CN106005336B - Bionic machine fish - Google Patents
Bionic machine fish Download PDFInfo
- Publication number
- CN106005336B CN106005336B CN201610542636.8A CN201610542636A CN106005336B CN 106005336 B CN106005336 B CN 106005336B CN 201610542636 A CN201610542636 A CN 201610542636A CN 106005336 B CN106005336 B CN 106005336B
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- China
- Prior art keywords
- fish
- fish tail
- fin
- drive module
- bionic machine
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N1/00—Electrostatic generators or motors using a solid moving electrostatic charge carrier
- H02N1/04—Friction generators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a kind of bionic machine fish, including fish head part, fish body part, fish tail part, covered with the electric nano generator of friction on the bionic machine fish；The bionic machine fish further includes：It is arranged on the fish tail driving mechanism of the fish tail part, is arranged on the gravity centre adjustment mechanism of the fish body part, the electrical storage device for being arranged on the pectoral fin swing mechanism of the fish head part and being connected with the electric nano generator of the friction；The present invention is sufficiently used ocean energy this new energy and solves the problems, such as that machine fish is continued a journey under water.
Description
Technical field
The present invention relates to a kind of underwater movement devices, are specially a kind of bionic machine fish.
Background technology
The high speed of machine fish, efficient, height camouflage property, high maneuverability and strong adaptability so that it is in Military Application, life
Detection in object observation and small space etc. has important application and active demand.But due to the limit of charging problems
System, machine fish of the prior art can not perform remote task for a long time, seriously limit machine fish under water especially
The ability of task is performed in ocean.
The content of the invention
The it is proposed of the present invention in view of the above problems, and develop a kind of bionic machine fish.
The technological means of the present invention is as follows：
A kind of bionic machine fish, including fish head part, fish body part, fish tail part, on the bionic machine fish covered with
The electric nano generator of friction；The bionic machine fish further includes：It is arranged on the fish tail driving mechanism of the fish tail part, is arranged on
The gravity centre adjustment mechanism of the fish body part, the pectoral fin swing mechanism for being arranged on the fish head part and with it is described friction electricity
The electrical storage device that nano generator is connected；
It is distributed in the flake position of the fish head part in addition, the bionic machine fish further includes, is arranged on the flake
Camera on position；
In addition, the bionic machine fish further includes the dorsal fin for being distributed in fish body part and is arranged on wireless in the dorsal fin
Communication antenna；
Further, the fish tail driving mechanism includes at least one fish tail drive module；The fish tail drive module bag
Include the first steering engine and transmission parts；Described transmission parts one end connects the output shaft of first steering engine, described in other end connection
Fish tail part；
In addition, the bionic machine fish further includes the tail fin for being distributed in fish tail part；When the fish tail driving mechanism is wrapped
The fish tail drive module included has 3, is respectively the first fish tail drive module, the second fish tail drive module and the 3rd fish tail driving mould
Block；The fish tail part includes the first fish tail portion, the second fish tail portion and the 3rd fish tail portion that are separated from each other；First fish tail drives
First steering engine of dynamic model block is arranged in the first fish tail portion；First steering engine of the second fish tail drive module is arranged on institute
It states in the second fish tail portion；First steering engine of the 3rd fish tail drive module is arranged in the 3rd fish tail portion；Described first
Fish tail radical end is arranged on fish body part；Transmission parts one end of the first fish tail drive module connects first fish tail
First steering engine of drive module, the other end connect the second fish tail radical end；The driving section of the second fish tail drive module
Part one end connects the first steering engine of the second fish tail drive module, and the other end connects the 3rd fish tail radical end；Described
Transmission parts one end of three fish tail drive modules connects the first steering engine of the 3rd fish tail drive module, other end connection tail fin
Head end；
Further, the gravity centre adjustment mechanism includes pedestal, the first bearing for being vertically arranged on the pedestal and the
Two bearings, the guide rod being horizontally installed between the first bearing and the second bearing and leading screw are threaded through the guide rod and described
The first sliding block and motor on leading screw；The motor drives the leading screw rotation, and then drives first sliding block described
Forward or rear shifting on guide rod；
Further, the pectoral fin swing mechanism includes fin leaf, fin handle, first rotating shaft, the second shaft, is arranged on fin handle one
Arc groove and the second steering engine on end face；The fin leaf is mounted on the end face of the fin handle by the first rotating shaft
On, and can be slided by the second sliding block being arranged on fin leaf along the arc groove；Second steering engine drives the fin handle
Around the second shaft swing；When fin handle swing backward described in second servo driving, at second sliding block
In the first end of the arc groove；When fin handle described in second servo driving is swung forward, second sliding block is in institute
State the second end of arc groove；The second end of the arc groove is located at the top of the first end of the arc groove；
Further, the electrical storage device includes the downconverter being connected with the electric nano generator of the friction successively
Device, the AC/DC convertor being connected with step-down transformer and the accumulator being connected with AC/DC convertor；
In addition, the bionic machine fish further includes the charging interface for being arranged on fish body part, the charging interface and the storage
Battery is connected.
By adopting the above-described technical solution, bionic machine fish provided by the invention, by using the electric nanometer generating of friction
The electric energy that machine generates charges to machine fish, and machine fish can not only be made to charge and in machine to itself during travelling
Fish can also be impacted the rubbing action generated when stationary using ocean Wave and be generated electricity, and be sufficiently used ocean energy
This new energy solves the problems, such as that machine fish is continued a journey under water.
Description of the drawings
Fig. 1 be covered with rubbing electric nano generator bionic machine fish of the present invention structure diagram；
Fig. 2 is the structure diagram of the bionic machine fish of the present invention not covered with the electric nano generator of friction；
Fig. 3 is the structure diagram of gravity centre adjustment mechanism of the present invention；
Fig. 4 is the structure diagram of pectoral fin swing mechanism of the present invention；
Fig. 5 is the structure diagram of bionic machine fish of the present invention.
In figure：1st, fish head part, 2, fish body part, 3, fish tail part, 4, the electric nano generator of friction, 6, centre of gravity adjustment machine
Structure, 7, pectoral fin swing mechanism, 8, electrical storage device, 10, dorsal fin, 11, radio antenna, 12, charging interface, 13, flake position,
14th, camera, 15, embedded core board, 31, tail fin, the 32, first fish tail portion, the 33, second fish tail portion, the 34, the 3rd fish tail portion,
51st, the first steering engine, 52, transmission parts, 61, pedestal, the 62, first bearing, the 63, second bearing, 64, guide rod, 65, leading screw, 66,
First sliding block, 67, motor, 68, electric machine support, 71, fin leaf, 72, fin handle, 73, first rotating shaft, the 74, second shaft, 75, arc
Slot, the 76, second steering engine, the 77, second sliding block, 751, first end, 752, second end.
Specific embodiment
As shown in Figure 1, Figure 2, a kind of bionic machine fish shown in Fig. 3, Fig. 4 and Fig. 5, including fish head part 1, fish body part 2, fish
Portion 3, covered with the electric nano generator 4 of friction on the bionic machine fish；The bionic machine fish further includes：It is arranged on institute
The fish tail driving mechanism of fish tail part 3 is stated, the gravity centre adjustment mechanism 6 of the fish body part 2 is arranged on, is arranged on the fish head portion
The electrical storage device 8 for dividing 1 pectoral fin swing mechanism 7 and being connected with the electric nano generator 4 of the friction；It is in addition, described bionical
Machine fish further includes the camera 14 for being distributed in the flake position 13 of the fish head part 1, being arranged on the flake position 13；
In addition, the bionic machine fish further includes the dorsal fin 10 for being distributed in fish body part 2 and the channel radio being arranged in the dorsal fin 10
Believe antenna 11；Further, the fish tail driving mechanism includes at least one fish tail drive module；The fish tail drive module bag
Include the first steering engine 51 and transmission parts 52；Described 52 one end of transmission parts connects the output shaft of first steering engine 51, the other end
Connect the fish tail part 3；In addition, the bionic machine fish further includes the tail fin 31 for being distributed in fish tail part 3；When the fish tail
Fish tail drive module included by driving mechanism has 3, is respectively the first fish tail drive module, the second fish tail drive module and the
Three fish tail drive modules；The fish tail part 3 includes the first fish tail portion 32, the second fish tail portion 33 and the 3rd fish tail that are separated from each other
Portion 34；First steering engine 51 of the first fish tail drive module is arranged in the first fish tail portion 32；Second fish tail drives
First steering engine 51 of dynamic model block is arranged in the second fish tail portion 33；First steering engine 51 of the 3rd fish tail drive module is set
It puts in the 3rd fish tail portion 34；First fish tail portion, 32 head end is arranged on fish body part 2；The first fish tail driving
52 one end of transmission parts of module connects the first steering engine 51 of the first fish tail drive module, and the other end connects second fish
33 head end of afterbody；52 one end of transmission parts of the second fish tail drive module connects the first of the second fish tail drive module
Steering engine 51, the other end connect 34 head end of the 3rd fish tail portion；52 one end of transmission parts of the 3rd fish tail drive module connects
Connect the first steering engine 51 of the 3rd fish tail drive module, other end connection 31 head end of tail fin；Further, the centre of gravity adjustment
Mechanism 6 includes pedestal 61, the first bearing 62 being vertically arranged on the pedestal 61 and the second bearing 63, is horizontally installed on first
Guide rod 64 and leading screw 65 between 62 and second bearing 63 of bearing, be threaded through on the guide rod 64 and the leading screw 65
One sliding block 66 and motor 67；The motor 67 drives the leading screw 65 to rotate, and then drives first sliding block 66 described
Forward or rear shifting on guide rod 64；Further, the pectoral fin swing mechanism 7 include fin leaf 71, fin handle 72, first rotating shaft 73,
Second shaft 74,75 and second steering engine 76 of arc groove being arranged on 72 end face of fin handle；The fin leaf 71 passes through described
One shaft 73 is mounted on the end face of the fin handle 72, and can be by the second sliding block 77 for being arranged on fin leaf 71 along institute
Arc groove 75 is stated to slide；Second steering engine 76 drives the fin handle 72 to surround 74 swing of the second shaft；When described
When second steering engine 76 drives 72 swing backward of fin handle, second sliding block 77 is in the first end 751 of the arc groove 75；
When second steering engine 76 drives the fin handle 72 to swing forward, second sliding block 77 is in the second of the arc groove 75
End 752；The second end 752 of the arc groove 75 is located at the top of the first end 751 of the arc groove 75；The fin handle 72 includes
The first shank body and the second shank body mutually connected at an angle；The certain angle can be more than or equal to 90 degree；Further,
The electrical storage device 8 includes the step-down transformer being connected with the electric nano generator 4 of the friction and step-down transformer phase successively
The AC/DC convertor of connection and the accumulator being connected with AC/DC convertor；In addition, the bionic machine fish is further included and set
The charging interface 12 in fish body part 2 is put, which is connected with the accumulator.
The present invention charges to machine fish by using the electric energy that the electric nano generator 4 of friction generates, and can not only make
Machine fish is charging to itself during travelling and when machine fish is stationary Wave impact in ocean can also utilized to produce
Raw rubbing action generates electricity, and is sufficiently used ocean energy this new energy and solves the problems, such as that machine fish is continued a journey under water；
The present invention is generated by arranging the electric nano generator 4 of friction on bionic machine fish when swinging wave energy and machine fish
Mechanical energy is converted into electric energy and charges for accumulator, and accumulator is by electricity collection and stores, and the electric energy that accumulator is collected can be machine
Each component of device fish provides the energy, supplemented with the energy that machine fish loses in the process in travelling, improves the continuation of the journey of machine fish
Ability, while kept away since the impact of wave also can produce electricl energy friction electricity nano generator 4 when the electric energy of machine fish is exhausted
Exempt from machine fish electric energy and exhaust the drawbacks of can not making a return voyage；The alternating current that the electric nano generator 4 of friction generates passes through step-down transformer
After decompression processing, direct current is converted to by AC/DC convertor, then supplies accumulator；The AC/DC convertor can wrap
Rectification circuit, filter circuit and regulator circuit are included, rectification circuit is used to carry out rectification, filter to the alternating current of step-down transformer conversion
Wave circuit is used to filter out the remaining AC compounent in the single-phase Rectified alternating current after rectification, obtains metastable direct current,
Regulator circuit is used to handle the further voltage stabilizing of the direct current of generation, obtains stable DC, is then stored by accumulator
Come；Furthermore it is also possible to it is charged by charging interface 12 by external power supply for accumulator；So when the electric nanometer generating of friction
The electric energy that machine 4 generates can be charged a battery when not enough by external power supply, moreover, when machine fish carries external equipment
When such as video camera, water quality detector, also can by the charging interface 12 give these external equipments power.
Fish tail drive module included by fish tail driving mechanism of the present invention can be set according to practical application request
It puts；The radio antenna 11 is arranged in the dorsal fin 10, improves concealment；By being arranged on bionic machine fish flake
Two groups of cameras 14 on position 13, can realize eyes ranging, its stereo-picture can be preferably shown to the object of shooting；
The floating dive of machine fish can be realized by the configuration of gravity centre adjustment mechanism 6, when machine fish needs dive, pass through motor 67
Via leading screw 65 first sliding block 66 is driven to move forward, and then the center of gravity Forward of machine fish, under the action of fish tail driving mechanism
Machine fish realizes the dive of machine fish to underwater travelling；When machine fish needs to float, driven by motor 67 via leading screw 65
It moves after first sliding block 66, and then is moved after the center of gravity of machine fish, fish head part 1 is lifted, under the action of fish tail driving mechanism
Machine fish moves about upwards, realizes the floating of machine fish；Lead may be employed in first sliding block 66；The pectoral fin swing mechanism 7
It is respectively provided at the left and right sides pectoral fin position of machine fish；It can be realized by the configuration of pectoral fin swing mechanism 7 left positioned at machine fish
The fin leaf 71 and fin handle 72 of pleurobranch fin position and the swing positioned at the fin leaf 71 and fin handle 72 at pectoral fin position on the right side of machine fish；When
When second steering engine 76 drives 72 swing backward of fin handle, due to the effect of the gravity of the resistance and fin leaf 71 of water, fin leaf
The second sliding block 77 on 71 is in the first end 751 of the arc groove 75, when second steering engine 76 drive the fin handle 72 to
During preceding swing, due to the drag effect of water, the second sliding block 77 on fin leaf 71 is in the second end 752 of the arc groove 75, i.e.,
During so that fin handle 72 being swung forward, fin leaf 71 cuts water and swings to front end, the thrust generated backward is avoided, when 72 swing backward of fin handle
When, fin leaf 71 is struck backward, generates forward thrust, and then realizes that 72 swing of fin handle generates forward thrust, if being located at
The fin handle 72 at pectoral fin position and fin leaf 71 are motionless on the left of machine fish, while positioned at the fin handle 72 and fin at pectoral fin position on the right side of machine fish
Leaf 71 is swung, then has thrust on the right side of machine fish, and then realizes the left-hand bend of machine fish, similarly, if on the right side of machine fish
The fin handle 72 and fin leaf 71 at pectoral fin position are motionless, while are swung positioned at the fin handle 72 at pectoral fin position and fin leaf 71 on the left of machine fish,
Then on the left of machine fish there is thrust, and then realize the right-hand bend of machine fish, the left and right sides swings then machine fish and accelerates straight trip simultaneously.
4 outside of friction electricity nano generator has waterproof layer, can prevent seawater to the corrosion of the electric nano generator 4 of friction and prevent
Leak-stopping electricity；The gravity centre adjustment mechanism 6 further includes the electric machine support 68 being arranged on the second bearing 63；The motor 67 is mounted on
On the electric machine support 68；The leading screw 65 is mounted on by bearing on the first bearing 62 and the second bearing 63 respectively；The silk
Thick stick 65 connects the output shaft of the motor 67 by shaft coupling；The present invention can also include embedded core board 15, embedding by this
Enter formula core board 15 and control each components of machine fishs such as the first steering engine 51, the second steering engine 76, camera 14, electrical storage device 8
Work；The particular technique of the electric nano generator 4 of friction of the present invention realize can directly referenced subject matter it is entitled《Gather liquid
The friction electricity nano generator and electricity-generating method of mechanical energy》, number of patent application be 201410140195.X patent application text
The prior art of disclosed friction electricity nano generator 4 in part.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of bionic machine fish, including fish head part, fish body part, fish tail part, it is characterised in that the bionic machine fish
On covered with the electric nano generator of friction；The bionic machine fish further includes：It is arranged on the fish tail driving machine of the fish tail part
Structure, the gravity centre adjustment mechanism for being arranged on the fish body part, the pectoral fin swing mechanism for being arranged on the fish head part and with institute
State the electrical storage device that the electric nano generator of friction is connected；The fish tail driving mechanism includes at least one fish tail drive module；
The fish tail drive module includes the first steering engine and transmission parts；Described transmission parts one end connects the output of first steering engine
Axis, the other end connect the fish tail part；The bionic machine fish further includes the tail fin for being distributed in fish tail part；When the fish tail
When driving mechanism includes 3 fish tail drive modules, that is, include the first fish tail drive module, the second fish tail drive module and
During three fish tail drive modules；The fish tail part includes the first fish tail portion, the second fish tail portion and the 3rd fish tail portion that are separated from each other；
First steering engine of the first fish tail drive module is arranged in the first fish tail portion；The of the second fish tail drive module
One steering engine is arranged in the second fish tail portion；First steering engine of the 3rd fish tail drive module is arranged on the 3rd fish tail
In portion；The first fish tail radical end is arranged on fish body part；Transmission parts one end of the first fish tail drive module connects
The first steering engine of the first fish tail drive module is connect, the other end connects the second fish tail radical end；Second fish tail drives
Transmission parts one end of dynamic model block connects the first steering engine of the second fish tail drive module, and the other end connects the 3rd fish tail
Radical end；Transmission parts one end of the 3rd fish tail drive module connects the first steering engine of the 3rd fish tail drive module,
The other end connects tail fin head end.
2. bionic machine fish according to claim 1, it is characterised in that the bionic machine fish further include be distributed in it is described
The flake position of fish head part, the camera being arranged on the flake position.
3. bionic machine fish according to claim 1, it is characterised in that the bionic machine fish, which further includes, is distributed in fish body
Partial dorsal fin and the radio antenna being arranged in the dorsal fin.
4. bionic machine fish according to claim 1, it is characterised in that the gravity centre adjustment mechanism includes pedestal, sets vertically
The guide rod that put the first bearing on the pedestal and the second bearing, is horizontally installed between the first bearing and the second bearing and
Leading screw, the first sliding block being threaded through on the guide rod and the leading screw and motor；The motor drives the leading screw rotation
Turn, and then first sliding block is driven to move forward on the guide rod or move afterwards.
5. bionic machine fish according to claim 1, it is characterised in that the pectoral fin swing mechanism include fin leaf, fin handle,
First rotating shaft, the second shaft, the arc groove and the second steering engine being arranged on fin handle end face；The fin leaf passes through described
One shaft is mounted on the end face of the fin handle, and can be by the second sliding block for being arranged on fin leaf along the arc groove
It slides；Second steering engine drives the fin handle to surround the second shaft swing；When described in second servo driving
During fin handle swing backward, second sliding block is in the first end of the arc groove；When fin handle described in second servo driving
When swinging forward, second sliding block is in the second end of the arc groove；The second end of the arc groove is located at the arc
The top of the first end of slot.
6. bionic machine fish according to claim 1, it is characterised in that the electrical storage device includes and the friction successively
Step-down transformer that electric nano generator is connected, the AC/DC convertor and and ac-dc conversion being connected with step-down transformer
The accumulator that device is connected.
7. bionic machine fish according to claim 6, it is characterised in that the bionic machine fish, which further includes, is arranged on fish body
Partial charging interface, the charging interface are connected with the accumulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610542636.8A CN106005336B (en) | 2016-07-11 | 2016-07-11 | Bionic machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610542636.8A CN106005336B (en) | 2016-07-11 | 2016-07-11 | Bionic machine fish |
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| Publication Number | Publication Date |
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| CN106005336A CN106005336A (en) | 2016-10-12 |
| CN106005336B true CN106005336B (en) | 2018-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610542636.8A Active CN106005336B (en) | 2016-07-11 | 2016-07-11 | Bionic machine fish |
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