CN115402499B - Bionic robot cannonball fish driven by fluctuation fins - Google Patents
Bionic robot cannonball fish driven by fluctuation fins Download PDFInfo
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- CN115402499B CN115402499B CN202211228089.8A CN202211228089A CN115402499B CN 115402499 B CN115402499 B CN 115402499B CN 202211228089 A CN202211228089 A CN 202211228089A CN 115402499 B CN115402499 B CN 115402499B
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- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000009182 swimming Effects 0.000 claims abstract description 32
- 235000015170 shellfish Nutrition 0.000 claims abstract description 7
- 238000007789 sealing Methods 0.000 claims description 105
- 230000003592 biomimetic effect Effects 0.000 claims description 22
- 230000037396 body weight Effects 0.000 claims description 10
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Classifications
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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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Abstract
The invention discloses a bionic robot cannonball fish driven by a fluctuation fin, which has the bionic characteristic of the cannonball fish and comprises a fish head, a fish body and a fish tail. The fish body comprises a fish body shell, a fin swing generating mechanism and fins, wherein the fish body shell is connected with the fish head, the fin swing generating mechanism is respectively arranged on the upper side and the lower side of the fish body shell, the fin swing generating mechanism is connected with an electronic device module in the fish head, and the fins are arranged on the fin swing generating mechanism; the electronic device module drives the fin-bar swinging generating mechanism to swing at different phases so as to enable the fins to simulate sine waves and further enable the bionic robot shell fish driven by the fluctuation fins to swim; the fish tail comprises a steering engine and a tail fin, the fish tail is connected with the fish body shell, and the tail fin is connected with the steering engine; the electronic device module controls the operation of the steering engine, and the steering engine drives the tail fin to swing so as to adjust the swimming direction and auxiliary driving of the bionic robot cannonball fish driven by the fluctuation fin. The invention can realize stable swimming driven in a wave mode.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a bionic robot cannonball fish driven by a fluctuation fin.
Background
Of the fish currently studied, more than 85% use Body/tail fin propulsion mode (BCF), while a small fraction of fish use center fin/pair fin propulsion (MEDIAN AND/or PAIRED FIN, MPF). Compared with the BCF propulsion mode, the MPF propulsion mode has lower fish movement speed, but has strong maneuverability and good stability. The long fin wave MPF mode uses a dorsal fin, a ventral fin or a gluteal fin as a main driving part, and generates thrust through wave motion of a long fin surface. The cannonball fish belongs to fish propelled by a long fin wave MPF mode.
The bionic robot cannonball fish driven in the wave mode has the characteristics of stable swimming and strong maneuverability. In engineering, the bionic robot fish can be used for carrying functional structures and carrying out engineering operation in a water area. In addition, the bionic robot fish can be used for exhibition of a science museum and development of high-end intelligent toys. Therefore, the bionic robot fish has wide application prospect and potential value in engineering and civil fields, but the existing bionic robot fish has fewer species.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a bionic robot cannonball fish driven by a wave fin, which can realize stable swimming driven in a wave mode and has a plurality of functions such as forward, backward, pitching, turning, accelerating, etc.
According to the embodiment of the invention, the bionic robot cannonball fish driven by the fluctuation fin has the bionic characteristics of the cannonball fish, and comprises the following components:
the fish head comprises a fish head shell and an electronic device module, and the electronic device module is arranged in the fish head shell;
The fish body comprises a fish body shell, a fin swing generation mechanism and fins, wherein the fish body shell is connected with the fish head shell, the fin swing generation mechanism is respectively arranged on the upper side and the lower side of the fish body shell, the fin swing generation mechanism is connected with the electronic device module, and the fins are arranged on the fin swing generation mechanism; the electronic device module drives the fin-bar swinging generating mechanism to swing at different phases so as to enable the fins to simulate sine waves and further enable the bionic robot shell fish driven by the fluctuation fins to swim;
The fish tail comprises a fish tail shell, a steering engine and a tail fin, wherein the fish tail shell is connected with the fish body shell, the steering engine is fixed at the rear end of the fish tail shell, and the tail fin is connected with the steering engine; the electronic device module controls the steering engine to run, and the steering engine drives the tail fin to swing so as to adjust the swimming direction and auxiliary driving of the bionic robot cannonball fish driven by the fluctuation fin.
According to the bionic robot cannonball fish driven by the fluctuation fin, the electronic device module is arranged to drive the fin bar swing generating mechanism to swing at different phases, so that the fin simulates sine waves, and the bionic robot cannonball fish driven by the fluctuation fin can swim forwards or backwards and perform downward and upward movements; by arranging the steering engine and the tail fin, the bionic robot cannonball fish driven by the fluctuation fin can steer left and right and accelerate swimming; the simulated machine cannonball fish has the bionic characteristic of the cannonball fish in appearance by simulating the physical appearance of a real cannonball fish to simulate the fish head, the fish body and the fish tail. In summary, the bionic robot cannonball fish driven by the fluctuation fin in the embodiment of the invention has the bionic characteristic of cannonball fish, can realize the driving of self swimming in a fluctuation mode, and has a plurality of functions of advancing, retreating, pitching, turning, accelerating and the like.
In some embodiments, the body shell is sealingly connected to the head shell by a front connection assembly and the tail shell is sealingly connected to the body shell by a rear connection assembly.
In some embodiments, the fin swing generation mechanism includes a fixed bar, a movable bar, and a plurality of fins; the front end and the rear end of the fixed rod are respectively and correspondingly fixed on the front connecting assembly and the rear connecting assembly; the fin bars are arranged at intervals front and back, the fin bars are connected with the fixed rod in a rotating mode, the movable rod comprises a front section, a plurality of eccentric sections and a rear section, the front section, the rear section and the electronic device module are connected in sequence, the front section is connected with the electronic device module, the rear section is rotatably supported on the rear connecting assembly, the eccentricity of the eccentric sections is given by a needed sine wave, phase differences exist between the adjacent eccentric sections, slots are formed in the root portions of the fin bars, and the eccentric sections are correspondingly and movably arranged in the slots of the fin bars.
In some embodiments, the front section, the eccentric sections and the rear section are sequentially connected by connecting sections in the front-rear direction, and two adjacent connecting sections limit the fin to move axially.
In some embodiments, the connecting section and the eccentric section are both cylindrical sections, and the radial dimension of the connecting section is greater than the radial dimension of the eccentric section.
In some embodiments, the fish head further comprises a fish head weight disposed on an inner underside of the fish head housing; the fish body further comprises fish body weights, and the fish body weights are arranged on two sides of the inside of the fish body shell; the fish tail further comprises a fish tail counterweight, and the fish tail counterweight is arranged on the left side and the right side of the steering engine.
In some embodiments, the electronic device module includes a bluetooth module, two motors and an Arduino board, the bluetooth module and the two motors are respectively connected with the Arduino board, the two motors are respectively connected with the front ends of the movable rods of the fin swing generating mechanism, and the Arduino board is electrically connected with the steering engine through an electric wire.
In some embodiments, the front connection assembly includes a first sealing panel, a front connection panel, and a second sealing panel; the first sealing piece is arranged between the fish head shell and the front connecting plate, the front connecting plate is in threaded fixation with the fish head shell, and a gap between the front connecting plate and the fish head shell is sealed through the first sealing piece; the second sealing piece is arranged between the front connecting plate and the fish body shell; the fish body shell is fixed with the front connecting plate through threads, and a gap between the front connecting plate and the fish body shell is sealed through the second sealing piece;
the rear connecting assembly comprises a third sealing piece, a fourth sealing piece and a rear connecting plate; the third sealing piece, the rear connecting plate and the fourth sealing piece are sequentially arranged between the fish body shell and the fish tail shell in the front-back direction; the fish body shell, the rear connecting plate and the fish tail shell are fixed through threads, gaps between the fish body shell and the rear connecting plate are sealed through the third sealing piece, and gaps between the rear connecting plate and the fish tail shell are sealed through the fourth sealing piece.
In some embodiments, the movable rod passes through the front connecting plate and the first sealing piece to be connected with a motor shaft of the motor, and a movable sealing structure is arranged between the movable rod and the front connecting plate.
In some embodiments, the dynamic sealing structure comprises a heat shrinkage tube, a first sealing ring and a second sealing ring, and a convex cylindrical hole is formed in the rear side of the front connecting plate; the front end of the heat shrinkage tube is sleeved on the periphery of the convex cylindrical hole, and the first sealing ring is arranged between the periphery of the convex cylindrical hole and the inner periphery of the front end of the heat shrinkage tube; the front end of the movable rod passes through the heat shrinkage tube and the convex cylinder hole and then is connected with a motor shaft of the motor, and the second sealing ring is arranged between the outer periphery of the front end of the movable rod and the inner periphery of the heat shrinkage tube.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
Fig. 1 is a schematic structural diagram of a bionic robot cannonball fish driven by a wave fin according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a fish head in a biomimetic robotic cannonball fish driven by a wave fin according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a body shell in a biomimetic robotic cannonball fish driven by a wave fin according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a fish tail in a biomimetic robotic cannonball fish driven by a wave fin according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a fin swing generation mechanism in a bionic robot cannonball fish driven by a fluctuation fin according to an embodiment of the invention.
Fig. 6 is an exploded view of a front connection assembly in a wave fin driven biomimetic robotic cannonball fish in accordance with an embodiment of the present invention.
Fig. 7 is an explosion schematic diagram of a dynamic seal structure in a bionic robot cannonball fish driven by a wave fin according to an embodiment of the present invention.
Fig. 8 is a block diagram of a bionic robot cannonball with wave fin driving electronic device module in an embodiment of the invention.
Reference numerals:
bionic robot cannonball 1000 driven by fluctuation fins
Fish head 1
Fish head shell 101 electronic device module 102 Bluetooth module 1021 motor 1022
Arduino plate 1023 battery module 1024 fish head weight 103
Fish body 2
The fin swing generating mechanism 202 of the fish body shell 201 fixes the rod 2021, the moving rod 2022, the front section 20221, the eccentric section 20222, the rear section 20223, the connecting section 20224, the fin 2023 and the fin 203
Fish body weight 204
Fish tail 3
Tail fin connection 3032 of tail fin 303 tail fin 3031 of tail housing 301 steering engine 302
Fish tail counterweight 304
Front connection assembly 4
First seal 401 front web 402 male cylindrical bore 4021 second seal 403
Rear connection plate 501 of rear connection assembly 5
Dynamic seal structure 6
First sealing ring 602 and second sealing ring 603 of heat shrink tube 601
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
The following describes a wave fin driven biomimetic robotic cannonball fish 1000 of the present invention in connection with fig. 1-8.
As shown in fig. 1 to 8, a biomimetic robotic cannonball fish 1000 driven by a fluctuating fin according to an embodiment of the present invention has cannonball fish biomimetic properties. It should be noted that, on the one hand, the bionic characteristic of the cannonball fish means that the swimming mode of the bionic robot cannonball fish 1000 driven by the fluctuation fins is designed according to the real cannonball fish swimming mode, and the swimming can be performed in a long fin fluctuation propulsion mode similar to the real cannonball fish; on the other hand, the appearance of the bionic robot cannonball 1000 driven by the fluctuation fin is simulated to be subjected to bionic design according to the physical appearance of a real cannonball, and the bionic robot cannonball comprises a fish head 1, a fish body 2, a fish tail 3, a tail fin 303, a fin 203 and the like.
As shown in fig. 1, a biomimetic robotic cannonball fish 1000 driven by a wave fin according to an embodiment of the present invention includes a fish head 1, a fish body 2, and a fish tail 3, the fish head 1 includes a fish head housing 101 and an electronics module 102, the electronics module 102 being disposed within the fish head housing 101; the fish body 2 comprises a fish body shell 201, a fin swing generation mechanism 202 and fins 203 (shown in fig. 5), wherein the fish body shell 201 is connected with the fish head shell 101, the fin swing generation mechanism 202 is respectively arranged on the upper side and the lower side of the fish body shell 201, the fin swing generation mechanism 202 is connected with the electronic device module 102, and the fins 203 (shown in fig. 5) are arranged on the fin swing generation mechanism 202; the electronic device module 102 drives the fin-bar swing generating mechanism 202 to swing at different phases, so that the fins 203 simulate sine waves, namely simulate sine wave of back/hip fins of the cannonball fish, so that thrust can be generated, and the bionic machine cannonball fish 1000 driven by the wave fins moves; the fish tail 3 comprises a fish tail shell 301, a steering engine 302 and a tail fin 303, wherein the fish tail shell 301 is connected with the fish body shell 201, the steering engine 302 is fixed at the rear end of the fish tail shell 301, and the tail fin 303 is connected with the steering engine 302; the electronic device module 102 controls the operation of the steering engine 302, and the steering engine 302 drives the tail fin 303 to swing left and right so as to adjust the swimming direction and auxiliary driving of the bionic robot cannonball fish 1000 driven by the fluctuation fin.
Specifically, as shown in fig. 1, the fish head 1 includes a fish head case 101 and an electronics module 102, the electronics module 102 being disposed within the fish head case 101. It will be appreciated that the fish head housing 101 is used to mount the stationary electronics module 102, and that the fish head housing 101 is sealed and waterproof so that water cannot enter the fish head housing 101, thereby preventing the electronics module 102 from being wetted.
The fish body 2 comprises a fish body shell 201, a fin swing generating mechanism 202 and fins 203, wherein the fish body shell 201 is connected with the fish head shell 101, and it is understood that the connection part between the fish body shell 201 and the fish head shell 101 is sealed and waterproof, so that water inflow of the fish body shell 201 and the fish head shell 101 can be avoided, and the swimming of the bionic robot cannonball fish 1000 of the invention is influenced. Fin-shaped swing generating mechanisms 202 are respectively arranged on the upper side and the lower side of the shell 201 of the shell, the fin-shaped swing generating mechanisms 202 are connected with the electronic device module 102, and fins 203 are arranged on the fin-shaped swing generating mechanisms 202 so as to simulate the dorsal fin and the hip fin of the shell fish; the electronics module 102 drives the fin-bar oscillation generating mechanism 202 to oscillate at different phases so that the fins 203 simulate a sine wave, thereby swimming the wave fin-driven biomimetic robotic cannonball 1000, where swimming includes forward or backward swimming, and pitch-up and pitch-down movements. That is, the fin swinging generating mechanism 202 can drive the fin 203 to move, so that the fin 203 generates sine waves to drive the bionic robot cannonball 1000 of the present invention to move, so that the bionic robot cannonball 1000 of the present invention is the bionic robot cannonball 1000 driven in a wave mode, and has the characteristics of stable movement and strong maneuverability.
The fish tail 3 comprises a fish tail shell 301, a steering engine 302 and a tail fin 303, wherein the fish tail shell 301 is connected with the fish body shell 201, and it is understood that the joint between the fish tail shell 301 and the fish body shell 201 is of a sealing waterproof design, so that the fish body shell 201 and the fish tail shell 301 are prevented from water inflow, and the swimming of the bionic robot cannonball fish 1000 is prevented. The steering engine 302 is fixed at the rear end of the fish tail shell 301, for example, the tail fin 303 is connected with the steering engine 302 by adopting screw and nut connection; the electronic device module 102 controls the operation of the steering engine 302, and the steering engine 302 drives the tail fin 303 to swing left and right so as to adjust the swimming direction and auxiliary driving of the bionic robot cannonball 1000 driven by the fluctuation fin, such as left turning or right turning, and improve the swimming speed of the bionic robot cannonball 1000 driven by the fluctuation fin.
The following describes a control method for realizing various swimming states by the biomimetic robotic cannonball 1000 of the present invention. When the bionic robot cannonball fish 1000 of the invention needs to move forward, the fin swing generating mechanism 202 is controlled to enable the sine wave simulated by the fin 203 to be transmitted from the fish head 1 to the fish tail 3, so that the bionic robot cannonball fish 1000 moves forward; when the bionic robot cannonball fish 1000 of the invention needs to perform backward swimming, the fin swing generating mechanism 202 is controlled to enable the sine wave simulated by the fin 203 to be transmitted to the fish head 1 from the fish tail 3, so that the bionic robot cannonball fish 1000 moves backward; when the bionic robot cannonball 1000 needs to perform downward movement, controlling the swing speed of the fin swing generating mechanism 202 at the upper side to be larger than the swing speed of the fin swing generating mechanism 202 at the lower side, so that the bionic robot cannonball 1000 can perform downward movement; when the bionic robot cannonball fish 1000 needs to perform upward movement, the swing speed of the fin swing generating mechanism 202 at the upper side is controlled to be smaller than that of the fin swing generating mechanism 202 at the lower side, so that the bionic robot cannonball fish 1000 can perform upward movement; when the bionic robot cannonball 1000 of the invention needs to turn, the steering engine 302 is controlled, and the tail fin 303 is controlled to swing asymmetrically through the steering engine 302, so that the bionic robot cannonball 1000 of the invention turns; when the bionic robot cannonball 1000 needs to accelerate swimming, the tail fin 303 is controlled to swing symmetrically through the steering engine 302, so that the movement speed of the bionic robot cannonball 1000 can be accelerated. Therefore, the bionic robot cannonball 1000 of the embodiment of the invention can realize various movement modes such as forward, backward, pitching, turning, accelerating and the like.
According to the bionic robot cannonball 1000 driven by the fluctuation fin, the electronic device module 102 is arranged to drive the fin-bar oscillation generating mechanism 202 to oscillate at different phases, so that the fins 203 simulate sine waves, and the bionic robot cannonball 1000 driven by the fluctuation fin can swim forwards or backwards and perform downward and upward movements; by arranging the steering engine 302 and the tail fin 303, the bionic robot cannonball 1000 driven by the fluctuation fin can steer left and right and accelerate swimming; the bionic robot cannonball 1000 of the present invention has the cannonball fish bionic property in appearance by bionic designing the fish head 1, the fish body 2 and the fish tail 3 to imitate the physical appearance of a real cannonball fish. In summary, the bionic robot cannonball 1000 driven by the fluctuation fin in the embodiment of the invention has the bionic characteristic of cannonball fish, can realize the driving of self swimming in a fluctuation mode, and has a plurality of functions of advancing, retreating, pitching, turning, accelerating and the like.
In some embodiments, the body shell 201 is sealingly connected to the head shell 101 by the front connection assembly 4 so that water does not enter the head shell 101 and the body shell 201 from the connection between the head shell 101 and the body shell 201; the fish tail housing 301 is sealingly connected to the fish body housing 201 by the rear connection assembly 5 so that water does not enter the fish tail housing 301 and the fish body housing 201 from the junction between the fish tail housing 301 and the fish body housing 201. In this way, on the one hand, the electronic device module 102 can be prevented from water inflow, and on the other hand, the stable and normal swimming of the biomimetic robotic cannonball fish 1000 of the present invention can be ensured.
Specifically, as shown in fig. 3 and 6, the front connection assembly 4 includes a first sealing sheet 401, a front connection sheet 402, and a second sealing sheet 403; the first sealing sheet 401 is arranged between the fish head shell 101 and the front connecting plate 402, the front connecting plate 402 is in threaded fixation with the fish head shell 101, and a gap between the front connecting plate 402 and the fish head shell 101 is sealed through the first sealing sheet 401; the second sealing piece 403 is provided between the front connection plate 402 and the body case 201; the body case 201 is screw-fixed to the front connection plate 402, and a gap between the front connection plate 402 and the body case 201 is sealed by the second sealing piece 403.
Preferably, the edge of the fish head shell 101 is provided with a pre-buried nut, and the front connecting plate 402, the first sealing plate 401 and the fish head shell 101 are sequentially connected through a connecting hole at the edge of the front connecting plate 402 and a connecting hole on the first sealing plate 401 by using a bolt with a small silica gel sheet; the bolt and nut combination with the small silica gel sheet is used for sequentially connecting the front connecting plate 402, the second sealing plate 403 and the fish body shell 201 through the connecting hole in the central area of the front connecting plate 402 and the connecting hole in the second sealing plate 403, and the pressure of the bolts is used for deforming the first sealing plate 401, the second sealing plate 403 and the small silica gel sheet arranged on the screw to achieve the effect of blocking the connecting gap, so that the sealing waterproof function is realized.
Specifically, as shown in fig. 4, the rear connection assembly 5 includes a third sealing sheet, a fourth sealing sheet, and a rear connection plate 501; the third sealing piece, the rear connecting plate 501 and the fourth sealing piece are sequentially disposed between the fish body case 201 and the fish tail case 301 in the front-rear direction; the body case 201, the rear connection plate 501 and the tail case 301 are screw-fastened, and a gap between the body case 201 and the rear connection plate 501 is sealed by a third sealing sheet, and a gap between the rear connection plate 501 and the tail case 301 is sealed by a fourth sealing sheet.
Preferably, nuts are embedded at the edge of the fish body shell 201, bolts with silica gel sheets are used, and the fish body shell 201, the third sealing sheet, the rear connecting plate 501, the fourth sealing sheet and the fish tail shell 301 are sequentially connected through the connecting hole at the edge of the rear connecting plate 501, the connecting hole of the third sealing sheet, the connecting hole at the edge of the rear end of the fish body shell 201, the third sealing sheet, the rear connecting plate 501, the fourth sealing sheet and the fish tail shell 301, and the small silica gel sheets on the third sealing sheet, the fourth sealing sheet and the screws are deformed by the pressure of the bolts to achieve the effect of blocking the connecting gap, so that the waterproof sealing function is realized.
Further, waterproof grease is smeared on the two sides of the first sealing piece 401, the second sealing piece 403, the third sealing piece and the fourth sealing piece, two layers of small silica gel pieces are sleeved on the bolts, and gaps are further blocked, so that the waterproof effect is further improved.
In some embodiments, as shown in fig. 5, the fin swing generation mechanism 202 includes a fixed bar 2021, a movable bar 2022, and a plurality of fins 2023; the front end and the rear end of the fixed rod 2021 are respectively fixed on the front connecting component 4 and the rear connecting component 5, so that the fixed rod 2021 cannot move, and it should be noted that the fixed rod 2021 is a rotation center of the plurality of fin bars 2023, and the plurality of fin bars 2023 swing around the fixed rod 2021 but cannot move along the fixed rod 2021. The front end of the fixed rod 2021 is fixed to the front connecting component 4, specifically, a nut is embedded at the front end of the fixed rod 2021, and a bolt with a silica gel gasket passes through a connecting hole on the front connecting plate 402 and is connected with the embedded nut at the front end of the fixed rod 2021 in a sealing manner.
The plurality of fins 2023 are arranged in a spaced apart relation, the plurality of fins 2023 being different in length, the length of the fins 2023 being given by the desired sinusoidal waveform. The fins 203 are flexible and fixed on the fin 2023 for simulating the dorsal fin or the hip fin of the shell fish, the fins 203 are disposed between two adjacent fin 2023, and the size of the fins 203 is determined by the height of the fin 2023 and the distance between the adjacent fin 2023. The fin 203 is integrally trapezoidal, so that smooth movement of the fin swing generating mechanism 202 can be ensured, and meanwhile, waveform simulation is complete, and therefore, the fin swing generating mechanism 202 and the fin 203 can accurately simulate sine waveforms required by movement of the bionic robot cannonball fish 1000.
The fin bars 2023 are rotatably connected with the fixed rod 2021, the movable rod 2022 comprises a front section 20221, a plurality of eccentric sections 20222 and a rear section 20223 which are sequentially connected front and back, the front section 20221 and the rear section 20223 are coaxially arranged, the front section 20221 is connected with the electronic device module 102, the electronic device module 102 can drive the movable rod 2022 to rotate through the front section 20221, the rear section 20223 is rotatably supported on the rear connecting assembly 5, the eccentricity of the eccentric sections 20222 is given by a needed sine wave, namely a sine wave to be simulated, a phase difference exists between adjacent eccentric sections 20222, slots are formed in the root of each fin bar 2023, and the eccentric sections 20222 are correspondingly and movably arranged in the slots of the fin bars 2023. When the movable rod 2022 rotates, the eccentric sections 20222 on the movable rod 2022 perform eccentric motion, and the eccentric sections 20222 move back and forth in the slots on the fin 2023 during the eccentric motion, so that the fin 2023 swings back and forth around the fixed rod 2021, and because of the phase difference between the adjacent eccentric sections 20222, the fin 2023 swings with the phase difference, so that the fins 203 can simulate sinusoidal fluctuation, and further the bionic robot cannonball 1000 of the invention is driven to swim.
Alternatively, as shown in fig. 5, the number of fin bars 2023 and eccentric sections 20222 is six, the six fin bars 2023 and the six eccentric sections 20222 are correspondingly connected, and the phase difference between the adjacent eccentric sections 20222 is 90 degrees, so that as the movable rod 2022 rotates, the upper eccentric section 20222 can drive the six fin bars 2023 to swing, so as to realize three-half period swinging motion with the phase difference of 90 degrees.
It can be understood that the forward and backward swimming of the bionic robot cannonball fish 1000 can be realized by controlling the rotation directions of the upper side movable rod 2022 and the lower side movable rod 2022, specifically, the rotation directions of the upper side movable rod 2022 and the lower side movable rod 2022 enable the sine wave simulated by the fin 203 to be transmitted from the fish head 1 to the fish tail 3, so that the bionic robot cannonball fish 1000 of the present invention moves forward, and if the rotation directions of the upper side movable rod 2022 and the lower side movable rod 2022 enable the sine wave simulated by the fin 203 to be transmitted from the fish tail 3 to the fish head 1, the bionic robot cannonball fish 1000 moves backward; the pitching motion of the bionic robot cannonball 1000 can be realized by controlling different rotation speeds of the upper side moving rod 2022 and the lower side moving rod 2022, specifically, if the rotation speed of the upper side moving rod 2022 is greater than that of the lower side moving rod 2022, the bionic robot cannonball 1000 generates the pitching motion, and if the rotation speed of the upper side moving rod 2022 is less than that of the lower side moving rod 2022, the bionic robot cannonball 1000 generates the pitching motion.
In some embodiments, as shown in fig. 5, the front section 20221, the plurality of eccentric sections 20222, and the rear section 20223 are sequentially connected in the front-rear direction by connecting sections 20224, with adjacent two connecting sections 20224 restricting axial movement of the fin 2023. It will be appreciated that the connecting section 20224 serves to connect two adjacent eccentric sections 20222 on the one hand, and to fix the position of the fin 2023 on the other hand.
In some embodiments, as shown in fig. 5, the connecting section 20224 and the eccentric section 20222 are both cylindrical sections, and the radial dimension of the connecting section 20224 is greater than the radial dimension of the eccentric section 20222, and the ratio of the radial dimension of the connecting section 20224 to the radial dimension of the eccentric section 20222 is appropriate. Therefore, on one hand, the required strength of the movable rod 2022 in the movement process can be ensured, and on the other hand, the static stability of the movable rod 2022 is better, and the movable rod 2022 cannot be greatly deformed due to gravity, so that the movable rod 2022 has good bending and torsion resistance and is suitable for the underwater working environment.
In some embodiments, as shown in fig. 2, the fish head 1 further comprises a fish head weight 103, the fish head weight 103 being disposed on the inside lower side of the fish head housing 101; as shown in fig. 3, the fish body 2 further includes a fish body weight 204, the fish body weight 204 being disposed at both sides of the inside of the fish body case 201; as shown in fig. 4, the fish tail 3 further includes a fish tail weight 304, and the fish tail weight 304 is disposed at left and right sides of the steering engine 302. It can be appreciated that the fish head weight 103, the fish body weight 204 and the fish tail weight 304 are arranged to enable the bionic robot cannonball 1000 of the present invention to maintain the balance of the posture in water, and to jointly maintain the pitching stability of the bionic robot cannonball 1000.
Specifically, the fish head weight 103 is composed of a plurality of first weight bars, the first weight bars are fixed at the lower side of the inside of the fish head shell 101 in an adhering manner, and the symmetry axes of the first weight bars are overlapped with the symmetry axes of the fish head shell 101 and used for lowering the gravity center, enabling the gravity center to move forward and keeping the swimming stability of the bionic robot cannonball 1000. The fish body counterweight 204 is composed of a plurality of second counterweight bars, and the second counterweight bars are symmetrically fixed at two sides in the fish body shell 201 in an adhesive manner, so as to maintain the rolling stability of the bionic robot cannonball fish 1000. The fish tail counterweight 304 is formed by two foam plates with proper sizes, and is symmetrically stuck to two sides of the steering engine 302 through sponge rubber for moving the floating center backwards.
Specifically, the weight of the fish head weight 103, the fish body weight 204, and the fish tail weight 304 and the setting position are obtained by the following method: calculating the volumes of the fish head shell 101, the fish body shell 201 and the fish tail shell 301 through Solidworks software, and determining the whole floating center of the bionic robot cannonball fish 1000; the whole gravity center of the bionic robot cannonball fish 1000 can be obtained by weighing the fish head 1, the fish body 2 and the fish tail 3. The gravity center and the floating center position of the bionic robot cannonball fish 1000 are determined, and the stability of the posture of the bionic robot cannonball fish 1000 in water is realized by adjusting the fish head weight 103, the fish body weight 204 and the fish tail weight 304.
Preferably, the overall structure of the biomimetic robotic cannonball 1000 is bilaterally symmetrical, so that the yaw stability of the biomimetic robotic cannonball 1000 can be disregarded.
In some embodiments, as shown in fig. 2, the electronic device module 102 includes a bluetooth module 1021, two motors 1022 and an Arduino board 1023, where the bluetooth module 1021 is configured to communicate with external bluetooth, the bluetooth module 1021 and the two motors 1022 are respectively electrically connected to the Arduino board 1023, and the two motors 1022 are respectively connected to front ends of moving rods 2022 of the two fin-bar swinging generating mechanisms 202 to drive the moving rods 2022 to rotate, and the Arduino board 1023 is electrically connected to the steering engine 302 through wires to control operation of the steering engine 302. Specifically, during control, an instruction can be input on mobile phone software, the instruction is transmitted and input to the Bluetooth module 1021 through Bluetooth, then the Arduino board 1023 is input, a program is stored on the Arduino board 1023, and the Arduino board 1023 operates the program according to the input instruction so as to change the motion states of the motor 1022 and the steering engine 302, thereby achieving the purpose of controlling the swimming state of the bionic robot cannonball 1000, such as controlling the swimming postures of the bionic robot cannonball 1000, such as straight swimming, acceleration, turning, floating, diving, and the like.
Arduino board 1023 is electrically connected to steering engine 302 by wires. Specifically, the electric wires start from the Arduino board 1023 in the fish head housing 101, pass through the cavity of the fish body housing 201, reach the steering engine 302 through the wire outlet hole of the fish tail housing 301, and seal the wire outlet hole of the fish tail housing 301 with waterproof glue to realize waterproofing. The electric wires pass through the fish body shell 201 and the fish tail shell 301, so that the appearance of the bionic robot cannonball fish 1000 is more attractive, and the electric wires can be protected.
Further, as shown in fig. 2, the electronic device module 102 further includes a battery module 1024, where the battery module 1024 is connected to the Arduino board 1023 through a bread board, and the battery module 1024 supplies power to the two motors 1022, the steering engine 302, and the bluetooth module 1021 through the Arduino board 1023. In a specific example, the battery module 1024 can output voltages of 5V and 12V, and the battery module 1024 includes a 9V battery, a boost module, and a buck module, where the 9V battery is used to supply power, and the boost module and the buck module obtain voltages of 12V and 5V, respectively. The output 12V voltage is used to power the motor 1022, and the output 5V voltage is used to power the Arduino board 1023 and the steering engine 302.
In some embodiments, as shown in fig. 6, the front connection assembly 4 includes a first sealing sheet 401, a front connection sheet 402, and a second sealing sheet 403; the first sealing sheet 401 is arranged between the fish head shell 101 and the front connecting plate 402, the front connecting plate 402 is in threaded fixation with the fish head shell 101, and a gap between the front connecting plate 402 and the fish head shell 101 is sealed through the first sealing sheet 401; the second sealing piece 403 is provided between the front connection plate 402 and the body case 201; the fish body shell 201 is fixed with the front connecting plate 402 through threads, and a gap between the front connecting plate 402 and the fish body shell 201 is sealed through the second sealing piece 403;
As shown in fig. 4, the rear connection assembly 5 includes a third sealing sheet, a fourth sealing sheet, and a rear connection plate 501; the third sealing piece, the rear connecting plate 501 and the fourth sealing piece are sequentially disposed between the fish body case 201 and the fish tail case 301 in the front-rear direction; the body case 201, the rear connection plate 501 and the tail case 301 are screw-fastened, and a gap between the body case 201 and the rear connection plate 501 is sealed by a third sealing sheet, and a gap between the rear connection plate 501 and the tail case 301 is sealed by a fourth sealing sheet.
In some embodiments, the moving rod 2022 is connected to the motor shaft of the motor 1022 through the front connecting plate 402 and the first sealing plate 401, specifically, the moving rod 2022 is connected to the motor shaft of the motor 1022 through a coupling, and a moving sealing structure 6 is disposed between the moving rod 2022 and the front connecting plate 402, it is understood that the moving sealing structure 6 is used for sealing a gap between the moving rod 2022 and the front connecting plate 402, so that the moving rod 2022 is still sealed and waterproof between the moving rod 2022 and the front connecting plate 402 during the rotation process.
In some embodiments, as shown in fig. 7, the dynamic sealing structure 6 includes a heat shrinkage tube 601, a first sealing ring 602, and a second sealing ring 603, where the heat shrinkage tube 601 is a tube body that can be shrunk after heating. The rear side of the front connection plate 402 is provided with a convex cylindrical hole 4021; the front end of the heat shrink tube 601 is sleeved on the outer periphery of the convex cylindrical hole 4021, and the first sealing ring 602 is arranged between the outer periphery of the convex cylindrical hole 4021 and the inner periphery of the front end of the heat shrink tube 601; the front end of the movable rod 2022 passes through the heat shrinkage tube 601 and the convex cylindrical hole 4021 and then is connected with the motor shaft of the motor 1022, and the second sealing ring 603 is disposed between the outer periphery of the front end of the movable rod 2022 and the inner periphery of the heat shrinkage tube 601, and it should be noted that the heat shrinkage tube 601 is tightly attached to the outer periphery of the front end of the movable rod 2022. Thus, the dynamic seal structure 6 can realize sealing and waterproofing between the dynamic lever 2022 and the front connecting plate 402 when the dynamic lever 2022 rotates. Preferably, grease is smeared on the convex cylindrical hole 4021 and the movable rod 2022, and waterproof white glue is smeared at the joint of the heat shrinkage tube 601 and the movable rod 2022, so that a better sealing and waterproof effect is achieved.
In some embodiments, as shown in fig. 2, a partition board is disposed in the fish head casing 101, and the partition board is connected with the fish head casing 101 through an intercalation layer disposed in the fish head casing 101, and optionally, the bluetooth module 1021, the Arduino board 1023 and the battery module 1024 are all fixed on the partition board by using studs, so that a distance is formed between the bluetooth module 1021, the Arduino board 1023, the battery module 1024 and the partition board, and the possibility that the bluetooth module 1021, the Arduino board 1023 and the battery module 1024 are wetted can be further reduced. The motor 1022 is symmetrically fixed to the inner sides of the upper and lower plates of the partition plate through a motor frame and a stud bolt structure.
In some embodiments, the first sealing piece 401, the second sealing piece 403, the third sealing piece, the fourth sealing piece and the fin 203 are all silica gel pieces, and the toughness and ductility of the silica gel are better, so that the working states and working environments of the first sealing piece 401, the second sealing piece 403, the third sealing piece, the fourth sealing piece and the fin 203 can be adapted.
In some embodiments, the fish head housing 101, the partition, the fish body housing 201, the front connection plate 402, the fin swing generating mechanism 202, the fish tail housing 301, the rear connection plate 501, and the tail fin 303 are all made of photosensitive resin by 3D printing. The rigidity and strength properties are good, and the bionic robot shell fish 1000 is suitable for the swimming state and the swimming environment of the bionic robot shell fish 1000.
In some embodiments, as shown in fig. 4, the tail fin 303 includes a tail fin 3031 and a tail fin connection 3032, the tail fin connection 3032 is connected to a moving end of the steering engine 302 by a screw-nut combination, and the tail fin 3031 is connected to the tail fin connection 3032 by a screw-nut combination.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A biomimetic robotic cannonball fish driven by a fluctuating fin, characterized by having cannonball fish biomimetic properties, comprising:
the fish head comprises a fish head shell and an electronic device module, and the electronic device module is arranged in the fish head shell;
The fish body comprises a fish body shell, a fin swing generation mechanism and fins, wherein the fish body shell is connected with the fish head shell, the fin swing generation mechanism is respectively arranged on the upper side and the lower side of the fish body shell, the fin swing generation mechanism is connected with the electronic device module, and the fins are arranged on the fin swing generation mechanism; the electronic device module drives the fin-bar swinging generating mechanism to swing at different phases so as to enable the fins to simulate sine waves and further enable the bionic robot shell fish driven by the fluctuation fins to swim;
The fish tail comprises a fish tail shell, a steering engine and a tail fin, wherein the fish tail shell is connected with the fish body shell, the steering engine is fixed at the rear end of the fish tail shell, and the tail fin is connected with the steering engine; the electronic device module controls the operation of the steering engine, and the steering engine drives the tail fin to swing so as to adjust the swimming direction and auxiliary driving of the bionic robot cannonball fish driven by the fluctuation fin; the fish body shell is in sealing connection with the fish head shell through a front connecting component, and the fish tail shell is in sealing connection with the fish body shell through a rear connecting component; the fin swing generating mechanism comprises a fixed rod, a movable rod and a plurality of fin bars; the front end and the rear end of the fixed rod are respectively and correspondingly fixed on the front connecting assembly and the rear connecting assembly; the fin bars are arranged at intervals front and back, the fin bars are connected with the fixed rod in a rotating mode, the movable rod comprises a front section, a plurality of eccentric sections and a rear section, the front section, the rear section and the electronic device module are connected in sequence, the front section is connected with the electronic device module, the rear section is rotatably supported on the rear connecting assembly, the eccentricity of the eccentric sections is given by a needed sine wave, phase differences exist between the adjacent eccentric sections, slots are formed in the root portions of the fin bars, and the eccentric sections are correspondingly and movably arranged in the slots of the fin bars.
2. The wave fin driven biomimetic robotic cannonball fish of claim 1, wherein said front section, said plurality of eccentric sections and said rear section are connected in series in a front-to-rear direction by connecting sections, adjacent two of said connecting sections limiting said fin to move axially.
3. The wave fin driven biomimetic robotic cannonball fish of claim 2, wherein the connecting section and the eccentric section are both cylindrical sections and the radial dimension of the connecting section is greater than the radial dimension of the eccentric section.
4. A wave fin driven biomimetic robotic cannonball fish according to any one of claims 1-3, wherein said fish head further comprises a fish head weight, said fish head weight being disposed inside the fish head housing at the underside thereof; the fish body further comprises fish body weights, and the fish body weights are arranged on two sides of the inside of the fish body shell; the fish tail further comprises a fish tail counterweight, and the fish tail counterweight is arranged on the left side and the right side of the steering engine.
5. The wave fin driven biomimetic robotic cannonball of claim 1, wherein said electronics module comprises a bluetooth module, two motors and an Arduino plate, said bluetooth module and said two motors are respectively electrically connected to said Arduino plate, said two motors are respectively connected to the front ends of said movable rods of said two fin swing generating mechanisms, said Arduino plate is electrically connected to said steering engine via wires.
6. The wave fin driven biomimetic robotic cannonball of claim 5, wherein said front connection assembly comprises a first sealing plate, a front connection plate and a second sealing plate; the first sealing piece is arranged between the fish head shell and the front connecting plate, the front connecting plate is in threaded fixation with the fish head shell, and a gap between the front connecting plate and the fish head shell is sealed through the first sealing piece; the second sealing piece is arranged between the front connecting plate and the fish body shell; the fish body shell is fixed with the front connecting plate through threads, and a gap between the front connecting plate and the fish body shell is sealed through the second sealing piece;
the rear connecting assembly comprises a third sealing piece, a fourth sealing piece and a rear connecting plate; the third sealing piece, the rear connecting plate and the fourth sealing piece are sequentially arranged between the fish body shell and the fish tail shell in the front-back direction; the fish body shell, the rear connecting plate and the fish tail shell are fixed through threads, gaps between the fish body shell and the rear connecting plate are sealed through the third sealing piece, and gaps between the rear connecting plate and the fish tail shell are sealed through the fourth sealing piece.
7. The wave fin driven biomimetic robotic cannonball of claim 6, wherein said movable rod is coupled to a motor shaft of said motor through said front connection plate and said first sealing plate, and a movable seal structure is disposed between said movable rod and said front connection plate.
8. The wave fin driven biomimetic robotic cannonball of claim 7, wherein the dynamic sealing structure comprises a heat shrink tube, a first sealing ring and a second sealing ring, wherein a convex cylindrical hole is formed in the rear side of the front connecting plate; the front end of the heat shrinkage tube is sleeved on the periphery of the convex cylindrical hole, and the first sealing ring is arranged between the periphery of the convex cylindrical hole and the inner periphery of the front end of the heat shrinkage tube; the front end of the movable rod passes through the heat shrinkage tube and the convex cylinder hole and then is connected with a motor shaft of the motor, and the second sealing ring is arranged between the outer periphery of the front end of the movable rod and the inner periphery of the heat shrinkage tube.
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