CN206417164U - A kind of Biomimetic Fish humanoid robot - Google Patents
A kind of Biomimetic Fish humanoid robot Download PDFInfo
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- CN206417164U CN206417164U CN201621443122.9U CN201621443122U CN206417164U CN 206417164 U CN206417164 U CN 206417164U CN 201621443122 U CN201621443122 U CN 201621443122U CN 206417164 U CN206417164 U CN 206417164U
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Abstract
The utility model discloses a kind of Biomimetic Fish humanoid robot, it is related to underwater robot technical field, its structure includes head, trunk and the afterbody being sequentially connected, the front end on head has elongated cutting-edge structure, and the outer surface on head is streamlined structure；Trunk includes fish-skin and propulsion system, and the global shape of fish-skin is along its long axis direction multiple grooves to be distributed with side by side on streamlined structure, fish-skin, and propulsion system drives the trunk to swing to realize the underwater movement of Biomimetic Fish humanoid robot；Afterbody includes tail fin support and tail fin.Fluid resistance when Biomimetic Fish humanoid robot of the present utility model reduces travelling, reliable operation, bionical degree is high.
Description
Technical field
The utility model is related to underwater robot technical field, more particularly to a kind of Biomimetic Fish humanoid robot.
Background technology
With the mankind's continually developing and utilizing to marine resources, current autonomous underwater robot (Autonomous
Underwater Vehicle, AUV) have become the mankind carry out ocean research and explore it is important flat.In recent years, with the mankind
The continuous exploration and associated fabrication techniques, the development of control technology recognized fish swimming mechanism, one kind is pushed away using fish body is bionical
The underwater hiding-machine for entering mechanism arises at the historic moment, and is provided to develop high efficiency, high maneuverability, low noise and easily hidden submarine navigation device
A kind of new approaches.
Machine fish is that a kind of utilization fish swimming mechanism realizes the underwater hiding-machine promoted, assembles various microminiature sensors,
Using advanced control and means of communication, a set of similar fish body structure, the sensor that can be moved about may be constructed.Equipped with difference
The machine fish of sensor has good mobility and disguise, can in narrow space operation and realize low noise transport
It is dynamic.Technology once ripe, machine fish will underwater operation, marine monitoring, the marine organisms observation of complex environment, military surveillance and
Significant role is played in terms of the removal of mines, mine-laying.
Machine fish at this stage is primarily present following shortcoming on drag-reduction effect and bionical effect：
First, covered at this stage more than Biomimetic Fish fish-skin using Silicone Rubber and cover structure, the research to fish-skin concrete structure is also relative
Less, when causing yielding after water, swing of the fish body under Biomimetic Fish fish-skin generally existing at this stage, fish-skin swings effect shadow to it
Ring the defect such as big.
Secondly, the problem of propulsion system presence is short of power, bionical degree is poor.
Utility model content
In order to solve the above-mentioned technical problem, the purpose of this utility model is to provide a kind of Biomimetic Fish humanoid robot, and this is imitated
Raw fish humanoid robot drag-reduction effect is good, bionical degree is high.
In order to realize above-mentioned utility model purpose, the technical solution adopted in the utility model is：
There is provided a kind of Biomimetic Fish humanoid robot, including head, trunk and the afterbody being sequentially connected, the front end tool on head
There is elongated cutting-edge structure, the outer surface on head is streamlined structure；Trunk includes fish-skin and propulsion system, and fish-skin is wrapped in
The outside of propulsion system；The global shape of fish-skin is streamlined structure, is distributed with side by side along its long axis direction on fish-skin multiple
Groove, makes fish-skin formation flexible concertina structure；Propulsion system driving trunk swings to realize Biomimetic Fish humanoid robot under water
Movement；Afterbody includes tail fin support and tail fin, and tail fin support one end is connected with trunk, and the tail fin support other end is provided with
Tail fin.
Further, the inside on head is provided with the cavity for accommodating carrying module, and the top surface of cavity and bottom surface are plane, empty
The two sides of chamber are arcwall face.Cavity is also streamline structure, and the planar structure of cavity top surface and bottom surface is conducive to internal control
The layout of part is set, it helps set rigging screw hole.
Further, sealing ring, collision mat and waterproof cover, collision mat are disposed between head and the trunk
Shape it is consistent close to the shape of the end face of trunk with head, be provided with waterproof cover control line fairlead and install connect
The connecting hole of part.
Further, the top of head latter half is provided with dorsal fin, and the monosymmetric of head latter half is provided with
Pectoral fin.Dorsal fin mounting groove and pectoral fin mounting groove are set on the head of Biomimetic Fish humanoid robot, dorsal fin and pectoral fin are separately mounted to phase
In the mounting groove answered, dorsal fin and pectoral fin are set, beneficial to the balance for keeping Biomimetic Fish humanoid robot, make Biomimetic Fish humanoid robot in shifting
It is kept upright during dynamic, it is to avoid it is turned on one's side, and improves the reliability of its work.
Further, it is changeover portion by the part that cutting-edge structure is connected with the rear portion on head, the top of changeover portion is with
Portion is arcwall face, and the both sides of changeover portion are the flat horizontal surface being arranged symmetrically.The upper and lower part of changeover portion is the streamlined knot of circular arc
Structure, left and right cheek is flat horizontal surface structure, further to reduce the resistance advanced.
Further, the groove on fish-skin is around the end to end ring-shaped groove of the side wall of the fish-skin.Fish body is in pendulum
When dynamic, the side of fish-skin is stretched, and the opposite side of fish-skin is compressed, and groove is upwardly formed complete ring in the week of fish-skin, stretching
Deformation is regular consistent with the compensation point of compression, and pulling open and compressing for fish-skin only needs to the power of very little and can be achieved with, and is not required to
The resistance that overcomes the significantly elastic deformation of fish-skin to produce, it is to avoid influence of the fish-skin to bionical fish swimming.
It is preferred that, the longitudinal cross-section of the side wall of fish-skin is sequentially connected by multiple v-shaped structures to be constituted, the recess of v-shaped structure
The groove is formed, the junction of two adjacent v-shaped structures forms crest.V-shaped structure makes fish-skin formation bellows structure, plus
Work good manufacturability.
Further, propulsion system includes multiple propulsion units being sequentially connected, and each propulsion unit is from inside to outside successively
Including drive device, drive device inner support and drive device support arm；One end of drive device support arm is connected to driving dress
On the output shaft put and with output shaft rotation, the other end of drive device support arm is pivotally connected to drive device
On inner support, the middle part of drive device support arm is fixedly connected with the drive device inner support of the propulsion unit at its rear.
Multiple propulsion units are sequentially connected, the anglec of rotation of the propulsion unit relative to the propulsion unit of forefront of rearmost part
For the superposition value of the anglec of rotation in each joint, it is possible to achieve the high motion of flexibility ratio, during more real simulation fish swimming
Posture is swung, in addition, multiple propulsion units also increase the propulsive force of propulsion system generation, propulsive efficiency is improved.
Further, the output shaft of drive device is longitudinally arranged, in same propulsion unit, is propped up outside the drive device
The two ends of frame are rotated coaxially；Between different propulsion units, the rotary shaft of the drive device support arm is parallel to each other.
When the output shaft of drive device is longitudinally arranged, its rotation can drive propulsion unit to swing, when being moved with fish body
Swing situation it is consistent, bionical degree is high, and flexibility ratio is high.Drive device support arm two ends are rotated coaxially, it is possible to decrease in driving dress
Put in support arm rotation process, the shearing force suffered by propulsion unit all parts, the reliability of increase propulsion system work is prolonged
The service life of long propulsion system, reduces the cost of maintenance and repair.Each rotary shaft is parallel to each other, the real joint fortune of simulation fish body
Dynamic situation, further increases the simulation degree that Biomimetic Fish humanoid robot is moved to fish body.
Further, discoidal skeleton is provided between adjacent propulsion unit.Disc skeleton is pushed away with both sides respectively
Enter unit to be connected, the contact area of propulsion unit and disc skeleton is larger, improve the reliability of connection；Meanwhile, disc
Skeleton uniformly contacted with the madial wall of fish-skin, play a supporting role, enhancing fish-skin anti-pressure ability reduce it under hydraulic pressure
Fish body deflection.
Further, the middle part and both sides of tail fin are respectively equipped with rigid tail fin clamping plate, tail fin clamping plate simultaneously with tail fin branch
Frame is connected with tail fin.
Drive device of the present utility model can be using all controllable electrics such as steering wheel, stepper motor, direct current generator, servomotors
Machine unit.
Compared with prior art, the utility model has the advantages that：
1st, the Biomimetic Fish humanoid robot of the utility model example, head and fish-skin are streamline structure, effectively reduce it
The fluid resistance being subject to when travelling；Head has elongated cutting-edge structure, anterior available for fish head of being rived in bionical fish swimming
Current, play a part of drag reduction, lift travelling speed and the flexibility of Biomimetic Fish humanoid robot；Groove on the wall of fish-skin side exists
Fish-skin produces compensating action when swinging, and reduces fish-skin deflection, so that reducing fish-skin deformation swings the shadow that effect is brought to it
Ring, drag-reduction effect is good.
2nd, the Biomimetic Fish humanoid robot of the utility model example, the trunk of propulsion system driving Biomimetic Fish is swung, more very
Swing posture during the simulation fish swimming of reality, is provided with tail fin, tail fin is swung in the presence of propulsion system in afterbody,
The travelling action of true fish is simulated, bionical degree is high.
3rd, the Biomimetic Fish humanoid robot of the utility model example, sealing ring, collision mat and the waterproof cover formation three on head
Seal structures, so that head forms independent sealed module, control device, communication device, supply unit etc. is arranged in
In fish body head, head and the waterproof sealing of rear portion fish body structure are separate, advantageously ensure that fish head internal control module etc.
Stable work in work, reduction Biomimetic Fish sealing waterproof difficulty.Connecting hole on waterproof cover is used to install and connected with rear portion fish body
The connectors such as the screw connect, have also reserved control line fairlead, need to only be utilized after the completion of Biomimetic Fish assembling in reserved hole site
Silica gel, which does simple water-proofing treatment, can ensure the independent waterproof of fish head module, operate very easy.
4th, the groove structure on the Biomimetic Fish humanoid robot of the utility model example, fish-skin increases in the case where material is constant
Its big compression strength, reduces the deflection of the fish body under hydraulic pressure effect, meanwhile, fish-skin sets groove to increase draining face
Product, and then the buoyancy of Biomimetic Fish is increased, make that more carrying modules can be set inside it.
5th, the Biomimetic Fish humanoid robot of the utility model example, its propulsion system sets multiple propulsion units, increases and pushes away
Enter the propulsive force of system generation, improve propulsive efficiency；In addition, both can be with independent control between multiple propulsion units, can also coupling
Control is closed, can increase joint propulsion unit quantity to strengthen propulsion system exercise performance or reduction with reference to actual motion environment
Joint propulsion unit quantity is to control sports energy consumption, very flexibly.
6th, the Biomimetic Fish humanoid robot of the utility model example, sets multiple propulsion units, the propulsion unit phase of rearmost part
The anglec of rotation for the propulsion unit of forefront is the superposition value of the anglec of rotation in each joint, and motion mode is various, flexible,
The motion under the particular surroundings such as higher curvature is turned under original place racing, high-speed motion, the interior motion of narrow space can be realized, and can
Realize taking over seamlessly for posture under high-speed motion state.It is provided with swing posture during tail fin, more real simulation fish swimming.
7th, the Biomimetic Fish humanoid robot of the utility model example, propulsion system using simulation biological rhythm motion by the way of,
And drive device can use a variety of controllable motors, it is easy to accomplish, compared to more existing propeller plant, with work noise
It is small, the advantages of disguised small.
Brief description of the drawings
Fig. 1 is the overall structure diagram (omission fish-skin) of the Biomimetic Fish humanoid robot of the utility model example；
Fig. 2 is the structural representation on the head of the Biomimetic Fish humanoid robot of the utility model example；
Fig. 3 is the schematic diagram of the head seal structure of the Biomimetic Fish humanoid robot of the utility model example；
Fig. 4 is the structural representation of the fish-skin of the Biomimetic Fish humanoid robot of the utility model example；
Fig. 5 is the structural representation of the propulsion system of the Biomimetic Fish humanoid robot of the utility model example；
Fig. 6 is the structural representation of drive device inner support in Fig. 5；
Fig. 7 is the structural representation of drive device in Fig. 5；
Fig. 8 is the structural representation of drive device support arm in Fig. 5；
Fig. 9 is the structural representation of the afterbody of the Biomimetic Fish humanoid robot of the utility model example.
In figure：1- heads, 11- cutting-edge structures, 12- dorsal fins, 13- pectoral fins, 14- waterproof covers, 15- cavitys, 16- sealings
Circle, 17- collision mats, 18-O type circles, 19- holding screws,
2- propulsion systems, 21- skeletons, 22- drive device support arms, 23- drive devices, 24- drive device inner supports,
3- afterbodys, 31- tail fin supports, 32- tail fin clamping plates, 33- tail fins,
4- fish-skins.
Embodiment
In order to be better understood by the technical solution of the utility model, with reference to Figure of description and specific embodiment to this
Utility model is described further.
As shown in figure 1, a kind of Biomimetic Fish humanoid robot, including head 1, trunk and the afterbody 3 being sequentially connected.
The front end on head 1 has elongated cutting-edge structure 11, and the outer surface on head 1 is streamlined structure.Head 1 is latter half of
The top divided is provided with dorsal fin 12, and the monosymmetric of the latter half of head 1 is provided with pectoral fin 13.In Biomimetic Fish humanoid robot
Head sets dorsal fin mounting groove and pectoral fin mounting groove, and dorsal fin 12 and pectoral fin 14 are separately mounted in corresponding mounting groove, sets the back of the body
Fin 12 and pectoral fin 13, beneficial to the balance for keeping Biomimetic Fish humanoid robot, make Biomimetic Fish humanoid robot keep straight in moving process
It is vertical, it is to avoid it is turned on one's side, and improves the reliability of its work.
As shown in Fig. 2 the inside on head 1 is provided with the cavity 15 for accommodating carrying module, the top surface of cavity 15 and bottom surface are
Plane, the two sides of cavity 15 are arcwall face.Cavity 15 is also streamline structure, and the planar structure of the top surface of cavity 15 and bottom surface has
Layout beneficial to internal control part is set, it helps set rigging screw hole.
As shown in figure 3, being disposed with sealing ring 16, collision mat 17 and waterproof cover between head 1 and the trunk
14, the shape of collision mat 17 is consistent close to the shape of the end face of trunk with head 1, is provided with control line on waterproof cover 14 and draws
The connecting hole portalled with installation connecting element, waterproof cover 14 is arranged on by holding screw 19 on the end face on head 1, holding screw
19 are furnished with O-ring 18.Sealing ring, collision mat and the waterproof cover formation three seal structures on head, so that head is formed solely
Seal modules are found, control device, communication device, supply unit etc. is arranged in fish body head, head and rear portion fish body knot
The waterproof sealing of structure is separate, advantageously ensures that the stable work in work of fish head internal control module etc., and reduction Biomimetic Fish is close
Seal waterproof difficulty.Connecting hole on waterproof cover is used to install the screw being connected with rear portion fish body, has also reserved control line extraction
Hole, only need to do simple water-proofing treatment using silica gel in reserved hole site can ensure fish head module after the completion of Biomimetic Fish assembling
Independent waterproof.
Head 1 has elongated cutting-edge structure 11, available for the procephalic current of fish of being rived in bionical fish swimming, reduces
Its fluid resistance being subject to when travelling, lifts travelling speed and the flexibility of Biomimetic Fish humanoid robot.
It is changeover portion by the part that cutting-edge structure 11 is connected with the rear portion on head 1, the upper and lower part of changeover portion is arc
Shape face, the both sides of changeover portion are the flat horizontal surface being arranged symmetrically.The upper and lower part of changeover portion is circular arc streamlined structure, left and right
Cheek is flat horizontal surface structure, further to reduce the resistance advanced.
Trunk includes fish-skin 4 and propulsion system 2, and fish-skin 4 is wrapped in the outside of propulsion system 2.
As shown in figure 4, the global shape of fish-skin 4 is streamlined structure, it is distributed with side by side along its long axis direction on fish-skin 4
Multiple grooves, make the formation flexible concertina structure of fish-skin 4.Fish-skin 4 is made of Silicone Rubber, and Silicone Rubber is flexible material and has bullet
Property, fish-skin 4 is turned into elastic flexible concertina structure.Groove on the side wall of fish-skin 4 produces compensation when fish-skin is swung and made
With, reduce fish-skin deflection so that reduce fish-skin deformation the influence that effect is brought is swung to it.
The longitudinal cross-section of the side wall of fish-skin 4 is sequentially connected by multiple v-shaped structures to be constituted, the recess formation ditch of v-shaped structure
Groove, the junction of two adjacent v-shaped structures forms crest.V-shaped structure makes the formation bellows structure of fish-skin 4, processing technology
It is good.
When Biomimetic Fish fish body is in nature extended configuration, its both sides continuous v-shaped structure of corrugated tube shape fish-skin is not affected by pulling force
Or the effect of pressure, show physical dimension during design.Its initial configuration size is：The angle of v-shaped structure is 45 °, V-arrangement knot
The unilateral length of two waists of the isosceles triangle being configured to is 8mm, and the distance of adjacent crest is about 6mm.
When Biomimetic Fish swing of the fish body, with the continuous increase of its amplitude of fluctuation, fish body circular arc gradually increases the continuous V of side
Shape fish-skin is stretched, and it is flat that V-arrangement becomes comparison, when swing of the fish body is to limit orthodrome state, and v-shaped structure amount of tension is maximum.
Now, the angle of v-shaped structure is about 80 °, and the distance of adjacent v-shaped structure crest 2 is about 10.5mm.
Similarly, with the continuous increase of Biomimetic Fish swing of the fish body amplitude, fish body circular arc is gradually reduced the continuous V-arrangement fish-skin of side
Compressed, V-arrangement becomes more narrow and small, when swing of the fish body is to limit small arc-shaped state, v-shaped structure decrement is maximum.Now, V
Shape structure angle is about 20 °, and the distance of adjacent v-shaped structure crest 2 is about 2.5mm.
From the physical dimension of above-mentioned fish-skin 4, we can obtain the depth about 7mm of v-shaped structure fish-skin groove, adjacent
The distance between crest is about 6mm.If desired length is the number of teeth n=L/7 of L one section of fish-skin, then its V-shaped groove.Assuming that both sides
Spacing is a between fish-skin, then the limiting condition after its stretching can reach that corner dimension is one section of θ=4L/3a round with one heart
Arc.
As shown in figure 5, propulsion system 2 includes three propulsion units for being sequentially connected, each propulsion unit from inside to outside according to
It is secondary including drive device 23, drive device inner support 24 and drive device support arm 22；One end of drive device support arm 22 connects
It is connected on the output shaft of drive device 23 and with output shaft rotation, the other end of drive device support arm 22 is pivotally
It is connected on drive device inner support 24, in the drive device of the middle part of drive device support arm 22 and the propulsion unit at its rear
Support 24 is fixedly connected.
The output shaft of drive device 23 is longitudinally arranged, in same propulsion unit, the drive device support arm 22
Two ends are rotated coaxially；Between different propulsion units, the rotary shaft of the drive device support arm 22 is parallel to each other.
Discoidal skeleton 21 is provided between adjacent propulsion unit.The propulsion unit of disc skeleton 21 respectively with both sides
It is connected, the contact area of propulsion unit and disc skeleton 21 is larger, improves the reliability of connection；Meanwhile, discoidal bone
Frame 21 is uniformly contacted with the madial wall of fish-skin 4, is played a supporting role, and the anti-pressure ability of enhancing fish-skin 4 reduces it under hydraulic pressure
Fish body deflection.
The structure of drive device inner support 24 as shown in fig. 6, drive device inner support 24 includes the main body of U-shaped, main body
Two ends are symmetrically provided with the first installing plate.The structure of drive device 23 is as shown in fig. 7, the both sides of drive device 23 are respectively equipped with
Two installing plates, the first installing plate and the second installing plate are fixed together correspondingly, the master of drive device inner support 24
Body covers side relative with output shaft in drive device 23.
The structure of drive device support arm 22 is as shown in fig. 7, drive device support arm 22 includes two pieces of transverse slats and one piece perpendicular
Plate, two pieces of transverse slats are symmetrically installed on the two ends of riser, and one of transverse slat is connected with the output shaft of drive device 23, another
Block transverse slat is connected with drive device inner support 24.
Between drive device support arm 22 and drive device 23 and drive device support arm 22 and other propulsion units
Between be attached by drive device inner support 24, installation that is more solid and reliable and being easy to connector；Propped up in drive device
Frame 24 also forms certain protective effect to drive device 23.The U that the formation of drive device support arm 22 one is rotated by 90 ° to side
Shape structure, riser is connected with the propulsion unit at its rear, makes the structure of whole propulsion system closely.
This bionic coatings system is formed by three joint unit cascades.The maximum rotation angle of single joint is positive and negative 90
Degree.If joint cascade number is N (N>=2), then with respect to first, the n-th joint accessible maximum angle in joint is poor to be positive and negative
90*(N-1).And each joint can be controlled by bionic coatings algorithm.Controllable parameter enters line period fortune including each joint
Angular phase between dynamic amplitude, cycle, speed, each joint is poor, each joint dynamic bias angle and quiescent biasing angle.
In the present embodiment propulsion system, three are formed at the output shaft for three drive devices 1 that three propulsion units are included
Individual joint, is contrasted, simulation degree is high, before being realized by the cooperation cooperative motion in three joints with the trunk of true fish body
Enter, retreat, turning left, turning right and the motion such as original place autobiography.
As shown in figure 9, afterbody 3 includes tail fin support 31 and tail fin 33, the one end of tail fin support 31 is connected with trunk, tail
The other end of fin support 31 is provided with tail fin 33.The middle part and both sides of tail fin 33 are respectively equipped with rigid tail fin clamping plate 32, tail fin folder
Plate 32 is connected with tail fin support 31 and tail fin 33 simultaneously.
The tail fin 33 of rear end can be made from certain thickness rubber slab, and tail fin clamping plate 32 is using certain thickness stainless
Steel is made, it is possible to decrease the development cost of Biomimetic Fish.Tail fin clamping plate 32 can improve the structural strength of rubber tail fin, swing it
Shi Gengjia presses close to the travelling state of true fish.Tail fin support 31, tail fin clamping plate 32 can be set after optimal tail fin structure is selected
Inner skeleton structure is calculated as, encapsulated processing, support outside tail fin structure attractive in appearance is finally used.
As shown in figure 9, in the present embodiment, the shape for being shaped as the approximate swallow-tail form with arc notch of tail fin 33, but
It is that the utility model is not limited for the shape of tail fin 33, can arbitrarily changes on the premise of the structure of afterbody 3 is not changed
The shape of tail fin 33, for studying influence of the caudal-fin models to Biomimetic Fish humanoid robot propulsive efficiency.
In the present embodiment, drive device 23 uses steering wheel, removes outside the steering wheel described in embodiment, driving of the present utility model
Device can also be using all controllable motor units such as servomotor, stepper motor, direct current generators.
The fold of fish-skin 4 uses v-shaped structure in the present embodiment, further, it is also possible to using U-shaped fold or other forms
Groove and fold.
The U-shaped frame structure of the main body of drive device inner support 24 is saved the most on the premise of its function is realized in the present embodiment
Material saving, mitigates the weight of propulsion system, is easy to the inside of Biomimetic Fish humanoid robot to carry more other operational modules.But
It is that the shape of the main body of the utility model drive device inner support 24 is not limited to the shape described in embodiment, can also set
For the groove-like structure for covering the lower sidewall of drive device 23.The shape of drive device support arm 22 is also not necessarily limited to implement
Shape described in example, transverse slat or riser can be extended.
In the utility model, the quantity of propulsion unit is not limited to three described in embodiment, can be promoted by increasing
The quantity of unit improves propulsive force and system motion form, the polytropy of shape of propulsion system；Can also be by reducing
The quantity of propulsion unit adapts to the motion under simple environment.Multiple propulsion units are sequentially connected, the propulsion unit phase of rearmost part
For forefront propulsion unit the anglec of rotation for each joint the anglec of rotation superposition value, it is possible to achieve flexibility ratio is high
Swing posture during motion, more real simulation fish swimming.
In the utility model, the relative position that "front", "rear" is intended merely to facilitate description and used, with Biomimetic Fish type machine
The head of device people is front, and afterbody is described for rear, can not be interpreted as absolute position and the utility model is constituted and limited
System.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that utility model scope involved in the application, however it is not limited to the particular combination of above-mentioned technical characteristic
Technical scheme, while should also cover in the case where not departing from utility model design, by above-mentioned technical characteristic or its be equal
Feature be combined formed by other technical schemes.Such as features described above has with (but not limited to) disclosed herein
The technical characteristic for having similar functions carries out technical scheme formed by replacement mutually.
Claims (10)
1. a kind of Biomimetic Fish humanoid robot, it is characterized in that, including head, trunk and the afterbody being sequentially connected,
The front end on the head has elongated cutting-edge structure, and the outer surface on the head is streamlined structure；
The trunk includes fish-skin and propulsion system, and the fish-skin is wrapped in the outside of the propulsion system；The fish-skin
Global shape is streamlined structure, and multiple grooves are distributed with side by side along its long axis direction on the fish-skin, makes the fish-skin shape
Into flexible concertina structure；The propulsion system drives the trunk to swing to realize the underwater shifting of Biomimetic Fish humanoid robot
It is dynamic；
The afterbody includes tail fin support and tail fin, and described tail fin support one end is connected with the trunk, the tail fin branch
The frame other end is provided with the tail fin.
2. Biomimetic Fish humanoid robot according to claim 1, it is characterized in that, mould is carried in the inside on the head provided with receiving
The cavity of block, the top surface of the cavity and bottom surface are plane, and the two sides of the cavity are arcwall face.
3. Biomimetic Fish humanoid robot according to claim 1, it is characterized in that, after the cutting-edge structure and the head
The part that portion is connected is changeover portion, and the upper and lower part of the changeover portion is arcwall face, and the both sides of changeover portion are to be arranged symmetrically
Flat horizontal surface.
4. according to any described Biomimetic Fish humanoid robot of claims 1 to 3, it is characterized in that, the head and the trunk
Between be disposed with sealing ring, collision mat and waterproof cover, the shape of the collision mat is with the head close to the trunk
The shape of the end face in portion is consistent, and the connecting hole of control line fairlead and installation connecting element is provided with the waterproof cover.
5. Biomimetic Fish humanoid robot according to claim 1, it is characterized in that, the groove on the fish-skin is around the fish
The end to end ring-shaped groove of the side wall of skin.
6. Biomimetic Fish humanoid robot according to claim 5, it is characterized in that, the longitudinal cross-section of the side wall of the fish-skin is by more
Individual v-shaped structure is sequentially connected composition, and the recess of the v-shaped structure forms the groove, adjacent two v-shaped structures
Junction forms crest.
7. Biomimetic Fish humanoid robot according to claim 1, it is characterized in that, the propulsion system includes multiple be sequentially connected
Propulsion unit, each propulsion unit includes drive device, drive device inner support and drive device successively from inside to outside
Support arm；One end of the drive device support arm is connected on the output shaft of the drive device and turned with the output shaft
Dynamic, the other end of the drive device support arm is pivotally connected on the drive device inner support, described to drive
The middle part of dynamic device support arm is fixedly connected with the drive device inner support of the propulsion unit at its rear.
8. Biomimetic Fish humanoid robot according to claim 7, it is characterized in that, the longitudinal cloth of output shaft of the drive device
Put, in same propulsion unit, the two ends of the drive device support arm are rotated coaxially；Between different propulsion units,
The rotary shaft of the drive device support arm is parallel to each other.
9. Biomimetic Fish humanoid robot according to claim 7, it is characterized in that, provided with circle between the adjacent propulsion unit
The skeleton of dish type.
10. Biomimetic Fish humanoid robot according to claim 1, it is characterized in that, the middle part and both sides of the tail fin are set respectively
There is rigid tail fin clamping plate, the tail fin clamping plate is connected with the tail fin support and the tail fin simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201621443122.9U CN206417164U (en) | 2016-12-27 | 2016-12-27 | A kind of Biomimetic Fish humanoid robot |
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| CN201621443122.9U CN206417164U (en) | 2016-12-27 | 2016-12-27 | A kind of Biomimetic Fish humanoid robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106741774A (en) * | 2016-12-27 | 2017-05-31 | 中电科海洋信息技术研究院有限公司 | A kind of bionic machine fish |
| CN109665079A (en) * | 2019-01-15 | 2019-04-23 | 西安交通大学 | A kind of underwater robot of jet pump and steering engine combination drive |
| CN109956016A (en) * | 2017-12-26 | 2019-07-02 | 同济大学 | A kind of bionic machine fish and its control method |
| CN115230925A (en) * | 2022-05-30 | 2022-10-25 | 黄兴中 | Numerical control variable-waveform multi-joint flexible underwater bionic thruster and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106741774A (en) * | 2016-12-27 | 2017-05-31 | 中电科海洋信息技术研究院有限公司 | A kind of bionic machine fish |
| CN106741774B (en) * | 2016-12-27 | 2018-11-02 | 中电科海洋信息技术研究院有限公司 | A kind of bionic machine fish |
| CN109956016A (en) * | 2017-12-26 | 2019-07-02 | 同济大学 | A kind of bionic machine fish and its control method |
| CN109665079A (en) * | 2019-01-15 | 2019-04-23 | 西安交通大学 | A kind of underwater robot of jet pump and steering engine combination drive |
| CN115230925A (en) * | 2022-05-30 | 2022-10-25 | 黄兴中 | Numerical control variable-waveform multi-joint flexible underwater bionic thruster and control method thereof |
| CN115230925B (en) * | 2022-05-30 | 2023-12-12 | 黄兴中 | Numerically controlled variable waveform multi-joint flexible underwater bionic propeller and control method thereof |
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