the driving mechanism and the tail fin are arranged At the tail end of the fish body; the head is provided with a waterproof steering gear for driving the fish body, the driving mechanism and the tail fin to periodically swing, and the waterproof steering gear is electrically connected to the driving mechanism .

Beneficial effect

The bionic robot fish provided in the embodiment of the present application can actively adjust the shape of the tail fin through the setting of the above-mentioned bionic fish tail, so that the tail fin has a large-angle opening and closing function during swimming, thereby improving the overall stability of the bionic robot fish. swimming rate.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are For some embodiments of the present application, those skilled in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is the three-dimensional schematic view of the bionic robotic fish provided by the embodiment of the present application;

Fig. 2 is a schematic diagram of the opened state of the bionic fish tail of the bionic robotic fish provided by the embodiment of the present application;

Fig. 3 is a schematic diagram of the folded state of the bionic fish tail of the bionic robotic fish provided by the embodiment of the present application;

Fig. 4 is a schematic diagram of the connection of the first gear set, the transmission assembly and the second gear set provided by the embodiment of the present application;

Fig. 5 is a three-dimensional schematic diagram of the bionic fish tail and part of the fish body provided by the embodiment of the present application;

Fig. 6 is an enlarged schematic diagram of part A in Fig. 5;

Fig. 7 is a schematic side view of the bionic fish tail and part of the fish body provided by the embodiment of the present application;

Fig. 8 is an enlarged schematic diagram of part B in Fig. 7;

Fig. 9 is a schematic diagram of the reaction of the bionic robotic fish in Fig. 1 in one swing cycle in water.

Reference signs: 100, bionic fishtail; 10, driving mechanism; 11, first motor; 12, first gear set; 121, first gear; 122, second gear; 123, eighth gear; 13, transmission assembly ; 131, the fifth gear; 132, the sixth gear; 133, the seventh gear; 14, the second gear set; 141, the third gear; 142, the fourth gear; 15, the first shaft; 16, the second shaft; 17, the third shaft; 18, the fourth shaft; 19, the fifth shaft; 20, caudal fin; 21, fin bone; 211, fixed fin bone; 212, the first movable fin bone; 213, the second movable fin bone; 214 , the third movable fin; 215, the fourth movable fin; 22, the flexible surface; 30, the detection device; 40, the installation frame; 200, the fish body; 210, the waterproof steering gear; 300, the head.

Embodiments of the present invention

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined. In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it may be directly connected, or indirectly connected through an intermediary, and may be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In the present application, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

It should also be noted that, in the embodiment of the present application, the same component or the same component is represented by the same reference numeral, and for the same component in the embodiment of the present application, only one of the parts or components may be marked as an example in the figure It should be understood that, for other identical parts or components, the reference signs are also applicable.

In the first aspect, please refer to FIG. 1. The embodiment of the present application firstly provides a bionic robotic fish, specifically a bionic robotic fish in the body/tail fin propulsion mode, which has the advantages of fast swimming speed and excellent maneuverability.

The bionic robot fish includes a head 300 , a fish body 200 and a bionic fish tail 100 , the head 300 is connected to the head end of the fish body 200 , and the bionic fish tail 100 is connected to the tail end of the fish body 200 .

Wherein, the head 300 is provided with a sealed cabin inside, and the head 300 also includes electronic components such as a control board and a battery (not shown in the figure), the control board is electrically connected to the battery, and the control board and the battery are sealed and fixed in the sealed cabin.

The fish body 200 is connected to the head 300 through a waterproof steering gear 210, and can swing relative to the head 300, thereby driving the bionic fish tail 100 to swing periodically, realizing the bionic robotic fish swimming in water. The waterproof steering gear 210 is fixed on the head 300 through the fixing frame, the fish body 200 is fixed on the output shaft of the waterproof steering gear 210, and the waterproof steering gear 210 is electrically connected with the control board, so that the waterproof steering gear 210 can be controlled by the control board, thereby Drive the fish body 200 and the bionic fish tail 100 to swing in the water.

Taking the straight-swimming mode as an example, Fig. 9 shows the force situation of one swing cycle of the bionic fishtail 100. The bionic robotic fish swims to the left with a swimming speed of V; the bionic fishtail 100 swings upward within 0-1/4 cycle , the angle between the reaction force F of the water on the bionic robot fish and the swimming speed V is greater than 90 degrees, at this time the bionic fish tail 100 produces resistance; the bionic fish tail 100 swings downward in a 1/4-2/4 period , the angle between the reaction force F of the water on the bionic robot fish and the direction of the swimming speed V is less than 90 degrees, at this time the bionic fishtail 100 generates propulsion; the bionic fishtail 100 continues to Swinging down, the angle between the reaction force F of the water on the bionic robot fish and the swimming speed V is greater than 90 degrees, at this time the bionic fish tail 100 produces resistance; the bionic fish tail 100 is in the 3/4-4/4 Swinging upwards, the angle between the reaction force F of the water to the bionic robot fish and the swimming speed V is less than 90 degrees, and the bionic fish tail 100 generates propulsion at this time.

To sum up, when the bionic fishtail 100 is in the swing period of 0-1/4 and 2/4-3/4, it produces resistance, while the bionic fishtail 100 is in the swing period of 1/4-2/4 and 3/4- During 4/4 of the swing period, it generates propulsion. The resistance generated by the bionic fish tail 100 will reduce the overall swimming speed of the bionic fish.

In order to solve the above problems, please refer to FIG. 2 and FIG. 3 , the present application also provides a bionic fishtail 100 , which includes a driving mechanism 10 and a tail fin 20 . The driving mechanism 10 is installed on the fish body 200, and the driving mechanism 10 is connected with the tail fin 20. The driving mechanism 10 is used to drive the tail fin 20 to open to increase the stress area of the tail fin 20 in water or to drive the tail fin 20 to draw in to reduce the tail fin 20 in the water. Forced area in water.

The driving mechanism 10 is electrically connected to the waterproof steering gear 210, specifically, the driving mechanism 10 and the waterproof steering gear 210 are electrically connected to the control board, and the driving mechanism 10 is used to drive the opening of the tail fin 20 according to the driving situation of the waterproof steering gear 210. or collapse.

What needs to be explained here is that with reference to Fig. 2 and Fig. 3, and taking the swimming direction of the bionic robotic fish as the horizontal direction as the reference, the caudal fin 20 is mainly subjected to the force in the horizontal direction, so the opening of the caudal fin 20 refers to When the bionic robotic fish swims in the water, it opens vertically to increase the force bearing area of the tail fin 20 on the vertical plane. The retraction of the tail fin 20 refers to the retraction along the vertical direction, so as to reduce the stressed area of the tail fin 20 on the vertical plane. It can be understood that the above-mentioned vertical and horizontal directions are not absolute. For example, when the bionic robotic fish swims obliquely, the force direction and opening direction of the caudal fin 20 will also change correspondingly.

When the bionic fishtail 100 of the present application is swimming in water, when the bionic fishtail 100 is in the swing period of 0-1/4 and 2/4-3/4, the bionic fishtail 100 generates resistance, and the driving mechanism can 10 Drive the caudal fin 20 to minimize the force-bearing area of the caudal fin 20, so that the resistance of the bionic robotic fish is reduced, thereby weakening the influence of external resistance on the swimming speed of the robotic fish; and 3/4-4/4 of the swing cycle, the bionic fishtail 100 generates propulsion, at this time the caudal fin 20 can be driven by the driving mechanism 10 to maximize the force-bearing area of the caudal fin 20, and the driving force can be increased by opening the caudal fin 20. force, thereby improving the swimming speed of the bionic robotic fish; in this way, by actively adjusting the shape of the caudal fin 20, the caudal fin 20 has a large-angle opening and closing function during the swimming process, thereby improving the overall swimming of the bionic robotic fish. rate.

However, in the process of swimming in the bionic robot fish in the prior art, due to the lack of active adjustment to the shape of the tail fin 20, the shape and area of the tail fin 20 remain unchanged during the swimming process. , will generate both propulsion and resistance, thus affecting the overall swimming speed of the bionic robotic fish.

In one embodiment, the driving mechanism 10 can be electrically connected to the control board, so that the driving mechanism 10 can be controlled by the control board, and then the opening and closing of the caudal fin 20 can be realized. In other embodiments, a circuit board can also be directly arranged at the bionic fishtail 100 , the driving mechanism 10 is electrically connected to the circuit board, and the circuit board is electrically connected to the control board, so as to realize the control of the driving mechanism 10 .

Please refer to FIG. 2 and FIG. 3 , the bionic fishtail 100 includes a mounting frame 40 , the mounting frame 40 is mounted on the tail end of the fish body 200 , and the driving mechanism 10 is mounted on the mounting frame 40 .

In one embodiment, referring to FIG. 2 and FIG. 3 , the tail fin 20 includes several fin bones 21 and a flexible surface body 22, and several fin bones 21 are respectively fixed at different positions of the flexible surface body 22 to support the flexible surface body 22, such as passing through like a fan. Multiple fan rods support the fan surface. The driving mechanism 10 is connected to at least part of the fins 21 and used to drive at least part of the fins 21 to move, so as to drive the flexible surface 22 to expand or retract.

What needs to be explained here is that the driving mechanism 10 can drive each fin 21 to move, so as to expand or retract the flexible surface body 22; As a reference, the drive mechanism 10 drives other fins 21 to move, so as to drive the flexible surface 22 to open or close.

In the present application, the caudal fin 20 is composed of several fin bones 21 and flexible surface body 22, and the opening and closing of the flexible surface body 22 is realized through the activities of several fin bones 21, which can not only realize the opening and closing of the flexible surface body 22, In order to realize the opening or closing of the caudal fin 20, the structural strength of the flexible surface body 22 can also be increased through several fin bones 21. It can be understood that in other embodiments of the present application, the structure of the above-mentioned tail fin 20 can also be of other types, for example, the tail fin 20 can include several sequentially connected sheet structures, and several sheet structures can be folded sequentially to reduce the stress-bearing area , and several sheet structures can also be unfolded sequentially to increase the stress area; as another example, the tail fin 20 can also include a reel and a roll, and the face roll can be rolled around the roll to realize the opening or closing of the tail fin 20.

The flexible surface body 22 is a flexible surface body structure that can be opened or folded. In addition, the flexible surface body 22 needs to be waterproof and have a certain structural strength so that the flexible surface body 22 can work normally in water. For example, the flexible surface body 22 can be made of fabrics such as polyester cloth, Oxford cloth and canvas.

In one embodiment, please refer to FIG. 2 and FIG. 3 , at least part of the fins 21 can be driven by the driving mechanism 10 to rotate and expand or fold in a fan shape. Specifically, at least part of the fins 21 near the end of the fish body 200 is connected to the drive mechanism 10. When the drive mechanism 10 is driven, each fin 21 rotates respectively and spreads out in a fan shape, similar to the shape of a fish tail, so as to achieve a shape similar to a fish tail. Swimming effect in the water, and when retracted, the force-bearing area is small and the resistance is small. It can be understood that, in other embodiments of the present application, driven by the driving mechanism 10 , the fins 21 can also be deployed in parallel and retracted in parallel.

In one embodiment, please refer to FIG. 2 and FIG. 3 , several fins 21 include fixed fins 211 and at least two movable fins; the fixed fins 211 are fixed at the middle position of the flexible surface body 22 and one end protrudes from the flexible surface body 22 to be fixed on the installation frame 40 , and the other end of the fixed fin 211 protrudes in a direction away from the installation frame 40 . The movable fins are arranged symmetrically on opposite sides of the fixed fins 211, that is, the number of movable fins is an even number, such as two, four or six; one end of each movable fin protrudes from the flexible surface body 22 It is connected with the driving mechanism 10, and the driving mechanism 10 is used to drive the movable fins to expand symmetrically or fold symmetrically to both sides with the fixed fin 211 as the center. In the embodiment of the present application, the fixed fin 211 is fixed at the middle position, and each movable fin is symmetrically expanded or folded around the fixed fin 211, so that the unfolding and folding of the entire caudal fin 20 is stable and the unfolded shape Stable and symmetrically arranged at the same time, it is beneficial for the bionic fishtail 100 to swim in water. Understandably, in other embodiments of the present application, the fixed fins 211 may not be provided, and only four or six movable fins may be symmetrically opened or folded; or, according to actual design requirements, the The movable fins are arranged asymmetrically, which is not particularly limited here.

In one embodiment, please refer to FIG. 2 and FIG. 3 , the fins 21 have oppositely arranged first ends and second ends, and the first ends of several fins 21 are close to or connected to the driving mechanism 10 , for example, the fins 211 are fixed. The first end is installed on the mounting frame 40 and close to the driving mechanism 10 , and the first end of the movable fin is connected to the driving mechanism 10 . The connection line of the second ends of several fins 21 is V-shaped, specifically, the second ends of the fixed fins 211 are closest to the installation frame 40, and the distances from the second ends of the movable fins on both sides to the installation frame 40 are in order. Increase, so that the shape of the entire caudal fin is similar to that of a biological fish tail no matter when it is opened or retracted, so that the simulation effect of the artificial fish tail is better.

In addition, the side edge of the flexible surface body 22 corresponding to the plurality of second ends is adapted to the shape of the connection line of the plurality of second ends, that is, the corresponding side edge of the flexible surface body 22 is also V-shaped, and finally the shape of the tail end of the entire tail fin is V-shaped. type, resembling a fish tail.

During actual installation, most of the fins are located on the flexible surface body 22 , and only the first ends protrude from the flexible surface body 22 to be installed on the mounting frame 40 or the driving mechanism 10 .

In one embodiment, please refer to FIG. 4 to FIG. 8 , the driving mechanism 10 includes a first motor 11 and a plurality of gears, the plurality of gears are connected by transmission, and each movable fin is coaxially connected with different gears. That is to say, the same first motor 11 drives different gears to rotate, and then different gears drive different movable fins to rotate, so that the same first motor 11 can drive multiple movable fins to rotate, so as to Realize the expansion or retraction of caudal fin 20. Such a design can not only save the quantity and cost of the first motor 11, but also improve the consistency and coordination of the activities of the movable fins, so that the process of unfolding and retracting the caudal fin 20 is stable. It can be understood that in other embodiments of the present application, if conditions permit, multiple motors may be used to drive the rotation of different movable fins, or a rotary cylinder may be used to drive the rotation of the movable fins.

In one embodiment, the bionic fishtail 100 includes at least two groups of movable fins. The movable fins include two movable fins arranged symmetrically with the fixed fins 211. At least two groups of movable fins are sequentially arranged at intervals between the fixed The opposite sides of the fin bone 211; the drive mechanism 10 includes at least two gear sets, one of which is connected to the output end of the first motor 11, and the adjacent two sets of gear sets are directly connected or connected through a transmission assembly; the gear sets include Two gears that mesh with each other; at least two sets of movable fins are set in one-to-one correspondence with at least two gears, and the two movable fins of each set of movable fins are respectively coaxial with the two gears of each set of gears connect. In this way, one first motor 11 can be used to drive multiple groups of movable fin groups.

In a specific embodiment, the bionic fishtail 100 includes two groups of movable fins, namely the first movable fin 212, the second movable fin 213, the third movable fin 214 and the fourth movable fin 215, Wherein, the first movable fin 212 and the second movable fin 213 are arranged symmetrically on both sides of the fixed fin 211 respectively, and the third movable fin 214 and the fourth movable fin 215 are arranged symmetrically on both sides of the fixed fin 211 , and the first movable fin 212 and the second movable fin 213 are arranged outside the third movable fin 214 and the fourth movable fin 215 respectively. Understandably, in other embodiments of the present application, the number of movable fins may also be two, six or more than six, which is not limited here.

The driving mechanism 10 includes a first gear set 12 , a transmission assembly 13 and a second gear set 14 . The first gear set 12 is connected to the output end of the first motor 11, and the transmission assembly 13 is connected between the first gear set 12 and the second gear set 14, and the first gear set 12 is used to drive the first movable fin bone 212 and the second gear set 14. The two movable fins 213 rotate respectively, and the second gear set 14 is used to drive the third movable fin 214 and the fourth movable fin 215 to rotate. In this application, the first gear set 12 is connected to the second gear set 14 through the transmission assembly 13, so as to transmit the rotary motion output by the first motor 11 to the second gear set 14, so that the first motor 11 can not only drive the first The movable fin 212 and the second movable fin 213 rotate respectively, and can also drive the third movable fin 214 and the fourth movable fin 215 to rotate respectively, thereby ensuring that the first movable fin 212, the second movable fin 213, the fourth movable fin The rotation coordination between the three movable fins 214 and the fourth movable fins 215 . Understandably, when the bionic fishtail 100 only includes the first movable fin 212 and the second movable fin 213, only the first gear set 12 can be provided; in addition, when the bionic fishtail 100 includes the first movable In addition to the fin 212, the second movable fin 213, the third movable fin 214 and the fourth movable fin 215, the fifth movable fin and the sixth movable fin are also included, and even more movable fins can also be used. Several more transmission assemblies 13 are provided, so that the output of the first motor 11 can be transmitted sequentially. Of course, when the number of movable fins 21 is greater than four, it is recommended to use one more first motor 11 to drive, so as to reduce the complexity of the structure and also reduce the load of the first motor 11 .

In one embodiment, please refer to FIG. 4 and FIG. 6, the first gear set 12 includes a first gear 121 and a second gear 122, the first gear 121 is connected to the output end of the first motor 11, and the second gear 122 is connected to the second gear 122. A gear 121 is externally meshed, the rotation of the first gear 121 and the second gear 122 are opposite, the transmission ratio of the first gear 121 and the second gear 122 is 1, that is, the speed of the first gear 121 and the second gear 122 are the same . The first movable fin 212 is coaxially connected with the first gear 121, and the second movable fin 213 is coaxially connected with the second gear 122, so that the rotation direction of the first movable fin 212 and the second movable fin 213 are opposite, and the same rotation speed. For example, when the tail fin 20 is opened, the first movable fin bone 212 rotates clockwise, and the second movable fin bone 213 rotates counterclockwise synchronously, so that the flexible surface body 22 can be synchronously expanded to both sides; The movable fin 212 rotates counterclockwise, and the second movable fin 213 rotates clockwise synchronously, so that the flexible surface body 22 can be retracted synchronously to both sides. Understandably, in other embodiments of the present application, according to actual design requirements, the transmission ratio between the first gear 121 and the second gear 122 may not be set to 1, for example, the first movable fin 212 rotates faster, The rotation speed of the second movable fin 213 is slower, which is not limited here.

In addition, in order to convert the rotating speed output by the first motor 11 into the required rotating speed of the first movable fin 212 and the second movable fin 213, the output end of the first motor 11 is also connected with the rudder and the eighth gear 123, the eighth gear 123 is installed on the steering wheel, and the eighth gear 123 is externally engaged with the first gear 121.

4 and 8, the second gear set 14 includes a third gear 141 and a fourth gear 142, the third gear 141 is connected to the output end of the transmission assembly 13, the fourth gear 142 is engaged with the third gear 141, and the third gear 141 is connected to the output end of the transmission assembly 13. The four gears 142 are opposite to the steering of the third gear 141, and the transmission ratio of the third gear 141 and the fourth gear 142 is 1, that is, the third gear 141 and the fourth gear 142 move in reverse at the same speed; the third movable fin bone 214 is coaxially connected with the third gear 141 , and the fourth movable fin 215 is coaxially connected with the fourth gear 142 , so that the third movable fin 214 and the fourth movable fin 215 rotate in opposite directions and at the same rotational speed. For example, when the tail fin 20 is opened, the third movable fin bone 214 rotates clockwise, and the fourth movable fin bone 215 rotates counterclockwise synchronously, so that the flexible surface body 22 can be synchronously expanded to both sides; The movable fin 214 rotates counterclockwise, and the fourth movable fin 215 rotates clockwise synchronously, so that the flexible surface body 22 can be retracted synchronously to both sides. Understandably, in other embodiments of the present application, according to actual design requirements, the transmission ratio between the third gear 141 and the fourth gear 142 may not be set to 1, for example, the third movable fin 214 rotates faster, The fourth movable fin 215 rotates at a slower speed, which is not limited here.

In one embodiment, the transmission ratio between the first gear 121 and the third gear 141 is 3:2, that is, the rotation speed of the first gear 121 is 1.5 times of the rotation speed of the third gear 141, so that the first movable fin 212 and The rotating speed of the second movable fin 213 is 1.5 times of the rotating speed of the third movable fin 214 and the fourth movable fin 215, so that when the first motor 11 starts to start, the first movable fin 212 and the second movable fin 213 The third movable fin 214 and the fourth movable fin 215 can rotate to the inner side of the two sides at a relatively fast speed. It can be understood that, in other embodiments of the present application, the transmission ratio between the first gear 121 and the third gear 141 can also be 4:3, 5:4 or 6:5, etc., as long as it is greater than 1 can be.

Specifically, referring to Fig. 4, Fig. 6 and Fig. 8, the transmission assembly 13 includes a fifth gear 131, a sixth gear 132 and a seventh gear 133, the fifth gear 131 is coaxially connected with the first gear 121, and the sixth gear 132 It is externally engaged with the fifth gear 131, the seventh gear 133 is coaxially connected with the sixth gear 132, and the third gear 141 is externally engaged with the seventh gear 133. The transmission ratio between the fifth gear 131 and the sixth gear 132 is is 1, the transmission ratio of the sixth gear 132 and the seventh gear 133 is 1. In this application, through the arrangement of the fifth gear 131, the sixth gear 132 and the seventh gear 133, not only the rotation of the first gear 121 can be transmitted to the third gear 141, but also the rotation of the first gear 121 and the third gear 141 along the The axial and radial directions of a gear 121 are staggered, so as to facilitate the spatial arrangement of the first gear 121 to the seventh gear 133 , and further facilitate the distribution of fin ribs 21 on each gear. Understandably, in other embodiments of the present application, the transmission ratio between the fifth gear 131 and the sixth gear 132 may not be 1, and the transmission ratio between the sixth gear 132 and the seventh gear 133 may also be 1; In addition, according to the actual layout requirements, only the fifth gear 131 can be provided, or only the fifth gear 131 and the sixth gear 132 can be provided, or even the first gear 121 and the third gear 141 can be directly connected coaxially, which is not unique here. limited.

Please refer to FIG. 6 and FIG. 8 , the first rotating shaft 15 , the second rotating shaft 16 , the third rotating shaft 17 , the fourth rotating shaft 18 and the fifth rotating shaft 19 are rotated on the mounting bracket 40 . The first rotating shaft 15 is installed through the installation frame 40, the first gear 121 is fixedly arranged on one end of the first rotating shaft 15 and is located on one side of the installation frame 40, and the fifth gear 131 is fixedly arranged on the first rotating shaft 15 and is located on the first gear 121. Between the installation frame 40 , one end of the first movable fin 212 is mounted on the other end of the first rotating shaft 15 and located on the other side of the installation frame 40 . The second rotating shaft 16 is arranged through the mounting frame 40, the second gear 122 is fixedly arranged on one end of the second rotating shaft 16 and is positioned at one side of the mounting frame 40, and one end of the second movable fin 213 is installed on the other end of the second rotating shaft 16 and Located on the other side of the mounting bracket 40. The third rotating shaft 17 is arranged through the mounting frame 40, the sixth gear 132 is fixedly arranged on one end of the third rotating shaft 17 and is located on one side of the mounting frame 40, and the seventh gear 133 is fixedly arranged on the other end of the third rotating shaft 17 and is located on the mounting frame. The other side of 40. The fourth rotating shaft 18 is rotated on the other side of the mounting frame 40, the third gear 141 is installed on the fourth rotating shaft 18 and is located on the other side of the mounting frame 40, and the third movable fin 214 is installed on the fourth rotating shaft 18 and Located between the third gear 141 and the mounting bracket 40 . The fifth rotating shaft 19 is rotated on the other side of the mounting frame 40, the fourth gear 142 is installed on the fifth rotating shaft 19 and is located on the other side of the mounting frame 40, and the fourth movable fin 215 is installed on the fifth rotating shaft 19 and Located between the fourth gear 142 and the mounting bracket 40 . In the present application, the first gear 121, the second gear 122, the fifth gear 131 and the sixth gear 132 are arranged on one side of the installation frame 40, and the third gear 141, the fourth gear 142 and the seventh gear 133 are arranged on the On the other side of the mounting frame 40, in addition, the fixed fins 211, the first movable fins 212, the second movable fins 213, the third movable fins 214 and the fourth movable fins 215 are arranged on the other side of the mounting frame 40. One side, so that the layout of each structure of the bionic fishtail 100 is compact, occupying a small space, and the movement between the structures will not interfere, which is beneficial to the opening and closing of the bionic fishtail 100 .

In another embodiment of the present application, the bionic fish tail also includes at least two groups of movable fins. The movable fins include two movable fins arranged symmetrically with the fixed fins. At least two groups of movable fins are spaced sequentially. Located on opposite sides of the fixed fin. The drive mechanism 10 includes at least two second motors and at least two third gear sets, the at least two third gear sets are respectively connected to the output ends of the at least two second motors, and the at least two third gear sets are respectively used to drive At least two sets of movable fins rotate, so that the two second motors respectively drive at least two sets of movable fins to rotate, which can reduce the load of the second motor and the assembly accuracy of the third gear set.

Specifically, the third gear set includes two ninth gears that mesh externally with each other, and the transmission ratio of the two ninth gears is 1, and the two ninth gears are coaxially connected with two symmetrical movable fin bones respectively.

In one embodiment, please refer to Fig. 2, the bionic robotic fish also includes a detection device 30, the detection device 30 is used to detect the stress of the bionic robotic fish in water, so that the staff can understand the stress of the bionic robotic fish and analysis. In another embodiment of the present application, the detection device 30 may also be electrically connected to the driving mechanism 10 , and the driving mechanism 10 controls the opening or closing of the caudal fin 20 according to the feedback from the detection device 30 . For example, when the detection device 30 detects that the bionic robotic fish is under a large force, the drive mechanism 10 drives the tail fin 20 to shrink to reduce the resistance of the tail fin 20 in the water, so as to ensure that the bionic robotic fish swims smoothly in the water; when the detection device 30 detects When the force on the bionic robot fish is small, the driving mechanism 10 drives the tail fin 20 to open to increase the resistance of the tail fin 20 in the water; in addition, the opening range of the tail fin 20 can also be controlled according to the force of the tail fin 20 in the water . Wherein, the detection device 30 and the driving mechanism 10 can be electrically connected to the control board, and the detection device 30 will feed back the detected force of the tail fin 20 to the control board, and then use the control board to analyze and control the force of the tail fin 20 The driving mechanism 10 drives the tail fin 20 . Of course, a circuit board can also be provided at the bionic fishtail 100 , and both the detection device 30 and the drive mechanism 10 can be electrically connected to the circuit board, or even the detection device 30 can be electrically connected to the drive mechanism 10 directly.

The detecting device 30 may be a force sensor, a displacement sensor or an acceleration sensor, and judge the stress on the caudal fin 20 by the detected force, displacement or acceleration.

Please refer to Fig. 2, there can be two detection devices 30, and the two detection devices 30 are symmetrically installed on two pairs of sides of the fish body 200 respectively, specifically the opposite sides perpendicular to the direction of the opening plane of the caudal fin 20, so that The forces received by the tail fin 20 on opposite sides are respectively detected, and then the stress situation of the tail fin 20 is analyzed. It can be understood that, in other embodiments of the present application, according to the actual situation, the above-mentioned detection device 30 can also be installed in other places, such as installed on the tail fin 20, in addition, the number of detection devices 30 can also be 1 or 3 etc. are not specifically limited here.

The above is only a specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application. Should be covered within the protection scope of this application. Therefore, the protection scope of the present application should be determined by the protection scope of the claims.

Claims

A bionic fishtail is characterized in that it comprises:

Drive mechanism;

Tail fin, the driving mechanism is connected with the tail fin, and the driving mechanism is used to drive the tail fin to open to increase the stress area of the tail fin in the water or to drive the tail fin to shrink to reduce the pressure of the tail fin in the water. force bearing area.
The bionic fishtail according to claim 1, wherein the tail fin includes several fin bones and a flexible surface body, and several fin bones are respectively fixed at different positions of the flexible surface body to support the flexible surface body; The driving mechanism is connected to at least part of the fins and is used to drive at least part of the fins to move, so as to drive the flexible surface to expand or retract.
The bionic fishtail according to claim 2, characterized in that at least part of the fins can be driven by the driving mechanism to rotate respectively and expand or fold along a fan shape.
The bionic fishtail according to claim 2, wherein the bionic fishtail also includes a mounting frame, and the driving mechanism is mounted on the mounting frame;

The plurality of fins include fixed fins and at least two movable fins; the fixed fins are fixed at the middle of the flexible surface body and one end protrudes from the flexible surface body to be fixed on the mounting frame, each The movable fins are arranged symmetrically on opposite sides of the fixed fins, and one end of each movable fin protrudes from the flexible surface to connect with the driving mechanism, and the driving mechanism is used to drive each The movable fins are symmetrically expanded or folded symmetrically to both sides with the fixed fins as the center.
The bionic fishtail according to claim 3, wherein the fins have oppositely disposed first ends and second ends, and the first ends of several fins are close to or connected to the driving mechanism, The connecting line of the second ends of several fins is V-shaped.
The bionic fishtail according to claim 5, characterized in that, the side edge of the flexible surface corresponding to the plurality of second ends is adapted to the shape of the connecting line of the plurality of second ends.
The bionic fishtail according to claim 4, wherein the driving mechanism comprises a first motor and a plurality of gears connected to each other, and each of the movable fins is coaxially connected to different gears.
The bionic fishtail according to claim 7, characterized in that, the bionic fishtail includes at least two groups of movable fins, and the movable fins include two movable fins arranged symmetrically with the fixed fins. Fins, at least two groups of the movable fins are sequentially arranged on opposite sides of the fixed fins;

The drive mechanism includes at least two gear sets, one of which is connected to the output end of the first motor, and two adjacent sets of gear sets are directly connected or connected through a transmission assembly; the gear sets include Two mutually externally meshing gears; at least two groups of the movable fins are provided in one-to-one correspondence with at least two of the gears, and the two movable fins of each group of the movable fins are respectively connected to each group The two gears of the gear set are coaxially connected.
The bionic fishtail according to claim 8, characterized in that, the bionic fishtail comprises two groups of movable fins, which are respectively the first movable fin, the second movable fin, the third movable fin and the fourth movable fin. Movable fins, the first movable fin and the second movable fin are arranged symmetrically, the third movable fin is symmetrically arranged with the fourth movable fin, and the first movable fin is arranged symmetrically with the second movable fin The bones are respectively arranged on the outside of the third movable fin bone and the fourth movable fin bone;

The drive mechanism includes a first gear set, a transmission assembly and a second gear set; the first gear set is connected to the first motor, and the transmission assembly is connected to the first gear set and the second gear Between groups, the first gear set is used to drive the first movable fin bone and the second movable fin bone to rotate respectively, and the second gear set is used to drive the third movable fin bone and the fourth movable fin bone to rotate respectively. Movable fins rotate.
The bionic fishtail according to claim 9, wherein the first gear set includes a first gear and a second gear, the first gear is connected to the output end of the first motor, and the second The gear is externally meshed with the first gear, the rotation of the first gear is opposite to that of the second gear, and the transmission ratio between the first gear and the second gear is 1; the first movable fin bone It is coaxially connected with the first gear, and the second movable fin is coaxially connected with the second gear.
The bionic fishtail according to claim 10, wherein the second gear set includes a third gear and a fourth gear, the third gear is connected to the output end of the transmission assembly, and the fourth gear Mesh connection with the third gear, the rotation of the fourth gear is opposite to that of the third gear, the transmission ratio between the third gear and the fourth gear is 1; the third movable fin bone is connected to the third gear The third gear is coaxially connected, and the fourth movable fin is coaxially connected with the fourth gear.
The bionic fishtail according to claim 11, wherein the transmission ratio between the first gear and the third gear is 3:2.
The bionic fishtail according to claim 12, wherein the transmission assembly includes a fifth gear, a sixth gear and a seventh gear, the fifth gear is coaxially connected with the first gear, and the second gear is coaxially connected with the first gear. The sixth gear is externally meshed with the fifth gear, the seventh gear is coaxially connected with the sixth gear, and the third gear is externally meshed with the seventh gear.
The bionic fishtail according to claim 4, characterized in that, the bionic fishtail includes at least two groups of movable fins, and the movable fins include two movable fins arranged symmetrically with the fixed fins. Fins, at least two groups of the movable fins are sequentially arranged on opposite sides of the fixed fins;

The drive mechanism includes at least two second motors and at least two third gear sets, at least two third gear sets are respectively connected to the output ends of at least two second motors, and at least two of the third gear sets are respectively connected to the output ends of at least two second motors. The three gear sets are respectively used to drive at least two groups of movable fin bone groups to rotate.
The bionic robot fish is characterized in that it comprises a head, a fish body and the bionic fish tail according to any one of claims 1 to 14, the head is arranged at the head end of the fish body, the drive mechanism and The tail fin is arranged at the tail end of the fish body; the head is provided with a waterproof steering gear for driving the fish body, the driving mechanism and the tail fin to periodically swing, and the waterproof steering gear is connected to the fish body. The drive mechanism is electrically connected.