CN106005325A - Microminiature biomimetic robot fish buoyancy adjusting device - Google Patents
Microminiature biomimetic robot fish buoyancy adjusting device Download PDFInfo
- Publication number
- CN106005325A CN106005325A CN201610488185.4A CN201610488185A CN106005325A CN 106005325 A CN106005325 A CN 106005325A CN 201610488185 A CN201610488185 A CN 201610488185A CN 106005325 A CN106005325 A CN 106005325A
- Authority
- CN
- China
- Prior art keywords
- push rod
- motor
- microminiature
- bin
- regulating device
- 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.)
- Pending
Links
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 27
- 230000003592 biomimetic effect Effects 0.000 title abstract 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000007789 sealing Methods 0.000 claims abstract description 9
- 239000011664 nicotinic acid Substances 0.000 claims description 18
- 230000001105 regulatory effect Effects 0.000 claims description 18
- 238000010276 construction Methods 0.000 claims description 5
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 229920000742 Cotton Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims 1
- 235000019688 fish Nutrition 0.000 abstract description 16
- 238000000034 method Methods 0.000 abstract description 6
- 238000010521 absorption reaction Methods 0.000 abstract description 4
- 238000001179 sorption measurement Methods 0.000 abstract 2
- 238000007599 discharging Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 108010066114 cabin-2 Proteins 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 210000000006 pectoral fin Anatomy 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
Abstract
The invention provides a microminiature biomimetic robot fish buoyancy adjusting device, and belongs to the technical field of biomimetic robot fishes. The microminiature biomimetic robot fish buoyancy adjusting device comprises a shell, a motor bin, a motor, a transmission bin, a water absorption bin, seal covers, a push rod, a piston, a filter, a motor shaft, a push rod end, a nut, a direct current potentiometer, a limiting plate and a sealing plug, the interior of the shell is divided into the motor bin, the transmission bin and the water adsorption bin through the seal covers, the motor bin is internally provided with the motor, the motor shaft is connected with the push rod in the transmission bin, the bottom of the transmission bin is provided with the direct current potentiometer and the limiting plate, the piston is arranged at the other end of the push rod, and the filter is arranged at the end of the water adsorption bin. The microminiature biomimetic robot fish buoyancy adjusting device has the advantages that adjustment is conducted by adopting a water storage bin method, the motor shaft directly drives the piston to move through the push rod, and the structure is simple; in addition, measuring can be conducted accurately on the water-absorbing capacity and water discharge capacity through the direct current potentiometer so as to achieve accurate control over buoyancy adjusting.
Description
Technical field
The present invention relates to bionic machine fish technical field, particularly relate to a kind of microminiature bionic machine fish buoyancy and adjust
Regulating device.
Background technology
Bionics is as a subject of paramount importance in Robot Design field, under water in the design of robot
Occupy key player, by the research design to bionic machine fish, underwater robot spiral can well be avoided
Some shortcomings that oar advances, machine fish is in exploration marine resources, collection marine information data, and military affairs are explored, greatly
The aspects such as crowd entertains, ocean rescue have extremely wide application prospect.In machine fish designs, the most key
One of mechanism be exactly buoyancy regulating device, machine fish needs the motion of six degree of freedom, and buoyancy adjustment is as relatively
For one of important attitude regulation module, there is following several ways: 1, water receiver is set and changes the change of power；2、
Utilize pectoral fin device；3, bionic machine fish fish body and the angle of afterbody are changed；4, gravity regulator is set, with
The structure of the regulating mechanism of buoyancy of upper several machine fishs is the most complex, and controls the most accurate.
Summary of the invention
The invention provides a kind of microminiature bionic machine fish buoyancy regulating device, use water storage cabin method to adjust
Joint, motor shaft directly drives piston to move by push rod, and simple in construction, it addition, pass through DC potentiometer
Water absorption and displacement can be measured accurately, to reach buoyancy adjustment is precisely controlled.
For solving above-mentioned technical problem, the embodiment of the present application provides a kind of microminiature bionic machine fish buoyancy adjustment
Device, including housing, motor bin, motor, transmission storehouse and water suction storehouse, it is characterised in that also include seal lid,
Push rod, piston, filter, motor shaft, push rod termination, nut, DC potentiometer, limiting plate and seal plug
Head, the inside of described housing is divided into motor bin, transmission storehouse and water suction storehouse by sealing plate, is provided with in motor bin
Motor, motor shaft is connected with the push rod in transmission storehouse, and the bottom in transmission storehouse is provided with DC potentiometer and limiting plate,
The other end of push rod is provided with piston, and the end in water suction storehouse is provided with filter.
As the preferred embodiment of this programme, the rear end of described motor bin is provided with seal plug, seal plug
End connects the oil pipe equipped with connecting line.
As the preferred embodiment of this programme, described motor is motor, and motor shaft is provided with and nut phase
The screw thread of coupling.
As the preferred embodiment of this programme, described nut is connected by bolt and push rod termination are fixing, nut
And push rod is provided with slide bar between termination.
As the preferred embodiment of this programme, described push rod is hollow-core construction, and diameter is straight not less than motor shaft
Footpath, length is not less than the length of motor shaft.
As the preferred embodiment of this programme, the side of described piston is provided with sealing ring, near the one of push rod
The end face of end is provided with spring.
As the preferred embodiment of this programme, the center of described limiting plate is provided with stopper slot, stopper slot
Size matches with slide bar.
As the preferred embodiment of this programme, described slide bar is through the stopper slot at limiting plate center, and and straight line
Potentiometric switch is fixing to be connected.
As the preferred embodiment of this programme, described filter be followed successively by from outside to inside wire netting, carbon fiber,
Filter yarn and filter cotton.
The one or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or excellent
Point:
Using water storage cabin method to be adjusted, motor shaft directly drives piston to move by push rod, structure letter
Single, it addition, water absorption and displacement can be measured accurately by DC potentiometer, to reach buoyancy
Being precisely controlled of regulation.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, in describing below
Accompanying drawing is only some embodiments of the present invention, for those of ordinary skill in the art, is not paying creativeness
On the premise of laborious, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the buoyancy regulating device structural representation of the embodiment of the present application；
Fig. 2 is the litter structural representation of the embodiment of the present application；
Fig. 3 is the positioning plate structure schematic diagram of the embodiment of the present application.
In Fig. 1-Fig. 3: 1, housing, 2, motor bin, 3, motor, 4, seal lid, 5, transmission storehouse, 6,
Water suction storehouse, 7, push rod, 8, piston, 9, filter, 10, sealing ring, 11, spring, 12, motor shaft,
13, push rod termination, 14, slide bar, 15, nut, 16, DC potentiometer, 17, limiting plate, 18, seal
Plug.
Detailed description of the invention
The invention provides a kind of microminiature bionic machine fish buoyancy regulating device, use water storage cabin method to adjust
Joint, motor shaft directly drives piston to move by push rod, and simple in construction, it addition, pass through DC potentiometer
Water absorption and displacement can be measured accurately, to reach buoyancy adjustment is precisely controlled.
In order to be better understood from technique scheme, below in conjunction with Figure of description and specific embodiment
Technique scheme is described in detail.
As shown in Figure 1-Figure 3, a kind of microminiature bionic machine fish buoyancy regulating device, including housing 1, motor
Storehouse 2, motor 3, transmission storehouse 5 and water suction storehouse 6, also include sealing lid 4, push rod 7, piston 8, filter
9, motor shaft 12, push rod termination 13, nut 15, DC potentiometer 16, limiting plate 17 and seal plug
18, the inside of described housing 1 is divided into motor bin 2, transmission storehouse 5 and water suction storehouse 6, electricity by sealing plate 4
Being provided with motor 3 in cabin 2, motor shaft 12 is connected with the push rod 7 in transmission storehouse 5, the bottom in transmission storehouse 5
Being provided with DC potentiometer 16 and limiting plate 17, the other end of push rod 7 is provided with piston 8, the end in water suction storehouse 6
It is provided with filter 9.
Wherein, in actual applications, the rear end of described motor bin 2 is provided with seal plug 18, seal plug
The end of 18 connects the oil pipe equipped with connecting line so that motor 3 is electrically connected with controller, the most anti-leak-stopping
Water, moreover it is possible to connecting line is played a protective role.
Wherein, in actual applications, described motor 3 is motor, and motor shaft 12 is provided with and nut
15 screw threads matched, utilize the operation principle of leading screw, by the movement rotating drive nut 15 of motor 3.
Wherein, in actual applications, described nut 15 is connected by bolt is fixing with push rod termination 13, spiral shell
It is provided with slide bar 14 between female 15 and push rod termination 13.
Wherein, in actual applications, described push rod 7 is hollow-core construction, and diameter is not less than motor shaft 12
Diameter, length is not less than the length of motor shaft 12 so that push rod 7 and motor shaft 12 form the form of loop bar,
So that push rod 7 can move left and right.
Wherein, in actual applications, the side of described piston 8 is provided with sealing ring 10, near push rod 7
The end face of one end be provided with spring 11, be possible to prevent push rod 7 to push up on piston 8.
Wherein, in actual applications, the center of described limiting plate 17 is provided with stopper slot 19, stopper slot
The size of 19 matches with slide bar 14, can limit nut 15 and can only move left and right with push rod 7, it is impossible to
Rotate.
Wherein, in actual applications, described slide bar 14 passes the stopper slot 19 at limiting plate 17 center, and
Fix with the switch of linear potentiometers 16 and be connected, by linear potentiometers 16, the amount of movement of piston 8 can be entered
Row detection, thus accurately control the amount of discharging water, and then learn the regulated quantity of buoyancy.
Wherein, in actual applications, described filter 9 is followed successively by wire netting, carbon fiber, mistake from outside to inside
Foreign material in water can be filtered by filter yarn and filter cotton, prevent from entering water suction storehouse 6, affect degree of regulation.
Operation principle: during use, by the rotation number of turns of controller input motor 3, by motor 3
Rotate and the screw mandrel principle of motor shaft, drive nut 5 and push rod 17 to move, thus carry out discharging water operation,
It is appreciated that the amount of discharging water by the signal of telecommunication of output on potentiometer 16, and then learns buoyancy adjustment amount, with
Time by filter 9, the foreign material in water can be filtered, prevent from entering water suction storehouse 6, impact regulation essence
Degree.
The above, be only presently preferred embodiments of the present invention, and the present invention not makees any pro forma limit
System, although the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any familiar
Professional and technical personnel, in the range of without departing from technical solution of the present invention, when the technology of available the disclosure above
Content is made a little change or is modified to the Equivalent embodiments of equivalent variations, as long as being without departing from the technology of the present invention side
The content of case, any simple modification above example made according to the technical spirit of the present invention, equivalent variations
With modification, all still fall within the range of technical solution of the present invention.
Claims (9)
1. a microminiature bionic machine fish buoyancy regulating device, including housing (1), motor bin (2), electricity
Machine (3), transmission storehouse (5) and water suction storehouse (6), it is characterised in that also include seal lid (4), push rod (7),
Piston (8), filter (9), motor shaft (12), push rod termination (13), nut (15), DC potential
Meter (16), limiting plate (17) and seal plug (18), sealing plate is passed through in the inside of described housing (1)
(4) it is divided into motor bin (2), transmission storehouse (5) and water suction storehouse (6), in motor bin (2), is provided with motor (3),
Motor shaft (12) is connected with the push rod (7) in transmission storehouse (5), and the bottom of transmission storehouse (5) is provided with direct current
Potentiometer (16) and limiting plate (17), the other end of push rod (7) is provided with piston (8), water suction storehouse (6)
End be provided with filter (9).
A kind of microminiature bionic machine fish buoyancy regulating device the most according to claim 1, its feature exists
In, the rear end of described motor bin (2) is provided with seal plug (18), and the end of seal plug (18) connects
Oil pipe equipped with connecting line.
A kind of microminiature bionic machine fish buoyancy regulating device the most according to claim 1, its feature exists
In, described motor (3) is motor, and motor shaft (12) is provided with and matches with nut (15)
Screw thread.
A kind of microminiature bionic machine fish buoyancy regulating device the most according to claim 1, its feature exists
In, described nut (15) is connected by bolt and push rod termination (13) are fixing, nut (15) and push rod
Slide bar (14) it is provided with between termination (13).
A kind of microminiature bionic machine fish buoyancy regulating device the most according to claim 1, its feature exists
In, described push rod (7) is hollow-core construction, and diameter is not less than the diameter of motor shaft (12), and length is the least
Length in motor shaft (12).
A kind of microminiature bionic machine fish buoyancy regulating device the most according to claim 1, its feature exists
In, the side of described piston (8) is provided with sealing ring (10), near the end face of one end of push rod (7)
It is provided with spring (11).
A kind of microminiature bionic machine fish buoyancy regulating device the most according to claim 1, its feature exists
Be provided with stopper slot (19) in, the center of described limiting plate (17), the size of stopper slot (19) with
Slide bar (14) matches.
A kind of microminiature bionic machine fish buoyancy regulating device the most according to claim 1, its feature exists
In, described slide bar (14) is through the stopper slot (19) at limiting plate (17) center, and and linear potentiometers
(16) switch is fixing to be connected.
A kind of microminiature bionic machine fish buoyancy regulating device the most according to claim 1, its feature exists
In, described filter (9) is followed successively by wire netting, carbon fiber, filtration yarn and filter cotton from outside to inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610488185.4A CN106005325A (en) | 2016-06-28 | 2016-06-28 | Microminiature biomimetic robot fish buoyancy adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610488185.4A CN106005325A (en) | 2016-06-28 | 2016-06-28 | Microminiature biomimetic robot fish buoyancy adjusting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106005325A true CN106005325A (en) | 2016-10-12 |
Family
ID=57084882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610488185.4A Pending CN106005325A (en) | 2016-06-28 | 2016-06-28 | Microminiature biomimetic robot fish buoyancy adjusting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106005325A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010189A (en) * | 2017-04-14 | 2017-08-04 | 辛光红 | A kind of underwater hiding-machine buoyancy regulating device |
| CN107878716A (en) * | 2017-10-30 | 2018-04-06 | 北京精密机电控制设备研究所 | A kind of buoyancy regulating device based on sea water pump |
| CN107902058A (en) * | 2017-12-18 | 2018-04-13 | 天津瀚海蓝帆海洋科技有限公司 | A kind of microminiature underwater robot buoyancy regulating system |
| CN108386333A (en) * | 2018-01-31 | 2018-08-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of integrated variable ballast in deep-sea adjusts pump and its adjusting method |
| CN115092367A (en) * | 2022-04-24 | 2022-09-23 | 西北工业大学 | Small-size AUV's buoyancy adjusting device |
| CN116215813A (en) * | 2023-05-09 | 2023-06-06 | 清华四川能源互联网研究院 | Composite buoyancy adjusting device, autonomous underwater vehicle and control method of autonomous underwater vehicle |
-
2016
- 2016-06-28 CN CN201610488185.4A patent/CN106005325A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010189A (en) * | 2017-04-14 | 2017-08-04 | 辛光红 | A kind of underwater hiding-machine buoyancy regulating device |
| CN107878716A (en) * | 2017-10-30 | 2018-04-06 | 北京精密机电控制设备研究所 | A kind of buoyancy regulating device based on sea water pump |
| CN107902058A (en) * | 2017-12-18 | 2018-04-13 | 天津瀚海蓝帆海洋科技有限公司 | A kind of microminiature underwater robot buoyancy regulating system |
| CN107902058B (en) * | 2017-12-18 | 2024-03-08 | 天津瀚海蓝帆海洋科技有限公司 | Buoyancy adjusting system of microminiature underwater robot |
| CN108386333A (en) * | 2018-01-31 | 2018-08-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of integrated variable ballast in deep-sea adjusts pump and its adjusting method |
| CN108386333B (en) * | 2018-01-31 | 2020-02-07 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Deep sea integrated variable ballast adjusting pump and adjusting method thereof |
| CN115092367A (en) * | 2022-04-24 | 2022-09-23 | 西北工业大学 | Small-size AUV's buoyancy adjusting device |
| CN116215813A (en) * | 2023-05-09 | 2023-06-06 | 清华四川能源互联网研究院 | Composite buoyancy adjusting device, autonomous underwater vehicle and control method of autonomous underwater vehicle |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161012 |
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