CN111319741B

CN111319741B - Bionic robot fish driving device

Info

Publication number: CN111319741B
Application number: CN202010240722.XA
Authority: CN
Inventors: 王淑妍; 袁卓俊; 郭栋祥; 杨超凡
Original assignee: Donghua University
Current assignee: Shenzhen Shuishui Technology Co.,Ltd.
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2021-08-17
Anticipated expiration: 2040-03-31
Also published as: CN111319741A

Abstract

The invention relates to a bionic robot fish driving device, belonging to the technical field of underwater automatic aircrafts; comprises a fish head shell, a fish tail shell, tail fins, a ball body motion device, a tail fin swinging and flapping device and a water hitting angle adjusting device; the ball body movement device drives the central shaft of the fishtail shell to rotate around the x axis and rotate around the y axis in the whole circle, so that the symmetrical axis of the reciprocating motion of the tail fin is positioned at any position in the hemispherical surface of the fishtail, and the reciprocating flapping of the tail fin with the controllable water beating angle is matched to realize the reciprocating swing of the robot fish in the hemispherical motion domain, thereby meeting the maneuvering requirements of turning, lifting and submerging of the robot fish and the like. The invention adopts the sphere motion device to realize the motion of the tail fin swing or flapping axis of the bionic robot fish in the hemispherical surface, has simple structure, is convenient to realize the miniaturized and light robot fish device, has simple mechanism principle and structure composition, and is suitable for the driving device of the underwater automatic aircraft.

Description

Bionic robot fish driving device

Technical Field

The invention relates to a bionic robot fish driving device, and belongs to the technical field of underwater automatic aircrafts.

Background

An Unmanned Underwater Vehicle (UUV) is an important component of modern naval equipment, and is one of the fields of new concepts and new technologies in naval equipment with extremely wide application. In the aspect of a bionic underwater unmanned aircraft, the problem of the currently adopted hotspot propulsion mode is that the bionic fishtail is difficult to simulate the biological fishtail to realize excellent tail swing propulsion performance. The bionic limit of the biological tail fin of the fish is broken through, the bionic limit of the physiology, the structure and the function of the fish is broken through in a combined bionic mode, the advantages of 2-3 kinds of fishes are gathered, a swimming mode with high maneuverability, flexibility and fault tolerance can be provided, and the unmanned underwater vehicle has great application prospects in the research and development field of unmanned underwater vehicles. The literature search of the prior art finds that: (1) chinese patent publication No.: CN104724269A, published: 2015.6.24, patent name: a space maneuvering tail pendulum propelling device. The patent can realize the flexible conversion of two motion modes of the tail fin swing/flapping, and can flexibly change the motion direction of the tail fin swing/flapping on the basis of keeping an effective water-beating angle; meanwhile, the rotating device of the movable frame can change the direction of the motion axis of the tail fin to generate lateral force/lift force in different directions, so that the motion characteristics of propulsion, turning, lifting and submerging and the like are realized. (2) Chinese patent publication No.: CN 2011026625Y, announcement day: 2008.08.20, patent name: the three-dimensional motion bionic robot fish realizes the propulsion and the left-right maneuvering of the robot fish through a steering engine connected with the tail in series, and changes the posture of the robot fish through a gravity center changing device, thereby realizing the ascending and descending. (3) Chinese patent publication No.: CN108494203A, published: 2018.9.4, patent name: a multi-degree-of-freedom spherical motor and a speed reducing mechanism thereof. This patent describes a multi freedom's spherical speed reduction mechanism, and 14 permanent magnets pass through threaded connection in the shoulder hole of rotor, and stator support internal surface is equipped with 17 cylindrical cavities, and the cavity internal fixation electro-magnet can realize the rotation of rotor three freedom arbitrary directions through changing the size and the direction of electro-magnet electric current, and the rotor passes through the rotation of frictional force drive ball, and the frictional force between ball and output casing drives the turnover of output casing three freedom arbitrary directions and slows down. Of the above patents, patent publication nos.: the CN104724269A patent is a space tail fin propulsion device, and more complicated mechanical devices are connected and driven in a coordinated manner, so that the space tail fin propulsion device is suitable for being applied to occasions with large propulsion force and is not beneficial to the miniaturization and light weight of bionic fish; patent publication No.: the CN 2011026625Y patent is limited to the propulsion of single-organism fish for bionics, and the propulsion performance has certain limitation; patent publication No.: the CN108494203A patent can realize three-degree-of-freedom arbitrary-direction turnover of the output housing. At present, in the technical field, a multi-degree-of-freedom driving device with a simple structure and flexible operation is needed, and the device has important significance for miniaturization and light weight of an underwater unmanned vehicle.

Disclosure of Invention

The invention aims to solve the technical problem of how to realize the miniaturization and light weight of an underwater driving device, so as to obtain a multi-degree-of-freedom driving device which is simple in structure and flexible in operation.

In order to solve the above problems, the present invention provides a bionic robotic fish driving device, comprising a fish head casing, a fish tail casing, a tail fin, a ball motion device, a tail fin swing flapping device and a water-hitting angle adjusting device; the fish head shell and the fish tail shell are of nearly conical hollow structures, and an elastic connecting structure is arranged between the fish head shell and the fish tail shell; the outer side of the fish tail shell is provided with tail fins along the central axis of the fish body; a base is arranged in the cavity of the fish head shell and close to one side of the conical bottom of the fish head, and a ball body moving device is arranged on the base; the spherical body motion device is provided with a hemispherical rotor output shaft which is connected with the spherical body motion device and the tail fin along the central axis of the fish body; a tail fin swinging flapping device for controlling the swinging of the tail fins is arranged on the output shaft of the hemispherical rotor; a water beating angle adjusting device is arranged between the tail fin and the tail fin swinging flapping device.

Preferably, the sphere movement device comprises an electric telescopic rod, a spring, a micro motor output shaft, a hemispherical friction disc, a hemispherical rotor, a hemispherical stator and a hemispherical rotor output shaft; the base arranged at the bottom of the fish head shell is provided with a stepped hole along the central axis of the fish body, the diameter of the stepped hole is sequentially increased from the fish head to the fish tail, and an electric telescopic rod, a spring and a micro motor are sequentially arranged in the stepped hole from the fish head to the fish tail; the spring is sleeved on the periphery of the rod body of the electric telescopic rod; the electric telescopic rod is connected with the micro motor through a spring; the micro motor is provided with a micro motor output shaft, the output shaft of the micro motor is provided with a hemispherical friction disc with a spherical surface facing the tail part of the fish, and a hemispherical rotor is arranged corresponding to the hemispherical surface of the hemispherical friction disc; the spherical surface of the hemispherical outer arc of the hemispherical friction disc is correspondingly matched with the inner arc surface of the hemispherical rotor; a hemispherical stator which can be used for rotating the hemispherical rotor is arranged between the hemispherical rotor and the base; and a hemispherical rotor output shaft is arranged between the hemispherical rotor and the tail fin along the central axis of the fish body.

Preferably, the hemisphere rotor and the hemisphere stator establish to hollow shell structure, and hemisphere stator bottom is located on the base, and the spheroid axis of hemisphere stator coincides with fish body axis.

Preferably, the outer arc surface of the outer spherical surface of the hemispherical stator is in contact fit with the inner arc surface of the hemispherical rotor to form spherical pair connection.

Preferably, a warp yarn arranged on the outer spherical surface of the hemispherical stator shell is uniformly provided with embedded cavities at equal intervals, a No. 1 electromagnet and a No. 2 electromagnet are sequentially arranged in the embedded cavities, and the combination of the No. 1 electromagnet and the No. 2 electromagnet is continuously arranged around the warp yarn; the shape of the outer arc surface of the hemispherical stator embedded with the electromagnet is consistent with that of other outer arc surfaces of the hemispherical stator.

Preferably, the meridian of the electromagnet embedded on the outer spherical surface of the hemispherical stator shell is intersected with the central axis of the fish body and arranged on a plane parallel to the horizontal plane.

Preferably, the tail fin swinging flapping device comprises a swinging motor, a crank, a sliding block and a guide rod; a swing motor is arranged on one side of the output shaft of the hemispherical rotor, which is close to the hemispherical rotor; one end of the crank is fixedly connected with an output shaft of a swing motor arranged on the swing motor, and the other end of the crank is movably connected with a sliding block movably connected on the guide rod in a connecting way; and one end of the guide rod, which is far away from the sliding block, is connected with the tail fin through a revolute pair of the output shaft of the hemispherical rotor.

Preferably, the tail fin water striking angle adjusting device comprises a hollow steering engine and a tail fin; the tail fin is provided with a tail output shaft, and a steering engine for realizing tail fin direction adjustment through controlling the rotation angle of the steering engine is sleeved on the tail output shaft.

Compared with the prior art, the invention has the following beneficial effects:

1. the ball body motion device is adopted to realize the motion of the tail fin swing or flapping axis of the bionic robot fish in the hemispherical surface, the structure is simple, and the miniature and light robot fish device is convenient to realize.

2. The swinging/flapping axis of the spatial robotic fish realized based on the spherical motion device is realized by the swinging guide rod mechanism, and the convenience is improved by setting the adjusting angle of the tail fin striking water.

Drawings

FIG. 1 is a front view of a biomimetic robotic fish drive apparatus of the present invention;

FIG. 2 is a top view of a bionic robotic fish driving device according to the present invention;

FIG. 3 is a schematic structural diagram of a ball body movement device of a bionic robotic fish driving device according to the present invention;

FIG. 4 is a schematic diagram of the spatial motion of a sphere motion device of a bionic robot fish driving device according to the present invention;

reference numerals: 1. the device comprises a base 2, an electric telescopic rod 3, a spring 4.1, an electromagnet 5, a micro motor 6, a micro motor output shaft 7, a hemispherical friction disc 8.2, an electromagnet 9, a hemispherical rotor 10, a hemispherical stator 11, a fish head shell 12, a fish tail shell 13, a folding elastic connection 14, a swing motor 15, a sliding block 16, a guide rod 17, a steering engine 18, a hemispherical rotor output shaft 19, a crank 20, a tail fin

Detailed Description

In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings:

as shown in fig. 1 to 4, the present invention provides a bionic robotic fish driving device, comprising a fish head shell 11, a fish tail shell 12, tail fins 20, a sphere movement device, a tail fin swing flapping device and a water-hitting angle adjusting device; the fish head shell 11 and the fish tail shell 12 are of a nearly conical hollow structure, and an elastic connection structure folding elastic connection 13 is arranged between the fish head shell and the fish tail shell; the outer side of the fish tail shell 12 is provided with tail fins 20 along the central axis of the fish body; a base 1 is arranged on one side of the cavity of the fish head shell 11, which is close to the conical bottom of the fish head, and a ball body movement device is arranged on the base 1; the sphere movement device is provided with a hemispherical rotor output shaft 18 which is connected with the sphere movement device and a tail fin 20 along the central axis of the fish body; a tail fin swinging flapping device for controlling the swinging of the tail fins is arranged on the output shaft 18 of the hemispherical rotor; a water beating angle adjusting device is arranged between the tail fin and the tail fin swinging flapping device. The sphere movement device comprises an electric telescopic rod 2, a spring 3, a micro motor 5, a micro motor output shaft 6, a hemispherical friction disc 7, a hemispherical rotor 9, a hemispherical stator 10 and a hemispherical rotor output shaft 18; the base 1 arranged at the bottom of the fish head shell 11 is provided with a stepped hole along the central axis of the fish body, the diameter of the stepped hole is sequentially increased from the fish head to the fish tail, and an electric telescopic rod 2, a spring 3 and a micro motor 5 are sequentially arranged in the stepped hole from the fish head to the fish tail; the spring 3 is sleeved on the periphery of the rod body of the electric telescopic rod 2; the electric telescopic rod 2 is connected with a micro motor 5 through a spring 3; the micro motor 5 is provided with a micro motor output shaft 6, the micro motor output shaft 6 is provided with a hemispherical friction disc 7 with a spherical surface facing the tail part of the fish, and a hemispherical rotor 9 is arranged corresponding to the hemispherical surface of the hemispherical friction disc 7; the spherical surface of the hemispherical outer arc of the hemispherical friction disc 7 is correspondingly matched with the inner arc surface of the hemispherical rotor 9; a hemispherical stator 10 which can be used for rotating the hemispherical rotor 9 is arranged between the hemispherical rotor 9 and the base 1; and a hemispherical rotor output shaft 18 is arranged between the hemispherical rotor 9 and the tail fin along the central axis of the fish body. The hemispherical rotor 9 and the hemispherical stator 10 are arranged in a hollow shell structure, the bottom of the hemispherical stator 10 is arranged on the base, and the central axis of the sphere of the hemispherical stator 10 coincides with the central axis of the fish body. The outer arc surface of the outer spherical surface of the hemispherical stator 10 is in contact fit with the inner arc surface of the hemispherical rotor 9 to form spherical pair connection. An embedded cavity with equal intervals is uniformly arranged on a warp line on the outer spherical surface of the shell of the hemispherical stator 10, a No. 1 electromagnet 4 and a No. 2 electromagnet 8 are sequentially arranged in the embedded cavity, and the No. 1 electromagnet 4 and the No. 2 electromagnet 8 are combined and continuously arranged; the outer arc surface of the hemispherical stator 10 embedded with the electromagnet is consistent with the outer arc surface of other hemispherical stators in shape. The meridian that hemisphere stator 10 casing ectosphere inlayed the electro-magnet and fish body axis locate the horizontal plane. The tail fin swinging flapping device comprises a swinging motor 14, a crank 19, a slide block 15 and a guide rod 16; a swing motor 14 is arranged on one side of the output shaft 18 of the hemispherical rotor, which is close to the hemispherical rotor 9; one end of the crank 19 is fixedly connected with an output shaft of a swing motor arranged on the swing motor 14, and the other end of the crank 19 is movably connected with a sliding block 15 sleeved on the guide rod 16; the end of the guide rod 16 remote from the slide block 15 is connected with the tail fin 20 through the rotating pair connection with the output shaft 18 of the hemispherical rotor. The tail fin water striking angle adjusting device comprises a hollow steering engine 17 and a tail fin 20; the tail fin 20 is provided with a fish tail output shaft, and a steering engine 17 for realizing tail fin direction adjustment by controlling the rotation angle of the steering engine 17 is sleeved on the fish tail output shaft.

In order to simulate the swimming characteristic of the robotic fish in water as much as possible, the fish head shell 11 is made of rigid materials, is designed into a nearly conical inner cavity, and is fixedly connected with the base 1 which is arranged in the fish head; the fishtail shell 12 is sleeved on the output shaft 18 of the hemispherical rotor and is fixedly connected with the output shaft 18 in an interference fit manner; the fish head 11 and the fish tail 12 are elastically connected. The ball body motion device is arranged in an inner cavity of a fish head and comprises a base 1, an electric telescopic rod 2, a spring 3, a No. 1 electromagnet 4, a micro motor 5, a micro motor output shaft 6, a hemispherical friction disc 7, a No. 2 electromagnet 8, a hemispherical rotor 9 and a hemispherical stator 10. The axis of the base 1 is provided with a stepped hole, the electric telescopic rod 2, the retention spring 3 and the micro motor 5 are sequentially arranged in the stepped hole, wherein the spring 3 is sleeved on the electric telescopic rod 2 and stretches along with the telescopic rod. Hemispherical rotor 9 and hemispherical stator 10 all adopt hollow shell structure, and hemispherical stator 10 connects firmly on base 1, sets up a plurality of equidistant embedded cavities on the ectosphere of hemispherical stator 10 casing on the line, and 1 electro-

magnet

4 and 2 electro-magnets 8 are fixed in turn to the cavity inside. The electromagnet and the cavity are provided with an arc shape corresponding to the shape of the outer surface of the hemispherical stator 10, and the whole outer spherical surface of the hemispherical stator 10 is contacted with the inner shell surface of the hemispherical rotor 9 to form spherical pair connection. The end face of the hemispherical friction disc 7 is provided with an inner hole which is in interference fit with the output shaft 6 of the micro motor, the spherical surface of the friction disc 7 is matched with the inner surface of the hemispherical rotor 9, and the friction disc can be made of rubber, cork, fiber and the like, has certain rigidity and large friction coefficient, and meets the requirements of wear resistance, no noise and the like.

The tail fin swinging/flapping device is arranged in the inner cavity of the fish tail and comprises a swinging motor 14, a crank 19, a slide block 15 and a guide rod 16. The swing motor 14 is fixedly arranged on the output shaft 18 of the hemispherical rotor, the output shaft of the swing motor 14 is fixedly connected with one end of a crank 19 sleeved on the output shaft, the other end of the crank 19 is sleeved on a guide rod 16, and the other end of the guide rod 16 is connected with a revolute pair of the output shaft 18 of the hemispherical rotor.

The tail fin water striking angle adjusting device comprises a hollow steering engine 17 and a tail fin 20. The steering engine 17 suit is on the fish tail output shaft, and the steering engine output shaft links firmly with tail fin 20, and the direction of tail fin is realized through the rotation angle of control steering engine, makes the angle of hitting water of tail fin adjustable.

The specific working process of the invention is as follows:

as shown in fig. 3, the electric telescopic rod 2 extends rightward, the spherical surface of the hemispherical friction disc 7 is pressed against the inner surface of the hemispherical rotor 9 against the elastic force of the spring 3, and when the friction disc 7 is driven by the micro-motor 5 to rotate around the y axis, the hemispherical rotor 9 pressed against the friction disc 7 rotates around the y axis together with the friction disc 7 under the action of friction force; as shown in fig. 4, after the electric telescopic rod 2 is contracted, the friction disc 7 is separated from the hemispherical rotor 9, the power-on and power-off of the No. 1 electromagnet 4 are sequentially controlled from top to bottom, and the magnetization and demagnetization functions of the electromagnet 4 attract the hemispherical rotor 9 to rotate anticlockwise; sequentially controlling the power on and off of the No. 2 electromagnet 8 from bottom to top, and attracting the hemispherical rotor 9 to rotate clockwise under the magnetization and demagnetization effects of the electromagnet 8; by controlling the rotation of the hemispherical rotor 9 in the range of-30 deg. about the x-axis and the full-circle rotational movement about the y-axis.

The driving crank 19 rotates under the driving of the swing motor 14, and is converted into reciprocating swing of the guide rod 16 fixed on the output shaft 18 of the hemispherical rotor through the sliding of the sliding block 15 connected to the guide rod 16, so as to drive the tail fin 20 sleeved at the tail end of the guide rod 16 to reciprocate; the hollow steering engine 17 can adjust the direction of the tail fin 20 as required, control the water-beating angle and provide assistance for the propelling performance of the robot fish.

In summary, the hemispherical rotor 9 drives the output shaft 18 of the fish-body hemispherical rotor to rotate around the x-axis and rotate around the y-axis in the whole circumference, so that any position of the output shaft 18 of the fish-body hemispherical rotor on the hemispherical rotor 9 in the hemispherical plane, that is, any position of the symmetrical axis of the reciprocating motion of the tail fin in the hemispherical plane (in this case, a 45-degree spatial angle) can be obtained, and the reciprocating flapping of the tail fin 20 with a controllable water beating angle is matched, so that the reciprocating swinging of the robot fish in the hemispherical motion domain is realized, and the maneuvering requirements of turning, lifting and submerging of the robot fish are met.

While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.

Claims

1. The utility model provides a bionical machine fish drive arrangement which characterized in that: comprises a fish head shell, a fish tail shell, tail fins, a ball body motion device, a tail fin swinging and flapping device and a water hitting angle adjusting device; the fish head shell and the fish tail shell are of nearly conical hollow structures, and an elastic connecting structure is arranged between the fish head shell and the fish tail shell; the outer side of the fish tail shell is provided with tail fins along the central axis of the fish body; a base is arranged in the cavity of the fish head shell and close to one side of the conical bottom of the fish head, and a ball body moving device is arranged on the base; the spherical body motion device is provided with a hemispherical rotor output shaft which is connected with the spherical body motion device and the tail fin along the central axis of the fish body; a tail fin swinging flapping device for controlling the swinging of the tail fins is arranged on the output shaft of the hemispherical rotor; a water beating angle adjusting device is arranged between the tail fin and the tail fin swinging flapping device; the sphere movement device comprises an electric telescopic rod, a spring, a micro motor output shaft, a hemispherical friction disc, a hemispherical rotor, a hemispherical stator and a hemispherical rotor output shaft; the base arranged at the bottom of the fish head shell is provided with a stepped hole along the central axis of the fish body, the diameter of the stepped hole is sequentially increased from the fish head to the fish tail, and an electric telescopic rod, a spring and a micro motor are sequentially arranged in the stepped hole from the fish head to the fish tail; the spring is sleeved on the periphery of the rod body of the electric telescopic rod; the electric telescopic rod is connected with the micro motor through a spring; the micro motor is provided with a micro motor output shaft, the output shaft of the micro motor is provided with a hemispherical friction disc with a spherical surface facing the tail part of the fish, and a hemispherical rotor is arranged corresponding to the hemispherical surface of the hemispherical friction disc; the spherical surface of the hemispherical outer arc of the hemispherical friction disc is correspondingly matched with the inner arc surface of the hemispherical rotor; a hemispherical stator which can be used for rotating the hemispherical rotor is arranged between the hemispherical rotor and the base; and a hemispherical rotor output shaft is arranged between the hemispherical rotor and the tail fin along the central axis of the fish body.

2. The biomimetic robotic fish drive apparatus of claim 1, wherein: the semi-spherical rotor and the semi-spherical stator are arranged in a hollow shell structure, the bottom of the semi-spherical stator is arranged on the base, and the central axis of the sphere of the semi-spherical stator coincides with the central axis of the fish body.

3. The biomimetic robotic fish drive apparatus of claim 2, wherein: the outer arc surface of the spherical surface of the hemispherical stator is in contact fit with the inner arc surface of the hemispherical rotor to form spherical pair connection.

4. A biomimetic robotic fish drive apparatus as recited in claim 3, wherein: an embedded cavity with equal intervals is uniformly arranged on a warp yarn on the outer spherical surface of the hemispherical stator shell, a No. 1 electromagnet and a No. 2 electromagnet are sequentially arranged in the embedded cavity, and the combination of the No. 1 electromagnet and the No. 2 electromagnet is continuously arranged around the warp yarn; the outer arc surface of the hemispherical stator embedded with the electromagnet is consistent with the other outer arc surfaces of the hemispherical stator in shape.

5. The biomimetic robotic fish drive apparatus of claim 4, wherein: the warp of the electromagnet embedded on the outer spherical surface of the hemispherical stator shell is intersected with the central axis of the fish body and arranged on a plane parallel to the horizontal plane.

6. The biomimetic robotic fish drive apparatus of claim 5, wherein: the tail fin swinging flapping device comprises a swinging motor, a crank, a sliding block and a guide rod; a swing motor is arranged on one side of the output shaft of the hemispherical rotor, which is close to the hemispherical rotor; one end of the crank is fixedly connected with an output shaft of a swing motor arranged on the swing motor, and the other end of the crank is movably connected with a sliding block movably connected on the guide rod in a connecting way; and one end of the guide rod, which is far away from the sliding block, is connected with the tail fin through a revolute pair of the output shaft of the hemispherical rotor.

7. The biomimetic robotic fish drive apparatus of claim 6, wherein: the tail fin water striking angle adjusting device comprises a hollow steering engine and a tail fin; the tail fin is provided with a tail output shaft, and a steering engine for realizing tail fin direction adjustment through controlling the rotation angle of the steering engine is sleeved on the tail output shaft.