CN100386243C - Waving bionic robot fish - Google Patents
Waving bionic robot fish Download PDFInfo
- Publication number
- CN100386243C CN100386243C CNB2006100517850A CN200610051785A CN100386243C CN 100386243 C CN100386243 C CN 100386243C CN B2006100517850 A CNB2006100517850 A CN B2006100517850A CN 200610051785 A CN200610051785 A CN 200610051785A CN 100386243 C CN100386243 C CN 100386243C
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- CN
- China
- Prior art keywords
- waving
- machine fish
- housing
- seal cover
- cover cap
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 39
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 16
- 239000004744 fabric Substances 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000007789 sealing Methods 0.000 abstract description 3
- 239000000463 material Substances 0.000 abstract description 2
- 210000004690 animal fin Anatomy 0.000 abstract 2
- 230000007246 mechanism Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 241001397306 Proales Species 0.000 description 1
- 241000238371 Sepiidae Species 0.000 description 1
- 230000003042 antagnostic effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Abstract
The present invention relates to waving bionic machine fish which comprises a machine fish body which is composed of a cylindrical shell body, two sealing covers and machine fish fin fixing members. Two steering engines for driving, a control circuit board and batteries are arranged in the cylindrical shell body of the machine fish body. The left side and the right side of the machine fish body are connected with two machine fish waving fins which are made from flexible materials by the machine fish fin fixing members. Two rods in the position of a front sealing cover of the cylindrical shell body are connected to the steering engines for driving. The two rods become vibration sources of the machine fish waving fins by the swing movement of the steering engines. The vibration of the vibration sources is backwards transferred by the machine fish flexible waving fins to form travelling wave which pushes the machine fish to advance. The present invention has a simple and portable structure. The fin waving movement mode of bionic fish has the characteristics of motorization, flexibility and low noise.
Description
Technical field
The present invention relates to Waving bionic robot fish, is the machine fish of the surge movement of no ray lateral fins such as a kind of bionical cuttlefish, sting ray specifically.
Background technology
The domestic and international at present research to the machine fish mainly concentrates in the bionical realization of tail fin, long dorsal fin, the mechanism that machine fish body and fin produce ripple is formed by a plurality of swinging gear, each point of robot fish movement waveform is to be formed by this a series of mechanism, these mechanisms are all complicated, perhaps mechanism controls is cumbersome, and power operated alerting ability is not enough, the turning performance deficiency.
Summary of the invention
The Waving bionic robot fish that the purpose of this invention is to provide a kind of simple and light, maneuverability.
Waving bionic robot fish of the present invention comprises by circular cylindrical shell, back seal cover cap, the machine fish body that preceding seal cover cap is formed, two ends at housing are fixed with anchor ear respectively, at the housing internal fixation two steering wheels are arranged, circuit card and supplying cell group, preceding seal cover cap has two axial step holes, two stepped holes are passed through in two rotating shafts respectively, and it is fastening with the bearing cone that places the stepped hole macropore, the seal cover cap end links to each other with vibration source connecting rod perpendicular to the housing axis respectively before the stretching out of two rotating shafts, the other end of two rotating shafts respectively with housing in steering wheel the axle link to each other, the control signal wire of steering wheel and power lead link to each other with circuit card, two fluctuation fin symmetries are positioned at the housing both sides, the forward edge of fluctuation fin links to each other with the vibration source connecting rod, the inside edge of fluctuation fin is fixed with connecting strap, and the two ends of connecting strap are fixed with the anchor ear at housing two ends respectively.
During work, steering wheel produces hunting motion, drive the vibration source connecting rod by rotating shaft and also do swing, front end the machine fish forms vibration source, because the fluctuation fin that flexible material is made can carry out transmission of vibration, thereby on the fluctuation fin, form amplitude from the fluctuation fin outer ledge three-dimensional row ripple that transmits backward that reduces gradually of edge (in water because the easier formation of the capable ripple of shock damping action of water) to the inside, produce the proal thrust of machine fish thereby water produces antagonistic force to this journey ripple.When two steering wheels were swung synchronously, the machine fish travelled forward, and when having only a steering wheel swing, the machine fish has only a side that propulsive force is arranged, and the moment that rotates realizes left-hand rotation or the right-hand rotation of machine fish.
Waving bionic robot fish of the present invention is simple in structure, quality is light, cheap, control also simply, and be easy to realize miniaturization.The fin surge movement of the bionical fish of this Waving bionic robot fish has been carried out bionically on structure and motion principle, the motions by two fluctuation fins about control machine fish can realize advancing easily, about turn, improve the maneuverability of machine fish.This Waving bionic robot fish can be used for underwater exploration operations such as underwater exploration, measurement, also can be used for military aspect, carries out underwater reconnaissance and counterreconnaissance etc.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is the A-A direction view of Fig. 1
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to accompanying drawing 1 and Fig. 2, Waving bionic robot fish comprises the machine fish body of being made up of circular cylindrical shell 7, back seal cover cap 5, preceding seal cover cap 4, is fixed with anchor ear 8 respectively at the two ends of housing, and in the legend, anchor ear 8 is made of two semicircular ring; Forward and backward seal cover cap circumferentially be respectively equipped with O RunddichtringO 13, be used for the sealing of machine fish chamber body.At housing 7 internal fixation two steering wheels 3, circuit card 1 and supplying cell group 11 are arranged, preceding seal cover cap 4 has two axial step holes, two stepped holes are passed through in two rotating shafts 2 respectively, and it is fastening with the inner ring of the bearing 6 that places the stepped hole macropore, also be provided with O RunddichtringO 14 with two contacted positions of rotating shaft in preceding seal cover cap 4, what the O RunddichtringO here played is the effect of rotary dynamic seal.Seal cover cap 4 ends link to each other with vibration source connecting rod 12 perpendicular to the housing axis respectively before the stretching out of two rotating shafts 2, the vibration source connecting rod can be laminar plate, the other end of two rotating shafts 2 respectively with housing in steering wheel 3 the axle link to each other, like this when steering wheel is swung, the vibration source connecting rod is also along with steering wheel is done swing with angular range.The control signal wire of steering wheel 3 and power lead link to each other with circuit card 1, two flexible fluctuation fin 10 symmetries are positioned at the housing both sides, the forward edge of fluctuation fin 10 links to each other with vibration source connecting rod 12, and the inside edge of fluctuation fin 10 is fixed with connecting strap 9, and the two ends of connecting strap 9 are fixing with the anchor ear 8 at housing two ends respectively.For increasing the amplitude of capable ripple, can make the length of the length of flexible fluctuation fin greater than connecting strap 9, flexible fluctuation fin 10 can be made by plastic cloth or thin rubber cloth.
Claims (5)
1. Waving bionic robot fish, it is characterized in that it comprises by circular cylindrical shell (7), back seal cover cap (5), the machine fish body that preceding seal cover cap (4) is formed, be fixed with anchor ear (8) respectively at the two ends of housing, at housing (7) internal fixation two steering wheels (3) are arranged, circuit card (1) and supplying cell group (11), preceding seal cover cap (4) has two axial step holes, two stepped holes are passed through in two rotating shafts (2) respectively, and it is fastening with the inner ring of the bearing that places the stepped hole macropore (6), preceding seal cover cap (4) end of stretching out of two rotating shafts (2) links to each other with vibration source connecting rod (12) perpendicular to the housing axis respectively, the other end of two rotating shafts (2) respectively with housing in steering wheel (3) the axle link to each other, the control signal wire of steering wheel (3) and power lead link to each other with circuit card (1), two flexible fluctuation fin (10) symmetries are positioned at the housing both sides, the forward edge of flexible fluctuation fin (10) links to each other with vibration source connecting rod (12), the inside edge of flexible fluctuation fin (10) is fixed with connecting strap (9), and the two ends of connecting strap (9) are fixing with the anchor ear (8) at housing two ends respectively.
2. Waving bionic robot fish according to claim 1 is characterized in that anchor ear (8) is made of two semicircular ring.
3. Waving bionic robot fish according to claim 1, what it is characterized in that back seal cover cap (5) and preceding seal cover cap (4) circumferentially is respectively equipped with O RunddichtringO (13).
4. Waving bionic robot fish according to claim 1 is characterized in that flexible fluctuation fin (10) is plastic cloth or thin rubber cloth.
5. Waving bionic robot fish according to claim 1 is characterized in that the length of the length of flexible fluctuation fin greater than connecting strap (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100517850A CN100386243C (en) | 2006-06-02 | 2006-06-02 | Waving bionic robot fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100517850A CN100386243C (en) | 2006-06-02 | 2006-06-02 | Waving bionic robot fish |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1876488A CN1876488A (en) | 2006-12-13 |
| CN100386243C true CN100386243C (en) | 2008-05-07 |
Family
ID=37509097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100517850A Expired - Fee Related CN100386243C (en) | 2006-06-02 | 2006-06-02 | Waving bionic robot fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100386243C (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213665B (en) * | 2013-05-09 | 2015-08-19 | 中国科学院自动化研究所 | A kind of biomimetic long-fin undulatory propulsion robotic fish |
| CN106741776B (en) * | 2017-01-25 | 2018-08-21 | 中国科学技术大学 | A kind of Bionic impeller of flexible tubular fluctuation |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10250686A (en) * | 1997-03-17 | 1998-09-22 | Tech Res & Dev Inst Of Japan Def Agency | Flapping type propelling apparatus of internal drive system |
| JP2005247077A (en) * | 2004-03-03 | 2005-09-15 | Ko Yamaguchi | Water-jet-fin propelling system |
| CN1676419A (en) * | 2005-04-12 | 2005-10-05 | 北京大学 | Small-sized bionic machine fish |
| CN1743044A (en) * | 2005-10-14 | 2006-03-08 | 哈尔滨工业大学 | Deep-water submersible biorobot of cuttlefish imitation type mollush |
| CN2905655Y (en) * | 2006-06-02 | 2007-05-30 | 浙江大学 | Wavy bionic robot fish |
-
2006
- 2006-06-02 CN CNB2006100517850A patent/CN100386243C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10250686A (en) * | 1997-03-17 | 1998-09-22 | Tech Res & Dev Inst Of Japan Def Agency | Flapping type propelling apparatus of internal drive system |
| JP2005247077A (en) * | 2004-03-03 | 2005-09-15 | Ko Yamaguchi | Water-jet-fin propelling system |
| CN1676419A (en) * | 2005-04-12 | 2005-10-05 | 北京大学 | Small-sized bionic machine fish |
| CN1743044A (en) * | 2005-10-14 | 2006-03-08 | 哈尔滨工业大学 | Deep-water submersible biorobot of cuttlefish imitation type mollush |
| CN2905655Y (en) * | 2006-06-02 | 2007-05-30 | 浙江大学 | Wavy bionic robot fish |
Non-Patent Citations (2)
| Title |
|---|
| 仿生水下机器人研究现状及其发展趋势. 曾妮，杭观荣，曹国辉，王振龙.机械工程师，第4期. 2006 |
| 仿生水下机器人研究现状及其发展趋势. 曾妮，杭观荣，曹国辉，王振龙.机械工程师，第4期. 2006 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1876488A (en) | 2006-12-13 |
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080507 Termination date: 20100602 |