CN106741774A - A kind of bionic machine fish - Google Patents
A kind of bionic machine fish Download PDFInfo
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- CN106741774A CN106741774A CN201611223994.9A CN201611223994A CN106741774A CN 106741774 A CN106741774 A CN 106741774A CN 201611223994 A CN201611223994 A CN 201611223994A CN 106741774 A CN106741774 A CN 106741774A
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- fish
- drive device
- skin
- bionic machine
- tail fin
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a kind of bionic machine fish, it is related to underwater robot technical field, its structure includes the head, trunk and the afterbody that are sequentially connected, the front end of head has elongated cutting-edge structure, and the outer surface of head is streamlined structure；Trunk includes fish-skin and propulsion system, and the global shape of fish-skin is streamlined structure, and multiple grooves are distributed with side by side along its long axis direction on fish-skin, and propulsion system drives the trunk to swing to realize the underwater movement of bionic machine fish；Afterbody includes tail fin support and tail fin.Fluid resistance when bionic machine fish of the invention reduces travelling, reliable operation, bionical degree is high.
Description
Technical field
The present invention relates to underwater robot technical field, more particularly to a kind of bionic machine fish.
Background technology
With the mankind's continually developing and utilizing to marine resources, current autonomous underwater robot (Autonomous
Underwater Vehicle, AUV) have become the mankind carry out ocean research and explore it is important flat.In recent years, with the mankind
Continuous exploration and associated fabrication techniques, the development of control technology to fish swimming mechanism understanding, one kind are pushed away using fish body is bionical
The underwater hiding-machine for entering mechanism arises at the historic moment, and is provided to develop high efficiency, high maneuverability, low noise and easily hidden submarine navigation device
A kind of new approaches.
Machine fish is the underwater hiding-machine that a kind of utilization fish swimming mechanism realizes propulsion, assembles various microminiature sensors,
Using advanced control and means of communication, a set of similar fish body structure, the sensor that can be moved about are may be constructed.Equipped with difference
The machine fish of sensor has good mobility and disguise, can in narrow space operation and realize low noise transport
It is dynamic.Technology once ripe, machine fish will the underwater operation of complex environment, marine monitoring, marine organisms observation, military surveillance and
The aspects such as the removal of mines, mine-laying play significant role.
Machine fish at this stage is primarily present following shortcoming on drag-reduction effect and bionical effect：
First, covered using Silicone Rubber more than Biomimetic Fish fish-skin at this stage and cover structure, the research to fish-skin concrete structure is also relative
Less, when causing yielding after water under Biomimetic Fish fish-skin generally existing at this stage, swing of the fish body, fish-skin swings effect shadow to it
Ring the defect such as big.
Secondly, propulsion system there is a problem of being short of power, bionical degree it is poor.
The content of the invention
In order to solve the above-mentioned technical problem, it is an object of the invention to provide a kind of bionic machine fish, the bionic machine fish
Drag-reduction effect is good, bionical degree is high.
In order to realize foregoing invention purpose, the technical solution adopted by the present invention is：
There is provided a kind of bionic machine fish, including head, trunk and the afterbody being sequentially connected, the front end of head has carefully
Cutting-edge structure long, the outer surface of head is streamlined structure；Trunk includes fish-skin and propulsion system, and fish-skin is wrapped in propulsion
The outside of system；The global shape of fish-skin is streamlined structure, and multiple grooves are distributed with side by side along its long axis direction on fish-skin,
Fish-skin is set to form flexible concertina structure；Propulsion system drives trunk to swing to realize the underwater movement of bionic machine fish；Tail
Portion includes tail fin support and tail fin, and tail fin support one end is connected with trunk, and the tail fin support other end is provided with tail fin.
Further, the inside of head is provided with the cavity for accommodating and carrying module, and the top surface of cavity and bottom surface are plane, empty
The two sides in chamber are arcwall face.Cavity is also streamline structure, and the planar structure of cavity top surface and bottom surface is conducive to internal control
The layout of part is set, it helps set rigging screw hole.
Further, sealing ring, collision mat and waterproof cover, collision mat are disposed between head and the trunk
Shape it is consistent near the shape of the end face of trunk with head, be provided with waterproof cover control line fairlead and install connect
The connecting hole of part.
Further, the top of head latter half is provided with dorsal fin, and the monosymmetric of head latter half is provided with
Pectoral fin.Dorsal fin mounting groove and pectoral fin mounting groove are set in the head of bionic machine fish, dorsal fin and pectoral fin are separately mounted to accordingly
In mounting groove, dorsal fin and pectoral fin are set, beneficial to the balance for keeping bionic machine fish, bionic machine fish is kept in moving process
Uprightly, it is to avoid it is turned on one's side, the reliability of its work is improved.
Further, part cutting-edge structure being connected with the rear portion of head is changeover portion, and the top of changeover portion is with
Portion is arcwall face, and the both sides of changeover portion are the flat horizontal surface being arranged symmetrically.The upper and lower part of changeover portion is the streamlined knot of circular arc
Structure, left and right cheek is flat horizontal surface structure, further to reduce the resistance for advancing.
Further, the groove on fish-skin is around the end to end ring-shaped groove of the side wall of the fish-skin.Fish body is in pendulum
When dynamic, the side of fish-skin is stretched, and the opposite side of fish-skin is compressed, and groove is being upwardly formed complete ring the week of fish-skin, stretches
Deformation is regular with the compensation point of compression consistent, and pulling open and compressing for fish-skin only needs to the power of very little and can be achieved with, and is not required to
The resistance that overcomes the significantly elastic deformation of fish-skin to produce, it is to avoid influence of the fish-skin to bionical fish swimming.
Preferably, the longitudinal cross-section of the side wall of fish-skin is sequentially connected by multiple v-shaped structures and constituted, the recess of v-shaped structure
The groove is formed, the junction of two adjacent v-shaped structures forms crest.V-shaped structure makes fish-skin form bellows structure, plus
Work good manufacturability.
Further, propulsion system includes multiple propulsion units being sequentially connected, and each propulsion unit is from inside to outside successively
Including drive device, drive device inner support and drive device support arm；One end of drive device support arm is connected to driving dress
On the output shaft put and with output shaft rotation, the other end of drive device support arm is pivotally connected to drive device
On inner support, the middle part of drive device support arm is fixedly connected with the drive device inner support of the propulsion unit at its rear.
Multiple propulsion units are sequentially connected, the anglec of rotation of the propulsion unit relative to the propulsion unit of forefront of rearmost part
It is the superposition value of the anglec of rotation in each joint, it is possible to achieve flexibility ratio motion high, during more real simulation fish swimming
Attitude is swung, additionally, multiple propulsion units also increase the propulsive force of propulsion system generation, propulsive efficiency is improved.
Further, the output shaft of drive device is longitudinally arranged, and in same propulsion unit, is propped up outside the drive device
The two ends of frame rotate coaxially；Between different propulsion units, the rotary shaft of the drive device support arm is parallel to each other.
When the output shaft of drive device is longitudinally arranged, its rotation can drive propulsion unit to swing, when being moved with fish body
Swing situation it is consistent, bionical degree is high, and flexibility ratio is high.Drive device support arm two ends rotate coaxially, it is possible to decrease filled driving
Put in support arm rotation process, the shearing force suffered by propulsion unit all parts increases the reliability of propulsion system work, prolongs
The service life of propulsion system long, reduces the cost of maintenance and repair.Each rotary shaft is parallel to each other, the real joint fortune of simulation fish body
Dynamic situation, further increases the simulation degree that bionic machine fish is moved to fish body.
Further, it is provided with discoidal skeleton between adjacent propulsion unit.Disc skeleton is pushed away with both sides respectively
Enter unit to be connected, propulsion unit is larger with the contact area of disc skeleton, improve the reliability of connection；Meanwhile, disc
Skeleton and fish-skin madial wall uniform contact, play a supporting role, the anti-pressure ability for strengthening fish-skin reduces it under hydraulic pressure
Fish body deflection.
Further, the middle part of tail fin and be respectively provided on two sides with rigid tail fin clamping plate, tail fin clamping plate simultaneously with tail fin branch
Frame is connected with tail fin.
Inventive drive means can be using all controllable motor lists such as steering wheel, stepper motor, direct current generator, servomotors
Unit.
Compared with prior art, the invention has the advantages that：
1st, the bionic machine fish of example of the present invention, head and fish-skin are streamline structure, effectively reduce its it is travelling when receive
The fluid resistance for arriving；Head has elongated cutting-edge structure, can be used for the procephalic current of fish of being rived in bionical fish swimming, rises
To the effect of drag reduction, travelling speed and the flexibility of bionic machine fish are lifted；Groove on the wall of fish-skin side is produced when fish-skin swings
Raw compensating action, reduces fish-skin deflection, so that reducing fish-skin deformation swings the influence that effect is brought, drag-reduction effect to it
It is good.
2nd, the bionic machine fish of example of the present invention, propulsion system drives the trunk of Biomimetic Fish to swing, more real simulation
Swing attitude during fish swimming, tail fin is provided with afterbody, and tail fin swings in the presence of propulsion system, and simulation is true
The travelling action of fish, bionical degree is high.
3rd, the bionic machine fish of example of the present invention, the sealing ring of head, collision mat and waterproof cover form three seals knot
Structure, so that head forms independent sealed module, control device, communication device, supply unit etc. and is arranged in fish body head
Interior, head is separate with the waterproof sealing of rear portion fish body structure, advantageously ensures that the workability of fish head internal control module etc.
Can stabilization, reduction Biomimetic Fish sealing waterproof difficulty.Connecting hole on waterproof cover is used to install the screw being connected with rear portion fish body
Deng connector, control line fairlead is also reserved, only letter need to have been done using silica gel in reserved hole site after the completion of Biomimetic Fish assembling
Single water-proofing treatment can ensure the independent waterproof of fish head module, operate very easy.
4th, the bionic machine fish of example of the present invention, the groove structure on fish-skin increases it in the case where material is constant and resists
Compressive Strength, reduces the deflection of the fish body under hydraulic pressure effect, meanwhile, fish-skin sets groove and increases drainage area, Jin Erzeng
The big buoyancy of Biomimetic Fish, makes can be set inside it and more carries modules.
5th, the bionic machine fish of example of the present invention, its propulsion system sets multiple propulsion units, increases propulsion system product
Raw propulsive force, improves propulsive efficiency；Additionally, both can be with independent control between multiple propulsion units, it is also possible to coupling control, knot
Closing actual motion environment can increase joint propulsion unit quantity to strengthen propulsion system exercise performance or reduce joint propulsion
Element number to control sports energy consumption, very flexibly.
6th, the bionic machine fish of example of the present invention, sets multiple propulsion units, and the propulsion unit of rearmost part is relative to before most
The anglec of rotation of the propulsion unit in portion is the superposition value of the anglec of rotation in each joint, and motion mode is various, flexible, can realize
Motion under original place racing, high-speed motion under the particular surroundings such as higher curvature steering, the interior motion of narrow space, and can realize at a high speed
Attitude takes over seamlessly under motion state.It is provided with swing attitude during tail fin, more real simulation fish swimming.
7th, the bionic machine fish of example of the present invention, propulsion system drives dress by the way of simulation biological rhythm motion
Putting can use various controllable motors, it is easy to accomplish, it is small with work noise compared to more existing propeller plant, it is disguised
Small the advantages of.
Brief description of the drawings
Fig. 1 is the overall structure diagram (omission fish-skin) of the bionic machine fish of example of the present invention；
Fig. 2 is the structural representation of the head of the bionic machine fish of example of the present invention；
Fig. 3 is the schematic diagram of the head seal structure of the bionic machine fish of example of the present invention；
Fig. 4 is the structural representation of the fish-skin of the bionic machine fish of example of the present invention；
Fig. 5 is the structural representation of the propulsion system of the bionic machine fish of example of the present invention；
Fig. 6 is the structural representation of drive device inner support in Fig. 5；
Fig. 7 is the structural representation of drive device in Fig. 5；
Fig. 8 is the structural representation of drive device support arm in Fig. 5；
Fig. 9 is the structural representation of the afterbody of the bionic machine fish of example of the present invention.
In figure：1- heads, 11- cutting-edge structures, 12- dorsal fins, 13- pectoral fins, 14- waterproof covers, 15- cavitys, 16- sealings
Circle, 17- collision mats, 18-O type circles, 19- holding screws,
2- propulsion systems, 21- skeletons, 22- drive device support arms, 23- drive devices, 24- drive device inner supports,
3- afterbodys, 31- tail fin supports, 32- tail fin clamping plates, 33- tail fins,
4- fish-skins.
Specific embodiment
In order to be better understood by technical scheme, with reference to Figure of description and specific embodiment to the present invention
It is described further.
As shown in figure 1, a kind of bionic machine fish, including the head 1, trunk and afterbody 3 being sequentially connected.
The front end of head 1 has elongated cutting-edge structure 11, and the outer surface of head 1 is streamlined structure.Head 1 is latter half of
The top divided is provided with dorsal fin 12, and the monosymmetric of the latter half of head 1 is provided with pectoral fin 13.In the head of bionic machine fish
Dorsal fin mounting groove and pectoral fin mounting groove are set, and dorsal fin 12 and pectoral fin 14 are separately mounted in corresponding mounting groove, dorsal fin 12 is set
With pectoral fin 13, beneficial to the balance for keeping bionic machine fish, bionic machine fish is set to be kept upright in moving process, it is to avoid its generation
Rollover, improves the reliability of its work.
As shown in Fig. 2 the inside of head 1 is provided with the cavity 15 for accommodating and carrying module, the top surface of cavity 15 and bottom surface are
Plane, the two sides of cavity 15 are arcwall face.Cavity 15 is also streamline structure, and the planar structure of the top surface of cavity 15 and bottom surface has
Layout beneficial to internal control part is set, it helps set rigging screw hole.
As shown in figure 3, being disposed with sealing ring 16, collision mat 17 and waterproof cover between head 1 and the trunk
14, the shape of collision mat 17 is consistent near the shape of the end face of trunk with head 1, and being provided with control line on waterproof cover 14 draws
The connecting hole portalled with installation connecting element, waterproof cover 14 is arranged on the end face of head 1 by holding screw 19, holding screw
19 are furnished with O-ring 18.The sealing ring of head, collision mat and waterproof cover form three seal structures, so that head is formed solely
Vertical seal modules, control device, communication device, supply unit etc. are arranged in fish body head, head and rear portion fish body knot
The waterproof sealing of structure is separate, advantageously ensures that the stable work in work of fish head internal control module etc., reduces Biomimetic Fish close
Envelope waterproof difficulty.Connecting hole on waterproof cover is used to install the screw being connected with rear portion fish body, has also reserved control line extraction
Hole, fish head module is ensured by only simple water-proofing treatment need to being done using silica gel in reserved hole site after the completion of Biomimetic Fish assembling
Independent waterproof.
Head 1 has elongated cutting-edge structure 11, can be used for the procephalic current of fish of being rived in bionical fish swimming, reduces
The fluid resistance being subject to when its is travelling, lifts travelling speed and the flexibility of bionic machine fish.
The part that cutting-edge structure 11 is connected with the rear portion of head 1 is changeover portion, and the upper and lower part of changeover portion is arc
Shape face, the both sides of changeover portion are the flat horizontal surface being arranged symmetrically.The upper and lower part of changeover portion is circular arc streamlined structure, left and right
Cheek is flat horizontal surface structure, further to reduce the resistance for advancing.
Trunk includes fish-skin 4 and propulsion system 2, and fish-skin 4 is wrapped in the outside of propulsion system 2.
As shown in figure 4, the global shape of fish-skin 4 is streamlined structure, it is distributed with side by side along its long axis direction on fish-skin 4
Multiple grooves, make fish-skin 4 form flexible concertina structure.Fish-skin 4 is made of Silicone Rubber, and Silicone Rubber is for flexible material and with bullet
Property, fish-skin 4 is turned into elastic flexible concertina structure.Groove on the side wall of fish-skin 4 produces compensation to make when fish-skin swings
With, fish-skin deflection is reduced, the influence that effect is brought is swung to it so as to reduce fish-skin and deform.
The longitudinal cross-section of the side wall of fish-skin 4 is sequentially connected by multiple v-shaped structures and constituted, and the recess of v-shaped structure forms ditch
Groove, the junction of two adjacent v-shaped structures forms crest.V-shaped structure makes fish-skin 4 form bellows structure, processing technology
It is good.
When Biomimetic Fish fish body is in nature extended configuration, its both sides continuous v-shaped structure of corrugated tube shape fish-skin is not affected by pulling force
Or the effect of pressure, show physical dimension during design.Its initial configuration size is：The angle of v-shaped structure is 45 °, V-arrangement knot
The unilateral length of two waists of the isosceles triangle being configured to is 8mm, and the distance of adjacent crest is about 6mm.
When Biomimetic Fish swing of the fish body, with the continuous increase of its amplitude of fluctuation, fish body circular arc gradually increases the continuous V of side
Shape fish-skin is stretched, and it is flat that V-arrangement becomes comparing, and when swing of the fish body is to limit orthodrome state, v-shaped structure amount of tension is maximum.
Now, the angle of v-shaped structure is about 80 °, and the distance of adjacent v-shaped structure crest 2 is about 10.5mm.
Similarly, with the continuous increase of Biomimetic Fish swing of the fish body amplitude, fish body circular arc is gradually reduced the continuous V-arrangement fish-skin of side
Compressed, V-arrangement becomes more narrow and small, when swing of the fish body is to limit small arc-shaped state, v-shaped structure decrement is maximum.Now, V
Shape structure angle is about 20 °, and the distance of adjacent v-shaped structure crest 2 is about 2.5mm.
From the physical dimension of above-mentioned fish-skin 4, we can obtain the depth about 7mm of v-shaped structure fish-skin groove, adjacent
The distance between crest is about 6mm.If desired length is one section of fish-skin of L, then the number of teeth n=L/7 of its V-shaped groove.Assuming that both sides
Spacing is a between fish-skin, then it is one section of θ=4L/3a round with one heart that the limiting condition after its stretching can reach corner dimension
Arc.
As shown in figure 5, propulsion system 2 include three propulsion units being sequentially connected, each propulsion unit from inside to outside according to
It is secondary including drive device 23, drive device inner support 24 and drive device support arm 22；One end of drive device support arm 22 connects
It is connected on the output shaft of drive device 23 and with output shaft rotation, the other end of drive device support arm 22 is pivotally
It is connected on drive device inner support 24, in the drive device of the middle part of drive device support arm 22 and the propulsion unit at its rear
Support 24 is fixedly connected.
The output shaft of drive device 23 is longitudinally arranged, in same propulsion unit, the drive device support arm 22
Two ends rotate coaxially；Between different propulsion units, the rotary shaft of the drive device support arm 22 is parallel to each other.
Discoidal skeleton 21 is provided between adjacent propulsion unit.Disc skeleton 21 respectively with the propulsion unit of both sides
It is connected, propulsion unit is larger with the contact area of disc skeleton 21, improves the reliability of connection；Meanwhile, discoidal bone
The madial wall uniform contact of frame 21 and fish-skin 4, plays a supporting role, and the anti-pressure ability for strengthening fish-skin 4 reduces it under hydraulic pressure
Fish body deflection.
The structure of drive device inner support 24 as shown in fig. 6, drive device inner support 24 includes the main body of U-shaped, main body
Two ends it is symmetrical be provided with the first installing plate.The structure of drive device 23 is as shown in fig. 7, drive device 23 is respectively provided on two sides with
Two installing plates, the first installing plate and the second installing plate are fixed together correspondingly, the master of drive device inner support 24
Body covers side relative with output shaft in drive device 23.
The structure of drive device support arm 22 is as shown in fig. 7, drive device support arm 22 is perpendicular including two pieces of transverse slats and one piece
Plate, two pieces of transverse slats are symmetrically installed on the two ends of riser, and one of transverse slat is connected with the output shaft of drive device 23, another
Block transverse slat is connected with drive device inner support 24.
Between drive device support arm 22 and drive device 23 and drive device support arm 22 and other propulsion units
Between be attached by drive device inner support 24, installation that is more solid and reliable and being easy to connector；Branch in drive device
Frame 24 also forms certain protective effect to drive device 23.Drive device support arm 22 forms a U being rotated by 90 ° to side
Shape structure, riser is connected with the propulsion unit at its rear, makes the structure of whole propulsion system closely.
This bionic coatings system is cascaded by three joint units and formed.The maximum rotation angle of single joint is positive and negative 90
Degree.If joint cascade number is N (N>=2), then n-th joint is poor with respect to first accessible maximum angle in joint for positive and negative
90*(N-1).And each joint can be controlled by bionic coatings algorithm.Controllable parameter enters line period fortune including each joint
Dynamic amplitude, the poor angular phase between cycle, speed, each joint, each joint dynamic bias angle and quiescent biasing angle.
In the present embodiment propulsion system, three are formed at three output shafts of drive device 1 that three propulsion units are included
Individual joint, the trunk with true fish body is contrasted, and simulation degree is high, before being realized by the cooperation cooperative motion in three joints
Enter, retreat, turning left, turning right and the motion such as original place autobiography.
As shown in figure 9, afterbody 3 includes tail fin support 31 and tail fin 33, the one end of tail fin support 31 is connected with trunk, tail
The other end of fin support 31 is provided with tail fin 33.The middle part of tail fin 33 presss from both sides with rigid tail fin clamping plate 32, tail fin is respectively provided on two sides with
Plate 32 is connected with tail fin support 31 and tail fin 33 simultaneously.
The tail fin 33 of rear end can be made from certain thickness rubber slab, and tail fin clamping plate 32 is using certain thickness stainless
Steel is made, it is possible to decrease the development cost of Biomimetic Fish.Tail fin clamping plate 32 can improve the structural strength of rubber tail fin, swing it
Shi Gengjia presses close to the travelling state of true fish.Tail fin support 31, tail fin clamping plate 32 can be set after optimal tail fin structure is selected
Inner skeleton structure is calculated as, finally using encapsulated treatment, support outside tail fin structure attractive in appearance.
As shown in figure 9, in the present embodiment, the shape for being shaped as the approximate swallow-tail form with arc notch of tail fin 33, but
It is that the present invention is not limited for the shape of tail fin 33, arbitrarily can changes tail fin on the premise of the structure of afterbody 3 is not changed
33 shape, for studying influence of the caudal-fin models to bionic machine fish propulsive efficiency.
In the present embodiment, drive device 23 uses steering wheel, removes outside the steering wheel described in embodiment, inventive drive means
Can also be using all controllable motor units such as servomotor, stepper motor, direct current generators.
The fold of fish-skin 4 uses v-shaped structure in the present embodiment, further, it is also possible to using U-shaped fold or other forms
Groove and fold.
The U-shaped frame structure of the main body of drive device inner support 24 is saved the most on the premise of its function is realized in the present embodiment
Material saving, mitigates the weight of propulsion system, is easy to the inside of Biomimetic Fish humanoid robot to carry more other operational modules.But
That the shape of the main body of drive device inner support 24 of the present invention is not limited to the shape described in embodiment, may be arranged as by
The groove-like structure that the lower sidewall of drive device 23 is covered.The shape of drive device support arm 22 is also not necessarily limited to embodiment institute
The shape stated, transverse slat or riser can be extended.
In the present invention, the quantity of propulsion unit is not limited to three described in embodiment, can be by increasing propulsion unit
Quantity improve propulsive force and system motion form, the polytropy of shape of propulsion system；Can also be advanced by reducing
The quantity of unit adapts to the motion under simple environment.Multiple propulsion units are sequentially connected, the propulsion unit of rearmost part relative to
The anglec of rotation of the propulsion unit of forefront is the superposition value of the anglec of rotation in each joint, it is possible to achieve flexibility ratio fortune high
It is dynamic, swing attitude during more real simulation fish swimming.
In the present invention, the relative position that "front", "rear" is intended merely to facilitate description and uses, with the head of bionic machine fish
Portion is front, and afterbody is described for rear, can not be interpreted as absolute position and limit the invention.
Above description is only the preferred embodiment and the explanation to institute's application technology principle of the application.People in the art
Member is it should be appreciated that involved invention scope in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where the inventive concept is not departed from, is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical schemes for being combined and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (10)
1. a kind of bionic machine fish, it is characterized in that, including head, trunk and the afterbody being sequentially connected,
The front end of the head has elongated cutting-edge structure, and the outer surface of the head is streamlined structure；
The trunk includes fish-skin and propulsion system, and the fish-skin is wrapped in the outside of the propulsion system；The fish-skin
Global shape is streamlined structure, and multiple grooves are distributed with side by side along its long axis direction on the fish-skin, makes the fish-skin shape
Into flexible concertina structure；The propulsion system drives the trunk to swing to realize the underwater movement of bionic machine fish；
The afterbody includes tail fin support and tail fin, and described tail fin support one end is connected with the trunk, the tail fin branch
The frame other end is provided with the tail fin.
2. bionic machine fish according to claim 1, it is characterized in that, the inside of the head is provided with to accommodate carries module
Cavity, the top surface of the cavity and bottom surface are plane, and the two sides of the cavity are arcwall face.
3. bionic machine fish according to claim 1, it is characterized in that, by the rear portion phase of the cutting-edge structure and the head
The part of connection is changeover portion, and the upper and lower part of the changeover portion is arcwall face, and the both sides of changeover portion are be arranged symmetrically flat
Plane.
4. according to any described bionic machine fish of claims 1 to 3, it is characterized in that, between the head and the trunk
Sealing ring, collision mat and waterproof cover are disposed with, the shape of the collision mat is with the head near the trunk
The shape of end face is consistent, and the connecting hole of control line fairlead and installation connecting element is provided with the waterproof cover.
5. bionic machine fish according to claim 1, it is characterized in that, the groove on the fish-skin is around the fish-skin
The end to end ring-shaped groove of side wall.
6. bionic machine fish according to claim 5, it is characterized in that, the longitudinal cross-section of the side wall of the fish-skin is by multiple V
Shape structure is sequentially connected composition, and the recess of the v-shaped structure forms the groove, two adjacent companies of the v-shaped structure
The place of connecing forms crest.
7. bionic machine fish according to claim 1, it is characterized in that, the propulsion system include it is multiple be sequentially connected push away
Enter unit, each described propulsion unit includes being propped up outside drive device, drive device inner support and drive device from inside to outside successively
Frame；One end of the drive device support arm is connected on the output shaft of the drive device and with the output shaft rotation, institute
The other end for stating drive device support arm is pivotally connected on the drive device inner support, the drive device
The middle part of support arm is fixedly connected with the drive device inner support of the propulsion unit at its rear.
8. bionic machine fish according to claim 7, it is characterized in that, the output shaft of the drive device is longitudinally arranged,
In same propulsion unit, the two ends of the drive device support arm rotate coaxially；Between different propulsion units, the drive
The rotary shaft of dynamic device support arm is parallel to each other.
9. bionic machine fish according to claim 7, it is characterized in that, it is provided with disc between the adjacent propulsion unit
Skeleton.
10. bionic machine fish according to claim 1, it is characterized in that, the middle part of the tail fin and it is respectively provided on two sides with just
The tail fin clamping plate of property, the tail fin clamping plate is connected with the tail fin support and the tail fin simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611223994.9A CN106741774B (en) | 2016-12-27 | 2016-12-27 | A kind of bionic machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611223994.9A CN106741774B (en) | 2016-12-27 | 2016-12-27 | A kind of bionic machine fish |
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| CN108557045A (en) * | 2018-07-04 | 2018-09-21 | 西北工业大学 | A kind of stay-supported flexible bionic machine fish body |
| CN109131809A (en) * | 2018-08-28 | 2019-01-04 | 西北工业大学 | It is a kind of to swing the unmanned vehicles promoted based on tail bone |
| CN109774899A (en) * | 2019-03-25 | 2019-05-21 | 中国计量大学 | A kind of bionic machine fish with dual drive system |
| CN110027691A (en) * | 2019-05-15 | 2019-07-19 | 彭爽 | A kind of bionic mechanical fish |
| CN110588934A (en) * | 2019-10-15 | 2019-12-20 | 上海海洋大学 | Underwater flexible bionic squid |
| CN112319753A (en) * | 2020-11-16 | 2021-02-05 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
| CN112498639A (en) * | 2020-12-31 | 2021-03-16 | 夏秀芬 | Bionic fishtail paddle |
| CN112733342A (en) * | 2020-12-30 | 2021-04-30 | 成都杰启科电科技有限公司 | Device for simulating real swimming scene of robotic fish and control method thereof |
| CN114919724A (en) * | 2022-03-15 | 2022-08-19 | 中国科学院自动化研究所 | Bionic tendon driven robotic fish system and operation control method |
| CN114986996A (en) * | 2022-05-05 | 2022-09-02 | 华南理工大学 | Bionic drag reduction fish skin and manufacturing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108557045A (en) * | 2018-07-04 | 2018-09-21 | 西北工业大学 | A kind of stay-supported flexible bionic machine fish body |
| CN109131809A (en) * | 2018-08-28 | 2019-01-04 | 西北工业大学 | It is a kind of to swing the unmanned vehicles promoted based on tail bone |
| CN109774899A (en) * | 2019-03-25 | 2019-05-21 | 中国计量大学 | A kind of bionic machine fish with dual drive system |
| CN110027691A (en) * | 2019-05-15 | 2019-07-19 | 彭爽 | A kind of bionic mechanical fish |
| CN110588934A (en) * | 2019-10-15 | 2019-12-20 | 上海海洋大学 | Underwater flexible bionic squid |
| CN110588934B (en) * | 2019-10-15 | 2024-01-30 | 上海海洋大学 | Underwater flexible bionic squid |
| CN112319753A (en) * | 2020-11-16 | 2021-02-05 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
| CN112733342B (en) * | 2020-12-30 | 2023-04-07 | 成都杰启科电科技有限公司 | Device for simulating real swimming scene of robotic fish and control method thereof |
| CN112733342A (en) * | 2020-12-30 | 2021-04-30 | 成都杰启科电科技有限公司 | Device for simulating real swimming scene of robotic fish and control method thereof |
| CN112498639A (en) * | 2020-12-31 | 2021-03-16 | 夏秀芬 | Bionic fishtail paddle |
| CN114919724A (en) * | 2022-03-15 | 2022-08-19 | 中国科学院自动化研究所 | Bionic tendon driven robotic fish system and operation control method |
| CN114919724B (en) * | 2022-03-15 | 2024-03-15 | 中国科学院自动化研究所 | Robot fish system driven by bionic tendons and operation control method |
| CN114986996A (en) * | 2022-05-05 | 2022-09-02 | 华南理工大学 | Bionic drag reduction fish skin and manufacturing method thereof |
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