CN102039994B - Bionic ribbonfish for exploration - Google Patents
Bionic ribbonfish for exploration Download PDFInfo
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- CN102039994B CN102039994B CN 201010526656 CN201010526656A CN102039994B CN 102039994 B CN102039994 B CN 102039994B CN 201010526656 CN201010526656 CN 201010526656 CN 201010526656 A CN201010526656 A CN 201010526656A CN 102039994 B CN102039994 B CN 102039994B
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- tail fin
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Abstract
The invention relates to a bionic ribbonfish for exploration, which can effectively solve the problems of larger internal space, secondary development suitability and small environmental disturbance. The invention adopts the technical scheme that the bionic ribbonfish comprises a cavity formed from an upper shell and a lower shell, and the back part of the cavity is provided with a tail fin driving device; the tail fin driving device is connected with a tail fin at the tail part of the cavity and is used for driving the tail fin, the tail fin and the tail part of the cavity are connected by adopting a sealed hose, and the sealed hose is beneficial for the tail fin to swing and prevents water from entering the cavity; the bottom part of the lower shell is provided with a ventral fin, a ventral fin driving device for driving the ventral fin is installed in the lower shell, and the front lower part of the lower shell is provided with a digital camera; and the upper part of the upper shell is provided with a waterproof switch, a charging plug and a communication antenna. The invention has the advantages of novel and unique structure, large internal space, high stability and great economical and social benefits, is easy to operate and control, has small disturbance to the environment and can be effectively applied to the fields of underwater resource exploration, assistance and salvage at sea and the like.
Description
Technical field
The present invention relates to a kind of machine fish, a kind of Bionic ribbonfish for exploration (claiming again the machine hairtail) that particularly drives about the crankshaft structure abdomeinal fin.
Background technology
The face area of earth surface 2/3 is covered by water, and the depths of the length and breadth of land is containing and enriches mineral resources.But human exploration for Underwater resources is scarcely out of swaddling-clothes, a little less than the understanding relative thin to the depths, ocean.The benthos circumstance complication is changeable, and inclement condition has brought numerous difficulties for the human ocean of exploring.Under-water robot will be given the human development ocean as a kind of high-tech exploration means, and exploring under water, the world brings huge help.Under-water robot is observed at the deep-sea, explore in the seabed, submarine pipeline is monitored and the application of military aspect increases day by day.Compare with traditional screw propeller underwater propeller, the fish locomotion mode has the advantages such as noise is little, maneuverability, high propulsion coefficient, becomes the bionical object that scientist in recent years develops underwater bionic robot.
The machine fish that the nineties in 20th century occurred the imitation fish locomotion.From the bionical tuna of article one in 1994 so far, the following dual mode of the many employings of the mode of motion of bionic machine fish: 1. the swing of health and tail fin produces the mode of thrust; 2. the swing of pectoral fin and tail fin produces the mode of thrust.For the first mode of motion, although kinematic velocity is fast, efficient is high,, because somagenic need swings, it is less that inside arranges the space of multiple sensors, is not suitable for the installation of multi-object detector.For the second mode of motion, two pectoral fins need to drive separately, and the volume that the actuating device volume takies sealed module is larger, has also limited the loading of sensing equipment.The machine fish of these two kinds of mode of motion, when the more area of algae was movable off shore, environmental perturbation was larger, and was twined actuating device by algae easily.
When hairtail moves about in water, only rely on the fluctuation of abdomeinal fin just can realize hairtail flexible motion under water, and health keep spasticity in motion process.If under-water robot can be realized the motion characteristics of hairtail, just can overcome the drawback of the mode of motion of above two kinds of under-water robots.So how realize?
Summary of the invention
For above-mentioned situation, the purpose of this invention is to provide a kind of Bionic ribbonfish for exploration, it is larger effectively to solve the inner space, is fit to secondary development, the problem that environmental perturbation is little.
For achieving the above object, the present invention takes following technical scheme: comprise the cavity that is made of upper shell and lower house, the cavity rear portion is provided with the tail fin actuating device, the tail fin actuating device links to each other with the tail fin at tail of cavity body (rear portion), be used for driving tail fin, tail fin adopts seal tube to be connected with tail of cavity body, being beneficial to tail fin swings, and anti-sealing enters in the cavity, lower house has abdomeinal fin outside the bottom, lower house inside has is equipped with the abdomeinal fin actuating device that drives abdomeinal fin, and digital camera is equipped with in the front bottom of lower house, and water proof switch is arranged at upper shell top, charging plug and communication antenna; Said tail fin actuating device comprises steering wheel, steering wheel rear axle, U-shaped, steering wheel, steering wheel fixed mount, steering wheel is contained in the steering wheel fixed mount, the steering wheel rear axle is installed at the steering wheel rear portion, the steering wheel rear axle stretches out the steering wheel fixed mount, on steering wheel rear axle external part and the steering wheel main shaft steering wheel is housed, U-shaped links with steering wheel, and U-shaped links through tail fin fixed mount and tail fin, and the steering wheel fixed mount is contained on the bent axle support afterbody (rear portion) of abdomeinal fin actuating device; Said abdomeinal fin actuating device comprises bent axle, the bent axle support, motor, coupler, the bent axle FE Tiler, rocking bar, feed rod and cover plate, bent axle places on the interior bent axle bearing of bent axle support, the bent axle FE Tiler that is fixed on the bent axle support is arranged on the bent axle, bent axle is through (left side in such as Fig. 3) in coupler and the bent axle support outside, the motor that is used for driving crank links, motor links with supply unit in the cavity, cover plate is arranged at bent axle support top, the communication control unit that links with communication antenna is equipped with on cover plate top, rocking bar evenly is contained on the feed rod, feed rod is contained in the base apertures of bent axle support, the U-shaped head on rocking bar top is contained on the crank throw uniform on the bent axle, rocking bar stretches out the movable span (opening) of bent axle frame bottom, links with abdomeinal fin.
Novel structure of the present invention is unique, and the inner space is large, easy operation control, and stability is high, and is little to the disturbance of environment, can be effective to the fields such as Underwater resources detection, marine salvage, and economic and social benefit is huge.
Description of drawings
Fig. 1 is integral structure scheme drawing of the present invention.
Fig. 2 is the structural representation that partly cuts open of the present invention.
Fig. 3 is abdomeinal fin driving device structure decomposing schematic representation of the present invention.
Fig. 4 is tail fin driving device structure decomposing schematic representation of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in detail.
Such as Fig. 1～shown in Figure 4, the present invention includes the cavity that upper shell and lower house consist of, the cavity rear portion is provided with the tail fin actuating device, the tail fin actuating device links to each other with the tail fin 9 of tail of cavity body (rear portion), be used for driving tail fin, tail fin adopts seal tube 5 to be connected with tail of cavity body, being beneficial to tail fin swings, and anti-sealing enters in the cavity, lower house has abdomeinal fin 7 outside 6 bottoms, lower house inside has is equipped with the abdomeinal fin actuating device that drives abdomeinal fin, and digital camera 10 is equipped with in the front bottom of lower house, and water proof switch 3, charging plug 2 and communication antenna 1 are arranged at upper shell 4 tops; Said tail fin actuating device (as shown in Figure 4), include steering wheel 19 (commercially available prod, contain the TowerPro MG995 steering wheel of the production of company such as brightness), steering wheel rear axle 25, U-shaped 21, steering wheel 24, steering wheel fixed mount 18, steering wheel is contained in the steering wheel fixed mount, there is the steering wheel rear axle at the steering wheel rear portion, the steering wheel rear axle stretches out the steering wheel fixed mount, on steering wheel rear axle external part and the steering wheel main shaft 30 steering wheel 24 is housed, link with steering wheel for U-shaped 21, U-shaped links through tail fin fixed mount 22 and tail fin, and the steering wheel fixed mount is contained on the bent axle support afterbody (rear portion) of abdomeinal fin actuating device; Said abdomeinal fin actuating device (as shown in Figure 3), include bent axle 14, bent axle support 16, motor 13, coupler 15, bent axle FE Tiler 17, rocking bar 8, feed rod 20 and cover plate 23, bent axle places on the interior bent axle bearing 27 of bent axle support, the bent axle FE Tiler that is fixed on the bent axle support is arranged on the bent axle, bent axle is through (left side in such as Fig. 3) in coupler and the bent axle support outside, the motor that is used for driving crank links, motor links with the supply unit 11 in the cavity, cover plate 23 is arranged at bent axle support top, the communication control unit 12 that links with communication antenna is equipped with on cover plate top, rocking bar evenly is contained on the feed rod, feed rod is contained in the base apertures 29 of bent axle support, U-shaped 26 of rocking bar top is contained on the crank throw uniform on the bent axle 28, and rocking bar stretches out the movable span (opening) of bent axle frame bottom, links with abdomeinal fin.
In order to guarantee result of use, supply unit 11 in the said cavity is chargeable battery pack or storage battery etc., supply unit links with charging plug 2, motor 13 links with water proof switch 3, communication control unit 12 links with communication antenna 1, and the equal water-tight of communication antenna, water proof switch and charging plug is contained in the top of upper shell.
Convenient for maintenance and use, said U-shaped 21 is fastened on two steering wheels 24 through screw, and steering wheel 24 is fixed on the steering wheel rear axle 25 through screw, and the steering wheel fixed mount is fixed on the bent axle support afterbody of tail fin actuating device through screw bolt and nut.Said tail fin 9 is fixed on by screw that (tail fin fixed mount 22 is made of four supporters, and as shown in Figure 4), the tail fin fixed mount is fixed on U-shaped by screw bolt and nut on the tail fin fixed mount 22; Said rocking bar has eight, and well-distributed and eight crank throws 28 that rocking bar is corresponding are housed on the bent axle 14; Said motor 13 is high pulling torque DC low-speed motor, outputs power to bent axle by coupler, and cover plate 23 is contained on the bent axle support 16 by bolt; Said rocking bar 8 ends pass the opening part of the bottom of lower house 6, are pasted by water proof glue to be fixed on abdomeinal fin; Said upper shell and lower house are made by transparent organic glass, and bent axle support, bent axle FE Tiler, cover plate, U-shaped, steering wheel, steering wheel rear axle, steering wheel fixed mount and tail fin fixed mount adopt the light aluminum alloy material to make; Rocking bar, feed rod, bent axle adopt 45 steel to make; Coupler adopts bronze material to make; Abdomeinal fin adopts the water proof rubber film to make; Tail fin adopts rigid plastic to make, and the seal tube of fish tail adopts the soft rubber sleeve pipe to make.
The steering wheel rear axle is fixed on the steering wheel fixed mount, with steering wheel main shaft 30 same axis.
The present invention is when underwater exercise, motor 13 rotates, band dynamic crankshaft 14 moves in a circle around its center of gyration, center of gyration is fixed on one group of rocking bar 8 of bent axle support 16 bottoms and makes the cycle reciprocally swinging under the drive of bent axle 14 motions, and the abdomeinal fin 7 that is fixed on rocking bar 8 ends is finished the fluctuation of some cycles under the driving of rocking bar 8.Abdomeinal fin 7 drive machines hairtails advance or retreat.During motor 13 forward rotation, the present invention makes forward movement; During motor 13 backward rotation, the present invention does setback.
The present invention is when underwater exercise, and the rotation of steering wheel 19 drives tail fin 9 left-right rotation.Under the low-speed motion state, the function of tail fin 9 is mainly used to control the sense of motion of machine hairtail; Under high-speed motion state, steering wheel 19 drives tail fin 9 and swings, and is superimposed with the fluctuation of abdomeinal fin 7, can make the machine hairtail obtain higher running velocity.
Above-mentioned only is preferred implementation of the present invention, and in the art, the in itself identical technical scheme that the equivalence of every changes and improvements based on technical solution of the present invention and replacement means have been done all belongs to protection scope of the present invention.
The present invention has following outstanding advantage:
1. when the present invention moved under water, the fish body kept stalemate, and the change of profile does not occur in the motion process, and the inner space is squeezed more greatly and not, can be follow-up secondary development necessary development space is provided.
2. the motion of the bionical hairtail of the present invention, the mode of motion that has adopted abdomeinal fin to drive is improved the stability of its sub aqua sport.
3. speed control of the present invention is simple, only just can realize the continuous transformation of machine hairtail kinematic velocity by the rotating speed of control drive motor, in addition, when the needs high-speed motion, controlling party to the tail fin actuating device that also can be used as advancing, superimposed with the abdomeinal fin driving, the compound driving under the high-speed motion state is provided.
4. abdomeinal fin crank-driven of the present invention is simple in structure, through simple refit, go for various small underwater propelling units, have the advantages such as range of use is wide, stability is high, little to the disturbance of environment, portability is good, can be used for Underwater resources exploration, marine salvage etc., also can play a role in the marine warlike operation in future, economic and social benefit is huge.
Claims (9)
1. Bionic ribbonfish for exploration, comprise the cavity that is consisted of by upper shell and lower house, it is characterized in that, the cavity rear portion is provided with the tail fin actuating device, the tail fin actuating device links to each other with the tail fin (9) of tail of cavity body, be used for driving tail fin, tail fin adopts seal tube (5) to be connected with tail of cavity body, being beneficial to tail fin swings, and anti-sealing enters in the cavity, and lower house (6) bottom is outer to be had abdomeinal fin (7), lower house inside to have the abdomeinal fin actuating device that drives abdomeinal fin is housed, digital camera (10) is equipped with in the front bottom of lower house, and water proof switch (3) is arranged at upper shell (4) top, charging plug (2) and communication antenna (1); Said tail fin actuating device, include steering wheel (19), steering wheel rear axle (25), U-shaped (21), steering wheel (24), steering wheel fixed mount (18), steering wheel is contained in the steering wheel fixed mount, there is the steering wheel rear axle at the steering wheel rear portion, the steering wheel rear axle stretches out the steering wheel fixed mount, on steering wheel rear axle external part and the steering wheel main shaft (30) steering wheel (24) is housed, U-shaped (21) link with steering wheel, U-shaped links through tail fin fixed mount (22) and tail fin, and the steering wheel fixed mount is contained on the bent axle support afterbody of abdomeinal fin actuating device; Said abdomeinal fin actuating device, include bent axle (14), bent axle support (16), motor (13), coupler (15), bent axle FE Tiler (17), rocking bar (8), feed rod (20) and cover plate (23), bent axle places on the interior bent axle bearing (27) of bent axle support, the bent axle FE Tiler that is fixed on the bent axle support is arranged on the bent axle, bent axle is through coupler and the bent axle support outside, the motor that is used for driving crank links, motor links with the supply unit in the cavity (11), cover plate (23) is arranged at bent axle support top, the communication control unit (12) that links with communication antenna is equipped with on cover plate top, rocking bar evenly is contained on the feed rod, feed rod is contained in the base apertures (29) of bent axle bearing, the U-shaped head (26) on rocking bar top is contained on the crank throw uniform on the bent axle (28), rocking bar stretches out the movable span of bent axle frame bottom, links with abdomeinal fin.
2. Bionic ribbonfish for exploration according to claim 1, it is characterized in that, the same charging plug of said supply unit (2) links, the same water proof switch of motor (13) (3) links, communication control unit (12) links with communication antenna (1), and the equal water-tight of communication antenna, water proof switch and charging plug is contained in the top of upper shell.
3. Bionic ribbonfish for exploration according to claim 1, it is characterized in that, said U-shaped (21) are fastened on two steering wheels (24) through screw, steering wheel (24) is fixed on the steering wheel rear axle (25) through screw, and the steering wheel fixed mount is fixed on the bent axle support afterbody of tail fin actuating device through screw bolt and nut.
4. Bionic ribbonfish for exploration according to claim 1 is characterized in that, said tail fin (9) is fixed on the tail fin fixed mount (22) by screw, and tail fin fixed mount screw bolt and nut is fixed on U-shaped.
5. Bionic ribbonfish for exploration according to claim 1 is characterized in that, said rocking bar has eight, and well-distributed and eight crank throws (28) that rocking bar is corresponding are housed on the bent axle (14).
6. Bionic ribbonfish for exploration according to claim 1 is characterized in that, said motor (13) is high pulling torque DC low-speed motor, outputs power to bent axle by coupler, and cover plate (23) is contained on the bent axle support (16) by bolt.
7. Bionic ribbonfish for exploration according to claim 1 is characterized in that, said rocking bar (8) end passes the opening part of the bottom of lower house (6), is pasted by water proof glue to be fixed on abdomeinal fin.
8. Bionic ribbonfish for exploration according to claim 1, it is characterized in that, said upper shell and lower house are made by transparent organic glass, and bent axle support, bent axle FE Tiler, cover plate, U-shaped, steering wheel, steering wheel rear axle, steering wheel fixed mount and tail fin fixed mount adopt the light aluminum alloy material to make; Rocking bar, feed rod, bent axle adopt 45 steel to make; Coupler adopts bronze material to make; Abdomeinal fin adopts the water proof rubber film to make; Tail fin adopts rigid plastic to make, and the seal tube of fish tail adopts the soft rubber sleeve pipe to make.
9. Bionic ribbonfish for exploration according to claim 1 is characterized in that, the steering wheel rear axle is fixed on the steering wheel fixed mount, with the same axis of steering wheel main shaft (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010526656 CN102039994B (en) | 2010-11-01 | 2010-11-01 | Bionic ribbonfish for exploration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010526656 CN102039994B (en) | 2010-11-01 | 2010-11-01 | Bionic ribbonfish for exploration |
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| Publication Number | Publication Date |
|---|---|
| CN102039994A CN102039994A (en) | 2011-05-04 |
| CN102039994B true CN102039994B (en) | 2013-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201010526656 Expired - Fee Related CN102039994B (en) | 2010-11-01 | 2010-11-01 | Bionic ribbonfish for exploration |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950527B (en) * | 2014-05-09 | 2016-08-24 | 兰州交通大学 | The piezoelectricity coupling propulsive mechanism of bionical ray pectoral fin |
| CN104816808B (en) * | 2015-05-25 | 2017-03-08 | 中国科学院自动化研究所 | A kind of long fin underwater propeller of bionical fluctuation |
| CN105235837A (en) * | 2015-07-01 | 2016-01-13 | 西北工业大学 | Underwater propelling device based on opposite long fin fluctuation |
| CN105867520A (en) * | 2016-06-06 | 2016-08-17 | 东南大学 | Aluminum sectional material connection steering engine device and method thereof |
| CN106892074A (en) * | 2017-04-11 | 2017-06-27 | 合肥工业大学 | A kind of tandem drive formula bionic machine fish |
| US10336420B2 (en) | 2017-04-28 | 2019-07-02 | BOYA GONGDAO (Beijing) ROBOT Technology Co., Ltd. | Single-joint underwater robot fish |
| CN109367745A (en) * | 2018-08-30 | 2019-02-22 | 冯亿坤 | The propulsion system of bionical object flex-wing |
| CN109367744A (en) * | 2018-09-01 | 2019-02-22 | 冯亿坤 | Bionical object flapping wing robot |
| CN110127015A (en) * | 2019-05-29 | 2019-08-16 | 湖南大学 | It is a kind of singly to drive fluctuation fin propulsion device and bionic underwater vehicle |
| CN112407200A (en) * | 2020-11-02 | 2021-02-26 | 威海海洋职业学院 | Floating and sinking mechanism of bionic robot fish |
| CN114655415A (en) * | 2022-02-22 | 2022-06-24 | 中国科学院自动化研究所 | Power mechanism for rope-traction bionic fish and bionic fish |
| CN115486409A (en) * | 2022-10-26 | 2022-12-20 | 西安石油大学 | Bionic flatworm fish tank cleaner and control method thereof |
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|---|---|---|---|---|
| FR2300507A1 (en) * | 1975-02-17 | 1976-09-10 | Nordischer Maschinenbau | Fish filleting machine - produces fillets separate from ventral flaps by flank cross cut and rib cuts |
| US6173523B1 (en) * | 1999-07-15 | 2001-01-16 | Michael E. Johnson | Sonic plastic bait |
| CN101407250A (en) * | 2007-10-08 | 2009-04-15 | 姜秀芹 | Living creature-shaped navigation apparatus |
| CN101565092A (en) * | 2008-04-23 | 2009-10-28 | 杨涛 | Biomimetic fish for recreation, entertainment and body building |
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2010
- 2010-11-01 CN CN 201010526656 patent/CN102039994B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2300507A1 (en) * | 1975-02-17 | 1976-09-10 | Nordischer Maschinenbau | Fish filleting machine - produces fillets separate from ventral flaps by flank cross cut and rib cuts |
| US6173523B1 (en) * | 1999-07-15 | 2001-01-16 | Michael E. Johnson | Sonic plastic bait |
| CN101407250A (en) * | 2007-10-08 | 2009-04-15 | 姜秀芹 | Living creature-shaped navigation apparatus |
| CN101565092A (en) * | 2008-04-23 | 2009-10-28 | 杨涛 | Biomimetic fish for recreation, entertainment and body building |
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