CN112319753A

CN112319753A - Deep-diving bionic wire-pulling machine fish

Info

Publication number: CN112319753A
Application number: CN202011280891.2A
Authority: CN
Inventors: 钟勇; 杨佳伟; 陈家泳; 杜如虚
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2020-11-16
Filing date: 2020-11-16
Publication date: 2021-02-05
Anticipated expiration: 2040-11-16
Also published as: CN112319753B

Abstract

The invention discloses a deep-diving bionic guy line robot fish, which belongs to the technical field of bionic robot fish and mainly solves the problems that the existing robot fish can only move in a shallow water area almost and can not realize deep-water operation; the robot fish comprises a fish head part, a middle joint and a flexible tail part which are sequentially connected, wherein the fish head part is provided with a camera device, a gravity center adjusting device, a buoyancy adjusting device, a motor driving device and a transmission device for connecting the gravity center adjusting device and the motor driving device; the middle joint is sequentially hinged by a plurality of joint main bodies, two pull wires which sequentially penetrate through wire grooves at the upper end and the lower end of each joint main body are arranged between the motor driving device and the flexible tail part, and the motor driving device and the flexible tail part are in pull wire transmission. The invention has simple structure, simple control and higher practical value.

Description

Deep-diving bionic wire-pulling machine fish

Technical Field

The invention relates to the technical field of bionic robot fish, in particular to a deep-diving bionic guy wire robot fish.

Background

The fish, the most common organism living in water, has been completely adapted to the survival in water after long-term evolution, and has attracted great interest of researchers when swimming flexibly and rapidly in water. Researchers research the swimming way of the fishes, try to release the mysterious way of the fishes, and research shows that the swimming way of the fishes has the advantages of higher efficiency, lower noise and the like compared with the traditional propeller driving way. In recent years, various kinds of bionic machine fish are designed and manufactured, and the bionic machine fish can imitate shark and ray fish and can well imitate swimming of fish.

However, most of the existing robotic fishes are driven by multiple joints and multiple motors to simulate the swimming mode of the fishes, the structure and the control are relatively complex, and the existing robotic fishes can only swim in shallow water almost and cannot realize deep water operation.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the deep-submergence bionic wire-drawing robot fish which is simple in structure and control and can realize deep-water operation.

The technical scheme adopted by the invention is as follows:

a deep-diving bionic stay wire machine fish comprises a fish head part, a middle joint and a flexible tail part which are sequentially connected, wherein the fish head part comprises an outer shell and a plurality of sections of oval middle plates, the oval middle plates sequentially comprise a first middle plate, a second middle plate, a third middle plate, a fourth middle plate and a fifth middle plate from front to back, and a plurality of strip-shaped connecting brackets are arranged among the oval middle plates for connection; a camera device is arranged between the first middle plate and the second middle plate, a gravity center adjusting device is arranged below the third middle plate and the fourth middle plate, a buoyancy adjusting device is arranged above the third middle plate and the fifth middle plate, a motor driving device is arranged below the fourth middle plate and the fifth middle plate, and a transmission device used for connecting the gravity center adjusting device and the motor driving device is arranged below one side of the fourth middle plate; the middle joint is sequentially hinged by a plurality of joint main bodies, two pull wires which sequentially penetrate through wire grooves at the upper end and the lower end of each joint main body are arranged between the motor driving device and the flexible tail part, and the motor driving device and the flexible tail part are in pull wire transmission.

Furthermore, one end of the camera device extends out of the shell through a hole in the center of the front portion of the shell, underwater illuminating lamps are arranged below the front portion of the shell and close to two sides of the camera device respectively, four ultrasonic transducers are arranged on the shell below the camera device and on strip-shaped connecting supports on two sides and below of the motor driving device respectively, the ultrasonic transducers penetrate through the hole in the shell and face outwards, and a dorsal fin antenna is further arranged above the rear portion of the shell.

Further, focus adjusting device includes the withstand voltage cabin body and two backup pads, the backup pad is the triangle-shaped of falling, two the corresponding two corners department in backup pad upper end has two slide rails through trompil fixed mounting, two the corresponding one corner department of backup pad lower extreme has the lead screw through the trompil is rotatable to be installed, every two linear bearing has been cup jointed in the slidable on the slide rail, fixed bolster is installed respectively to withstand voltage cabin side both ends top, fixed bolster both sides and linear bearing fixed connection, department fixed mounting has screw-nut in the middle of under the withstand voltage cabin side, the lead screw is connected with screw-nut cooperation, the trompil in the backup pad is passed and is provided with first bevel gear to lead screw one end, two hall sensor is all installed to the backup pad to one side center department below.

Further, the motor driving device comprises a cylindrical pressure-resistant cabin and two motors arranged up and down in the cylindrical pressure-resistant cabin, an upper cover plate and a lower cover plate are further arranged in the cylindrical pressure-resistant cabin, a plurality of support columns for connecting the upper cover plate and the lower cover plate are arranged along the edge between the upper cover plate and the lower cover plate, a first gear shaft and a second gear shaft are fixedly arranged between the upper cover plate and the lower cover plate through bearings, the motor positioned above is fixedly arranged at one end of the upper cover plate, a speed reducer is fixedly arranged at the other end of the upper cover plate, the shaft end of the motor positioned above penetrates through an opening in the upper cover plate and is provided with a motor gear, the second gear shaft is respectively meshed with the motor gear and the first gear shaft, one end of the first gear shaft penetrates through an opening in the upper cover plate to be mechanically connected with the speed reducer, the two ends of the cylindrical pressure-resistant cabin are provided with an upper end cover and a lower end cover, the two transmission shafts respectively penetrate through holes in the upper end cover and the lower end cover and extend out of the end covers, sealing devices are arranged outside the parts, extending out of the end covers, of the two transmission shafts, the two sealing devices are respectively arranged at the through holes in the upper end cover and the lower end cover, sealing rings are arranged at the joints of the two sealing devices, the upper end cover and the lower end cover, and a U-shaped support is arranged between the sealing devices and the speed reducer and is connected with the sealing devices.

Further, sealing device includes front end housing, cavity and rear end cap, front end housing and rear end cap respectively with the preceding, the rear end of cavity pass through bolted connection, the trompil that the transmission shaft passes through front end housing and rear end cap runs through whole sealing device, be provided with first bearing between transmission shaft and the front end housing, the step of transmission shaft with the cover is equipped with the axle sleeve between the first bearing, be provided with the second bearing between transmission shaft and the rear end cap.

Furthermore, the transmission device comprises two T-shaped supports and two synchronizing wheels, the two T-shaped supports are sequentially arranged on the lower portion of one side of the fourth middle plate from top to bottom, a shaft is rotatably arranged between the holes corresponding to the end portions of the two T-shaped supports, one end of the shaft is provided with a second bevel gear, the two synchronizing wheels are sequentially arranged at the shaft end of the transmission shaft and the middle portion of the two T-shaped supports on the shaft, a synchronous belt is arranged between the two synchronizing wheels, and the second bevel gear is meshed with the first bevel gear.

Further, the buoyancy adjusting device comprises a buoyancy motor cabin, a pressure-resistant piston oil cabin and an outer oil bag cabin, the pressure-resistant piston oil cabin further comprises a pressure-resistant oil cabin body, a piston is arranged in the pressure-resistant oil cabin body, a perforated flange is fixedly connected to one end of the pressure-resistant oil cabin body, a stay wire displacement sensor is installed on the perforated flange, a probe on the stay wire displacement sensor penetrates through a hole in the perforated flange and is connected with the piston, a flange end cover is arranged outside the stay wire displacement sensor, and the flange end cover is fixedly connected with the perforated flange.

Furthermore, joint main part one side is provided with the joint apron that the middle part was opened there is the through-hole, joint main part center department both sides are installed first connecting plate and second connecting plate respectively.

Compared with the prior art, the invention has the advantages that:

1. the invention has simple structure, can realize the natural swing of the middle joint and the fish tail only by the driving of a single motor, and is relatively easy to control.

2. The integral structure of the invention has a pressure-resistant function, can realize moving and operation in a deep water area, has higher practical value, and can be used in the fields of underwater exploration, underwater reconnaissance and the like.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a schematic view of a deep-submerged bionic wire-drawing robotic fish of the present invention;

FIG. 2 is a front view of the deep submergence bionic wire-drawing robotic fish of the invention;

FIG. 3 is an exploded view of a deep submergence bionic wire-drawing robotic fish of the present invention;

FIG. 4 is an internal structure view of the deep submergence bionic wire-drawing machine fish of the invention;

FIG. 5 is a schematic view of a gravity center adjusting device of the deep-diving bionic wire-drawing robotic fish of the invention;

FIG. 6 is an exploded view of the motor driving device of the deep submergence bionic wire-drawing robotic fish of the invention;

FIG. 7 is a cross-sectional view of a sealing device of the deep submergence bionic wire-drawing robotic fish of the invention;

FIG. 8 is a schematic view of the connection between the motor and the sealing device of the deep-diving bionic wire-drawing robotic fish of the invention;

FIG. 9 is a schematic view of the transmission device of the deep submergence bionic wire-drawing robotic fish of the invention;

FIG. 10 is a schematic transmission diagram of a gravity center adjusting device of the deep-diving bionic wire-drawing robotic fish of the invention;

FIG. 11 is a schematic structural view of a joint body of a deep-diving bionic wire-pulling robot fish of the invention;

FIG. 12 is a schematic view of the buoyancy adjusting device of the deep submergence bionic guy line robot fish of the invention;

FIG. 13 is an exploded view of the pressure-resistant piston oil tank of the deep-diving bionic wire-drawing robotic fish of the invention.

In the figure, 1-fish head part; 2-the middle joint; 3-a flexible tail; 4-underwater lighting lamps; 5-an ultrasonic transducer; 6-a camera device; 7-strip-shaped connecting brackets; an 8-oval middle plate; 81-a first intermediate plate; 82-a second intermediate plate; 83-third intermediate plate; 84-a fourth intermediate plate; 85-a fifth intermediate plate; 9-a dorsal fin antenna; 10-buoyancy adjusting means; 11-an outer shell; 12-a center of gravity adjustment device; 13-a transmission; 14-motor drive means; 15-a support plate; 16-a linear bearing; 17-a pressure-resistant cabin; 18-a fixed support; 19-a slide rail; 20-a hall sensor; 21-a screw rod; 22-a feed screw nut; 23-a first bevel gear; 24-a sealing device; 25-a sealing ring; 26-upper end cap; 27-cylindrical pressure resistant capsule; 28-lower end cap; 29-front end cap; 30-a cavity; 31-rear end cap; 32-a first bearing; 33-a second bearing; 34-a shaft sleeve; 35-a drive shaft; 36-mechanical sealing; 37-a motor; 38-U-shaped bracket; 39-speed reducer; 40-an upper cover plate; 41-support column; 42-a lower cover plate; 43-motor gear; 44-a second gear shaft; 45-a first gear shaft; 46-a second bevel gear; 47-axis; 48-a synchronizing wheel; 49-T shaped brackets; 50-synchronous belt; 51-a first connection plate; 52-a joint body; 53-joint cover plate; 54-a second connecting plate; 55-outer oil bag compartment; 56-pressure piston oil tank; 57-a buoyancy motor compartment; 58-pressure resistant oil tank body; 59-a piston; 60-a flange with holes; 61-stay wire displacement sensor; 62-flange end cap; 63-pulling wire.

Detailed Description

The technical solution of the present invention will be described in further detail with reference to the following embodiments, but the present invention is not limited thereto.

Referring to fig. 1-13, the deep-diving bionic guy line robotic fish of the invention comprises a fish head part 1, a middle joint 2 and a flexible tail part 3 which are connected in sequence, wherein the fish head part 1 comprises an outer shell 11 and a plurality of sections of elliptic intermediate plates 8, the elliptic intermediate plates 8 comprise a first intermediate plate 81, a second intermediate plate 82, a third intermediate plate 83, a fourth intermediate plate 84 and a fifth intermediate plate 85 in sequence from front to back, and a plurality of strip-shaped connecting brackets 7 are arranged among the sections of elliptic intermediate plates 8 for connection; in order to adapt to the high-pressure environment of deepwater operation, the fish body is designed in an open type, namely water flow is allowed to enter the outer shell 11, so that the requirement on the strength of the external integral structure is reduced, the outer shell 11 is not enough to support the weight of the whole fish body, therefore, an oval middle plate 8 and a strip-shaped connecting bracket 7 with certain strength are arranged inside the outer shell 11 to form the internal structure of the fish body, and the outer shell 11 is fixedly arranged on the side surface of the oval middle plate 8 through screws to form a streamline external profile. Install camera device 6 between first intermediate lamella 81 and the second intermediate lamella 82, camera device 6 is for having the withstand voltage cabin of transparent organic glass ball cover, installs high definition digtal camera, main control board and other sensors in the cabin for make a video recording under water. The gravity center adjusting device 12 is arranged below the space between the third middle plate 83 and the fourth middle plate 84, the gravity center adjusting device 12 can change the gravity center of the fish body, and the change of the pitch angle of the robot fish when the robot fish swims in water is realized. The buoyancy adjusting device 10 is installed above the space between the third middle plate 83 and the fifth middle plate 85, real fishes can adjust the buoyancy of the fishes by expanding and contracting swim bladders in the fishes, and the buoyancy adjusting device 10 changes the volume of the fishes by controlling the amount of hydraulic oil in an external oil pocket by using the principle, so that the buoyancy adjustment is realized. A motor driving device 14 is arranged below the fourth middle plate 84 and the fifth middle plate 85, and the motor driving device 14 is respectively used for driving the swinging of the tail part and the operation of the gravity center adjusting device 12. A transmission device 13 for connecting the center of gravity adjusting device 12 and the motor driving device 14 is installed below one side of the fourth middle plate 84, and the transmission device 13 transmits the power of the motor driving device 14 to the center of gravity adjusting mechanism 12. The middle joint 2 is hinged with a plurality of joint main bodies 52 in sequence, two pull wires 63 which sequentially penetrate through wire grooves at the upper end and the lower end of each joint main body 52 are arranged between the motor driving device 14 and the flexible tail 3, the motor driving device 14 and the flexible tail 3 are driven by the pull wires 63, the joint main bodies 52 can rotate mutually, the middle joint 2 can swing left and right under the driving of the pull wires, and the moving posture of the robot fish is realized by matching with the flexible tail 3; the fifth middle plate 85 is connected with the first joint main body 52 of the middle joint 2 through screws, and the front end of the flexible tail 3 is connected with the last joint main body 52 of the middle joint 2 through screws, so that the whole structure of the robot fish is formed. Meanwhile, in order to meet the requirements of water resistance and pressure resistance, components without water resistance and pressure resistance of each part are installed in corresponding pressure-resistant cabins, and all the pressure-resistant cabins are installed in the fish head part 1.

In this embodiment, one end of the camera device 6 extends to the outside of the housing through the opening at the front center of the housing 11, the underwater illuminating lamps 4 are respectively arranged below the front portion of the housing 11 and near the two sides of the camera device 6, four ultrasonic transducers 5 are respectively arranged on the housing 11 below the camera device 6 and on the two sides of the motor driving device 14 and the strip-shaped connecting bracket 7 below the motor driving device, and the ultrasonic transducers 5 all penetrate through the opening on the housing 11 and face outwards. When deep diving operation is carried out, underwater light is dark, the underwater illuminating lamps 4 on two sides of the camera device 6 are used for supplementing light to the camera device 6, and the shooting effect is improved; the four ultrasonic transducers 5 are respectively arranged in advance, towards the left, towards the right and downwards, so that the obstacle avoidance function of the robot fish swimming underwater can be realized; a dorsal fin antenna 9 is arranged above the rear part of the outer shell 11, and the dorsal fin antenna 9 has a communication positioning function, so that the robot fish can conveniently grasp the underwater position and control the robot fish.

In this embodiment, the gravity center adjusting device 12 includes a pressure-resistant cabin 17 and two supporting plates 15, the supporting plates 15 are in an inverted triangle shape, two sliding rails 19 are fixedly installed at two corresponding corners of the upper ends of the two supporting plates 15 through holes, a screw rod 21 is rotatably installed at one corresponding corner of the lower ends of the two supporting plates 15 through holes, two linear bearings 16 are slidably sleeved on each sliding rail 19, fixing supports 18 are respectively installed above two ends of the side surface of the pressure-resistant cabin 17, two sides of each fixing support 18 are fixedly connected with the linear bearings 16, a screw rod nut 22 is fixedly installed in the middle of the position under the side surface of the pressure-resistant cabin 17, the screw rod 21 is connected with the screw rod nut 22 in a matching manner, one end of the screw rod 21 penetrates through the hole in the supporting plate 15 and is provided with a first bevel gear. The pressure-resistant cabin body 17 is internally provided with a battery pack which is used as a balancing weight of the gravity center adjusting mechanism 12 while supplying power to the whole system, and a screw rod sliding rail structure is formed by a screw rod 21, a screw rod nut 22 and a sliding rail 19; the screw rod 21 is rotatably arranged on the support plate 15, the first bevel gear 23 at one end of the screw rod 21 is rotated to drive the screw rod 21 to rotate, and the screw rod nut 22 which is matched and connected with the screw rod 21 can move back and forth, so that the whole pressure-resistant cabin body 17 is driven to move back and forth on the slide rail 19; the front and rear support plates 15 are provided with hall sensors 20 for detecting the position of the pressure-resistant cabin 17 on the slide rails 19 to avoid collision due to excessive movement.

In this embodiment, the motor driving device 14 includes a cylindrical pressure-resistant chamber 27 and two motors 37 disposed up and down inside the cylindrical pressure-resistant chamber 27, an upper cover plate 40 and a lower cover plate 42 are further disposed in the cylindrical pressure-resistant chamber 27, a plurality of support pillars 41 connecting the upper cover plate 40 and the lower cover plate 42 are disposed along the edge between the upper cover plate 40 and the lower cover plate 42, a first gear shaft 45 and a second gear shaft 44 are fixedly mounted between the upper cover plate 40 and the lower cover plate 42 through bearings, the motor 37 located above is fixedly mounted at one end of the upper cover plate 40, the other end of the upper cover plate 40 is fixedly mounted with a speed reducer 39, the shaft end of the motor 37 located above passes through an opening on the upper cover plate 40 and is provided with a motor gear 43, the second gear shaft 44 is respectively engaged with the motor gear 43 and the first gear shaft 45, one end of the first gear shaft, the speed reducer 39 and the motor 37 located below are both provided with transmission shafts 35, two ends of the cylindrical pressure-resistant cabin 27 are provided with an upper end cover 26 and a lower end cover 28, the two transmission shafts 35 respectively penetrate through holes in the upper end cover 26 and the lower end cover 28 and extend out of the end covers, sealing devices 24 are arranged outside the end cover part of the two transmission shafts 35, the two sealing devices 24 are respectively installed on the upper end cover 26 and the lower end cover 28, sealing rings 25 are arranged at the joints of the two sealing devices 24, the upper end cover 26 and the lower end cover 28, and a U-shaped support 38 is arranged between the sealing device 24 located above and the speed reducer 39 and connected with each. In order to reduce the number of the pressure-resistant cabins, a driving motor of the gravity center adjusting device 12 and a wire drawing mechanism driving motor are placed in the cylindrical pressure-resistant cabin 27 together, the motor 37 positioned above is used for driving the wire drawing mechanism at the tail part of the fish body, and the swimming of the robot fish is realized through each joint main body 52 which can swing through the middle joint 2; the motor 37 located below drives the screw 21 in the center of gravity adjusting mechanism 12 to rotate through the transmission device 13, thereby realizing the adjustment of the center of gravity. In order to prevent the transmission shaft 35 from rotating to cause the penetration of external water into the cabin, the transmission shaft 35 extending out of the cabin is sealed, and the sealing structure of the outer portion of the extending end of the transmission shaft 35 is integrated into the sealing device 24. The upper end cover 26 and the lower end cover 28 are end covers with ears, the ears at the two sides of the end cover are provided with threaded holes and fixed with the oval middle plate 8 through screws, the eccentric parts of the upper end cover 26 and the lower end cover 28 are provided with through holes, the centers of the through holes are positioned on the symmetry axes of the two ears, the outer rings of the round holes are provided with grooves for placing the sealing rings 25, the two sealing devices 24 are arranged at the through holes and are distributed front and back on the same axis, the upward sealing devices 24 are relatively close to the back, and the sealing rings 25 can prevent water from permeating into the cylindrical pressure-resistant cabin 27. The motor 37 positioned above is arranged on the upper cover plate 40 arranged in the cylindrical pressure-resistant cabin 27, the motor 37 drives the motor gear 43 at the shaft end to rotate, the second gear shaft 44 is respectively meshed with the motor gear 43 and the first gear shaft 45, power is sequentially transmitted to the speed reducer 39 through the motor gear 43, the second transmission shaft 44 and the first transmission shaft 45, the transmission shaft 35 on the speed reducer 39 is driven to rotate, and then the wire pulling structure is driven; the drive shaft 35 of the lower motor 37 is directly connected to the drive 13.

In this embodiment, the sealing device includes a front end cover 29, a cavity 30 and a rear end cover 31, the front end cover 29 and the rear end cover 31 are respectively connected with the front end and the rear end of the cavity 30 through bolts, a transmission shaft 35 penetrates through the whole sealing device 24 through the openings of the front end cover 29 and the rear end cover 31, a first bearing 32 is arranged between the transmission shaft 35 and the front end cover 29, a shaft sleeve 34 is sleeved between the step of the transmission shaft 35 and the first bearing 32, and a second bearing 33 is arranged between the transmission shaft 35 and the rear end cover 31. The front end cover 29 and the rear end cover 31 seal the sealing device 24, the first bearing 32 and the second bearing 33 are ball bearings, and the arrangement of the bearings and the shaft sleeve 34 prevents the transmission shaft 35 from vibrating in a large amplitude in the rotating process on one hand and reduces the abrasion between the transmission shaft 35 and the sealing device 24 when the transmission shaft 35 rotates on the other hand.

In this embodiment, the transmission device 13 includes two T-shaped brackets 49 and two synchronizing wheels 48, the two T-shaped brackets 49 are sequentially mounted on the lower portion of one side of the fourth middle plate 84 from top to bottom, a shaft 47 is rotatably mounted between openings corresponding to the end portions of the two T-shaped brackets 49, one end of the shaft 47 is provided with the second bevel gear 46, the two synchronizing wheels 48 are sequentially mounted on the shaft end of the downward transmission shaft 35 and the middle portion of the two T-shaped brackets 49 on the shaft 47, the synchronizing belt 50 is disposed between the two synchronizing wheels 48, and the second bevel gear 46 is in meshing connection with the first bevel gear 23. The transmission device 13 realizes power transmission from the motor drive device 14 to the center-of-gravity adjusting device 12 through gear transmission and belt transmission. A synchronizing wheel 48 is arranged at the shaft end of the transmission shaft 35 of the lower motor 37, the power of the motor 37 is transmitted to a shaft 47 through a synchronizing belt 50, and the second bevel gear 46 at one end of the shaft 47 is driven to rotate, so that the first bevel gear 23 is driven to rotate, and the operation of the gravity center adjusting device 12 is realized.

In this embodiment, the buoyancy adjusting device includes a buoyancy motor compartment 57, a pressure-resistant piston oil compartment 56 and an outer oil bag compartment 55, the pressure-resistant piston oil compartment 56 further includes a pressure-resistant oil compartment 58, a piston 59 is disposed in the pressure-resistant oil compartment 58, a perforated flange 60 is fixedly connected to one end of the pressure-resistant oil compartment 58, a pull wire displacement sensor 61 is mounted on the perforated flange 60, a probe on the pull wire displacement sensor 61 passes through an opening on the perforated flange 60 to be connected with the piston 59, a flange end cover 62 is disposed outside the pull wire displacement sensor 61, and the flange end cover 62 is fixedly connected with the perforated flange 60. The buoyancy motor cabin 57, the pressure-resistant piston oil cabin 56 and the outer oil bag cabin 55 are arranged in a shape like a Chinese character 'pin', wherein the outer oil bag 55 allows water to enter, the outer oil bag is arranged inside, a pump is arranged in the buoyancy motor cabin 57, the piston 59 in the pressure-resistant piston oil cabin 56 is enabled to realize front and back displacement under the action of the pump, and then the hydraulic oil in the piston oil cabin 56 is pumped into the outer oil bag, so that the volume of the oil bag is changed to adjust the buoyancy. When the hydraulic oil in the pressure-resistant piston oil tank 56 is increased or decreased, the displacement of the piston 59 moving forwards and backwards can be measured by a stay wire displacement sensor 61, so that the change of the volume of the outer oil bag can be calculated, and the buoyancy can be controlled. The flange end cover 62 is arranged to seal the outside of the stay wire displacement sensor 61, so that the stay wire displacement sensor 61 is prevented from being damaged when encountering water.

In this embodiment, a joint cover plate 53 having a through hole at the center is disposed on one side of the joint body 52, and a first connecting plate 51 and a second connecting plate 54 are respectively mounted on both sides of the center of the joint body 52. The joint main body 52 is an elliptic cone, the rear ellipse is smaller than the front ellipse, the center of the joint main body 52 is an elliptic cavity, and four rib plates are arranged on the long half shaft and the short half shaft to play a supporting role. The joint cover plate 53 is fixed to the joint main body 52 by screws. The centers of the front and back surfaces of the joint main body 52 are provided with grooves, and through holes are arranged at four corners of each groove and correspond to the through holes on the first connecting plate 51 and the second connecting plate 54; the first connecting plate 51 and the second connecting plate 54 are placed in the grooves, and screws penetrate through the through holes to fix the joint main body 52 and the connecting plates. The first connecting plate 51 and the second connecting plate 54 can be hinged, and the joint bodies 52 are connected with each other through the first connecting plate 51 and the second connecting plate 54.

According to the robot fish provided by the invention, the head of the fish body adopts an open design, water is allowed to flow in, and all device elements in the fish head part 1 are arranged in a waterproof pressure-resistant cabin; the middle joint 2 is formed by hinging a plurality of independent joint main bodies 52, the joint is hollow and is used for filling buoyancy materials or balance weights; the flexible tail 3 is made of flexible materials and simulates the flexibility of the tail of the fish. When the robotic fish works, the middle joint 2 and the flexible tail 3 are driven by the motor driving device 14 to realize the waveform swing of the stay wire structure, so as to simulate the swimming state of real fish; the buoyancy adjusting mechanism 10 is used for changing the buoyancy of the fish body, the gravity center adjusting device 12 is used for changing the pitching state of the fish body in water, and the floating and submerging of the robot fish are realized under the combined action of the buoyancy adjusting mechanism 10, the gravity center adjusting mechanism 12 and the swinging tail part; the ultrasonic transducers 5 in the four directions realize the obstacle avoidance function of the robotic fish, so that the safety of the robotic fish is ensured; the camera device 6 and the dorsal fin antenna 9 are used for collecting underwater exploration data, and simultaneously, an operator can conveniently control the moving position of the robot fish.

The above description is only exemplary of the invention, and any modification, equivalent replacement, and improvement made within the spirit and scope of the present invention should be considered within the scope of the present invention.

Claims

1. The utility model provides a bionical machine fish of acting as go-between of deep diving which characterized in that: the fish head part (1) comprises an outer shell (11) and a plurality of sections of oval middle plates (8), the oval middle plates (8) sequentially comprise a first middle plate (81), a second middle plate (82), a third middle plate (83), a fourth middle plate (84) and a fifth middle plate (85) from front to back, and a plurality of strip-shaped connecting brackets (7) are arranged among the oval middle plates (8) for connection; a camera device (6) is arranged between the first middle plate (81) and the second middle plate (82), a gravity center adjusting device (12) is arranged below the third middle plate (83) and the fourth middle plate (84), a buoyancy adjusting device (10) is arranged above the third middle plate (83) and the fifth middle plate (85), a motor driving device (14) is arranged below the fourth middle plate (84) and the fifth middle plate (85), and a transmission device (13) for connecting the gravity center adjusting device (12) and the motor driving device (14) is arranged below one side of the fourth middle plate (84); the middle joint (2) is sequentially hinged by a plurality of joint main bodies (52), two pull wires (63) which sequentially penetrate through wire grooves at the upper end and the lower end of each joint main body (52) are arranged between the motor driving device (14) and the flexible tail part (3), and the motor driving device (14) and the flexible tail part (3) are driven by the pull wires (63).

2. The deep submergence bionic wire-drawing machine fish of claim 1, characterized in that: one end of the camera device (6) extends out of the shell through a hole in the front center of the shell body (11), underwater illuminating lamps (4) are arranged below the front portion of the shell body (11) and close to two sides of the camera device (6) respectively, four ultrasonic transducers (5) are arranged on the shell body (11) below the camera device (6) and on strip-shaped connecting supports (7) on two sides and below of the motor driving device (14) respectively, the ultrasonic transducers (5) penetrate through the hole in the shell body (11) outwards, and a dorsal fin antenna (9) is further arranged above the rear portion of the shell body (11).

3. The deep submergence bionic wire-drawing machine fish of claim 1, characterized in that: the gravity center adjusting device (12) comprises a pressure-resistant cabin body (17) and two supporting plates (15), the supporting plates (15) are in an inverted triangle shape, two corresponding two corners at the upper end of the two supporting plates (15) are fixedly provided with two sliding rails (19) through holes, one corresponding corner at the lower end of the two supporting plates (15) is rotatably provided with a screw rod (21) through a hole, each sliding rail (19) is sleeved with two linear bearings (16) in a sliding manner, fixing supports (18) are respectively arranged above two ends of the side surface of the pressure-resistant cabin body (17), two sides of each fixing support (18) are fixedly connected with the linear bearings (16), a screw rod nut (22) is fixedly arranged in the middle under the side surface of the pressure-resistant cabin body (17), the screw rod (21) is connected with the screw rod nut (22) in a matching manner, one end of the screw rod (21) penetrates through the holes in the supporting, two backup pad (15) all install hall sensor (20) towards one side center off-centre department outward.

4. The deep submergence bionic wire-drawing machine fish of claim 1, characterized in that: the motor driving device (14) comprises a cylindrical pressure-resistant cabin (27) and two motors (37) which are arranged in the cylindrical pressure-resistant cabin (27) up and down, an upper cover plate (40) and a lower cover plate (42) are further arranged in the cylindrical pressure-resistant cabin (27), a plurality of supporting columns (41) which are connected with the upper cover plate and the lower cover plate are arranged between the upper cover plate (40) and the lower cover plate (42) along the edge, a first gear shaft (45) and a second gear shaft (44) are fixedly arranged between the upper cover plate (40) and the lower cover plate (42) through bearings, the motor (37) positioned above is fixedly arranged at one end of the upper cover plate (40), a speed reducer (39) is fixedly arranged at the other end of the upper cover plate (40), the shaft end of the motor (37) positioned above penetrates through a hole in the upper cover plate (40) and is provided with a motor gear (43), and the second gear shaft (44) is respectively meshed with the motor gear, one end of the first gear shaft (45) passes through the opening on the upper cover plate (40) and is mechanically connected with the speed reducer (39), the speed reducer (39) and the motor (37) positioned below are both provided with a transmission shaft (35), the cylindrical pressure-resistant cabin (27) is provided with upper end cover (26) and lower end cover (28) at both ends, two through-holes that transmission shaft (35) passed on upper end cover (26) and lower end cover (28) respectively extend to outside the end cover, two the outside that transmission shaft (35) extended the end cover part all is provided with sealing device (24), two sealing device (24) are installed in upper end cover (26) and lower end cover (28) upper through-hole department respectively, two sealing device (24) and upper end cover (26) and lower end cover (28) junction all are provided with sealing washer (25), are located the top sealing device (24) are provided with U type support (38) between (39) and are connected.

5. The deep submergence bionic wire-drawing machine fish of claim 4, characterized in that: sealing device (24) include front end housing (29), cavity (30) and rear end cap (31), front end housing (29) and rear end cap (31) respectively with the preceding, the rear end of cavity (30) pass through bolted connection, drive shaft (35) run through whole sealing device (24) through the trompil of front end housing (29) and rear end cap (31), be provided with first bearing (32) between drive shaft (35) and front end housing (29), the step of drive shaft (35) with the cover is equipped with axle sleeve (34) between first bearing (32), be provided with second bearing (33) between drive shaft (35) and rear end cap (31).

6. The deep submergence bionic guy line machine fish of claims 1-4, characterized in that: the transmission device (13) comprises two T-shaped supports (49) and two synchronizing wheels (48), the T-shaped supports (49) are sequentially mounted on the lower portion of one side of a fourth middle plate (84) from top to bottom, a shaft (47) is rotatably mounted between holes corresponding to the end portions of the T-shaped supports (49), one end of the shaft (47) is provided with a second bevel gear (46), the synchronizing wheels (48) are sequentially mounted on the shaft end of the transmission shaft (35) and the middle portions of the two T-shaped supports (49) on the shaft (47) from bottom to top, a synchronous belt (50) is arranged between the synchronizing wheels (48), and the second bevel gear (46) is in meshed connection with the first bevel gear (23).

7. The deep submergence bionic wire-drawing machine fish of claim 1, characterized in that: buoyancy adjusting device (10) include buoyancy motor cabin (57), withstand voltage piston oil tank (56) and outer oil bag cabin (55), withstand voltage piston oil tank (56) still includes the resistant oil cabin body (58), be provided with piston (59) in the resistant oil cabin body (58), the resistant oil cabin body (58) one end fixedly connected with foraminiferous flange (60), install on foraminiferous flange (60) and act as go-between displacement sensor (61), probe on the displacement sensor (61) of acting as go-between passes the trompil on foraminiferous flange (60) and is connected with piston (59), displacement sensor (61) outside of acting as go-between is provided with flange end cover (62), flange end cover (62) and foraminiferous flange (60) fixed connection.

8. The deep submergence bionic wire-drawing machine fish of claim 1, characterized in that: a joint cover plate (53) with a through hole is arranged in the middle of one side of the joint main body (52), and a first connecting plate (51) and a second connecting plate (54) are respectively installed on two sides of the center of the joint main body (52).