CN210793593U - Multifunctional bionic robot fish - Google Patents
Multifunctional bionic robot fish Download PDFInfo
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- CN210793593U CN210793593U CN201921641585.XU CN201921641585U CN210793593U CN 210793593 U CN210793593 U CN 210793593U CN 201921641585 U CN201921641585 U CN 201921641585U CN 210793593 U CN210793593 U CN 210793593U
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Abstract
The utility model discloses a multi-functional bionical machine fish relates to underwater robot technical field, include by preceding fish head mechanism, double steering wheel actuating mechanism and the fish tail that connects gradually after to, be equipped with the lithium cell of supply electric energy, the circuit control board and the buoyancy control mechanism of controlling each part work in the fish head mechanism, double steering wheel actuating mechanism is the tail fin structure including preceding steering wheel and the back steering wheel that constitutes second grade swing drive, and the fish tail is connected in double steering wheel actuating mechanism end. The utility model can realize the adjustment of the adsorption force between the bionic robot fish and the underwater wall surface through the sucker structure, expand the application scene of the bionic robot fish and generate better tracking effect; the floating force control mechanism and the double-steering engine driving mechanism act together, so that the swimming characteristic of the biological fish can be fully simulated, and the actions of floating, sinking, advancing, steering and the like can be realized; the fishtail can be designed and replaced according to actual conditions so as to adapt to narrow environments or generate high swimming speed and the like, and the fishtail has good adaptability and wide application range.
Description
Technical Field
The utility model relates to an underwater robot technical field, concretely relates to bionic robot fish for moving about and climbing operation under water.
Background
The fish is an organism which is active in water in nature and has super-strong swimming capability, and the bionic robot fish is a robot fish which is imitated by people according to the strong capability of the fish. At present, the bionic robot fish has a good application prospect in both the civil field and the military field, and can help people to detect oceans, discover fish schools and the like in the civil field; in the military field, the bionic robot fish can finish special military tasks such as tracking warships, putting torpedoes and the like.
Through patent search, the following known technical solutions exist:
patent 1:
application No.: CN201610967735, application date: 2016.11.05, date of authorized announcement: 2017.02.01, the utility model provides a bionic robot fish, which comprises a robot fish, wherein the robot fish comprises a shell, a head, a fin, a skeleton and a motion control unit; the shell wraps the framework; the head is arranged at one end of the shell; the fin is connected to the shell; the framework is provided with an action executing element; the motion executing element is controlled by a motion control unit, and the head, the fin and the skeleton are respectively connected with the motion executing element; the motion control unit controls the motion of the motion executing element to drive the head to complete opening and closing motions and steering motions, and drives the fins to complete swinging motions to drive the tail of the framework to complete swinging motions. The utility model discloses motion control is nimble, and the control precision is high, very big improvement the emulation degree of bionical machine fish action.
Although the utility model discloses a motion control is nimble, and the control precision is high, very big improvement the emulation degree of bionical machine fish action, this machine fish can not be used for carrying out the task of fish wall under water, can not adsorb the stop at the wall under water, the energy saving consumed the festival.
Patent 2:
application No.: 201510448022.9, filing date: 2015.07.28, date of authorized announcement: 2015.11.18, the utility model discloses an underwater high-simulation robotic fish mechanism and system, which comprises a front shell, a control box, a fish skin, a dorsal fin and a hip fin, and also comprises a power mechanism and a tail swinging mechanism, wherein the power mechanism is positioned in the control box; the power mechanism comprises a driving motor, a main control circuit, a slave control circuit and a power supply; the tail swinging mechanism comprises a crank mechanism, a fishbone and a tail fin; the crank mechanism comprises a first bevel gear, a second bevel gear, a bearing seat, a magnet and a swing rod; the output end of the power supply is electrically connected with the input end of the main control circuit; the output end of the main control circuit is electrically connected with the input end of the driving motor; the slave control circuit is positioned below the crank mechanism and is in communication connection with the master control circuit; the driving motor is fixedly arranged in the control box, and the tail end of the control box is provided with a shaft hole; the utility model discloses a single joint drive fish move about, design benefit, it is rational in infrastructure.
Although the utility model discloses a motion control is nimble, and the control precision is high, very big improvement the emulation degree of bionical machine fish action, this machine fish structure is complicated, realizes that the degree of difficulty is great.
The search finds that the technical proposal does not influence the novelty of the utility model; and the mutual combination of the above patent documents does not destroy the inventive step of the present invention.
SUMMERY OF THE UTILITY MODEL
The utility model provides a multifunctional bionic robot fish, which avoids the defects of the prior art.
The utility model discloses a solve technical problem and adopt following technical scheme: a multifunctional bionic robot fish comprises a fish head mechanism, a double-steering engine driving mechanism and a fish tail which are sequentially connected from front to back, wherein a fish head shell is connected with a fish head base in a matched mode, a cavity structure is formed inside the cavity structure, a lithium battery and a circuit control board are arranged in the cavity structure, two sucker structures are arranged in the front and back mode and are installed on the fish head base, and suckers of the sucker structures extend out of the lower portion of the fish head base to form the fish head mechanism;
the front steering engine is installed and connected to a front steering engine support frame, an output shaft of the front steering engine is vertically arranged, the tail end of the output shaft is connected with a front steering engine disk, a front steering engine rotating shaft support is of a U-shaped structure with a forward opening, the front steering engine rotating shaft support is arranged at the tail of the front steering engine, two ends of the front steering engine rotating shaft support are horizontal sections of a front support, the front steering engine rotating shaft support is respectively connected with the front steering engine disk and is rotatably connected with the front steering engine support frame through; a rear steering engine support frame is fixedly connected with the vertical section of the front support frame through a support bolt nut, a rear steering engine is installed and connected to the rear steering engine support frame, an output shaft of the rear steering engine support frame is vertically arranged, the tail end of the output shaft of the rear steering engine support frame is connected with a rear steering wheel, a rear steering engine rotating shaft support frame is of a U-shaped structure with a forward opening and is arranged at the tail part of the rear steering engine, and two ends of the rear steering engine rotating shaft support frame are respectively connected with the rear steering wheel and are rotatably connected with the rear steering engine support;
the fishtail is of a tail fin structure, is arranged behind the rear steering engine rotating shaft support and is fixedly connected with the rear steering engine rotating shaft support, and the front steering engine support frame is fixedly connected with the tail part of the fishhead shell; the lithium battery is communicated with the two sucker structures, the circuit control board, the front steering engine and the rear steering engine, and the circuit control board is communicated with the two sucker structures, the front steering engine and the rear steering engine.
Furthermore, the electromagnet body is arranged inside the cavity structure and is installed on the fish head base through an electromagnet support, the output end of the electromagnet is fixedly connected with the corresponding sucker and is connected with the electromagnet body through a spring arranged through an installation hole in the fish head base, and the sucker shell is covered outside the sucker to form the sucker structure; the sucking disc can be in the corresponding sucking disc shell interior upper and lower slip, be located the place ahead the size of sucking disc is greater than being located the rear the size of sucking disc.
The device further comprises a buoyancy control mechanism, an air cavity chamber shell is hermetically connected with the fish head base through a sealant, an air cavity chamber is formed in the air cavity chamber shell, a bidirectional air pump is arranged on the fish head base and positioned outside the air cavity chamber shell, the bidirectional air pump has a function of compressing air or is provided with a compressed air bottle, an air bag is arranged in the air cavity chamber, and the bidirectional air pump is communicated with the air bag through an air inlet pipe and an air outlet pipe to form the buoyancy control mechanism; the fish head base is provided with a communicating hole which communicates the air chamber with the outside of the fish head mechanism.
Furthermore, the front steering engine and the rear steering engine are both waterproof steering engines.
Further, the fish head shell and the fish head base are connected in an adhesive manner, and the sucker shell is connected to the bottom of the fish head shell in an adhesive manner.
Furthermore, the fishtail is fixedly connected with the rear steering engine rotating shaft support through four fishtail self-tapping screws.
Furthermore, the front steering engine rotating shaft support and the rear steering engine rotating shaft support are respectively connected and fixed with the front steering wheel and the rear steering wheel through respective tapping screws.
The utility model provides a multi-functional bionical machine fish has following beneficial effect:
1. the fish head mechanism is provided with two sucking disc structures with adjustable adsorption force, so that the adsorption force between the bionic robot fish and the underwater wall surface can be adjusted through the sucking disc structures, the application scene of the bionic robot fish is expanded, the bionic robot fish can be adsorbed and fixed on the surface of some objects such as the surface of a warship under a specific scene, the electric power is saved, and a better tracking effect is generated;
2. the floating force control mechanism is arranged in the fish head mechanism, so that the bionic robot fish can float and sink through the floating force mechanism, the double-steering engine driving mechanism is arranged at the same time, high-performance secondary swing driving can be realized by respectively adjusting the rotation parameters of the two steering engines, and the floating force control mechanism and the double-steering engine driving mechanism act together to fully simulate the moving characteristics of the biological fish and realize the actions of floating, sinking, forward moving, steering and the like;
3. the fishtail can be designed and replaced according to actual conditions so as to adapt to narrow environments or generate high swimming speed and the like, and the fishtail has good adaptability and wide application range.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the fish head mechanism of the present invention;
FIG. 3 is a schematic view of the internal structure of the fish head mechanism of the present invention;
FIG. 4 is a schematic structural view of the sucker structure of the present invention;
fig. 5 is a schematic structural view of the buoyancy control mechanism of the present invention;
FIG. 6 is a schematic structural view of the dual steering engine driving mechanism of the present invention;
fig. 7 is a schematic structural view of the rear steering engine pivot support and the fishtail of the present invention.
In the figure:
1. the fish head mechanism 111, the fish head shell 112, the fish head base 113, the lithium battery 114 and the circuit control board; 12. the electromagnet comprises a sucker structure 121, a sucker 122, a sucker shell 123, an electromagnet body 124, a spring 125 and an electromagnet support; 13. The buoyancy control mechanism 131, the air chamber shell 132, the bidirectional air pump 133, the air inlet pipe 134, the air outlet pipe 135 and the air bag; 2. a double-steering engine driving mechanism, 201, a front steering engine support frame, 202, a front steering engine rotating shaft support, 203, a front steering engine, 204, a front steering wheel, 205, a rear steering engine support frame, 206, a rear steering engine rotating shaft support, 207, a rear steering engine, 208 and a rear steering wheel; 3. fish tail.
Detailed Description
To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1 to 7, the structural relationship is as follows: the fish head mechanism comprises a fish head mechanism 1, a double-steering engine driving mechanism 2 and a fish tail 3 which are sequentially connected from front to back, a fish head shell 111 and a fish head base 112 are connected in a matched mode, a cavity structure is formed inside the fish head shell, a lithium battery 113 and a circuit control board 114 are arranged in the cavity structure, two sucker structures 12 are arranged in front and back and are installed on the fish head base 112, and suckers 121 of the sucker structures extend out of the lower portion of the fish head base 112 to form the fish head mechanism 1;
the front steering engine 203 is installed and connected to the front steering engine support frame 201, an output shaft of the front steering engine is vertically arranged, the tail end of the output shaft is connected with the front steering engine 204, the front steering engine rotating shaft support 202 is of a U-shaped structure with a forward opening, the front steering engine rotating shaft support is arranged at the tail of the front steering engine 203, two ends of the front steering engine rotating shaft support are horizontal sections of a front support, the front steering engine rotating shaft support is respectively connected with the front steering engine 204 and is rotatably connected with the front steering engine support frame 201; the rear steering engine support frame 205 is fixedly connected with the vertical section of the front support frame through a support bolt nut, the rear steering engine 207 is installed and connected to the rear steering engine support frame 205, an output shaft of the rear steering engine support frame is vertically arranged, the tail end of the output shaft of the rear steering engine support frame is connected with the rear steering wheel 208, the rear steering engine rotating shaft support frame 206 is of a U-shaped structure with a forward opening and is arranged at the tail part of the rear steering engine 207, and two ends of the rear steering engine rotating shaft support frame are respectively connected with the rear steering wheel 208 and are rotatably connected with the;
the fish tail 3 is of a tail fin structure, is arranged behind the rear steering engine rotating shaft support 206 and is fixedly connected with the rear steering engine rotating shaft support 206, and the front steering engine support frame 201 is fixedly connected with the tail part of the fish head shell 111; the lithium battery 113 is communicated with the two sucker structures 12, the circuit control board 114, the front steering engine 203 and the rear steering engine 207 to supply electric energy; the circuit control board 114 is communicated with the two suction cup structures 12, the front steering gear 203 and the rear steering gear 207 so as to control the suction cup structures 12, the front steering gear 203 and the rear steering gear 207 to work.
Preferably, the electromagnet body 123 is arranged inside the cavity structure and is mounted on the fish head base 112 through the electromagnet support 125, the output end of the electromagnet is fixedly connected with the corresponding suction cup 121 and is connected with the electromagnet body 123 through a spring 124 arranged through a mounting hole on the fish head base 112, and the suction cup housing 122 is covered outside the suction cup 121 to form the suction cup structure 12; the suction cups 121 can slide up and down in the corresponding suction cup housings 122, and the size of the suction cup 121 located at the front is larger than that of the suction cup 121 located at the rear.
Preferably, the fish head floating device further comprises a floating force control mechanism 13, the air chamber outer shell 131 is hermetically connected with the fish head base 112 through sealant, an air chamber is formed inside the air chamber, the bidirectional air pump 132 is arranged on the fish head base 112 and is positioned outside the air chamber outer shell 131, the bidirectional air pump 132 has a function of compressing air or is provided with a compressed air bottle, the air bag 135 is arranged in the air chamber, and the bidirectional air pump 132 is communicated with the air bag 135 through an air inlet pipe 133 and an air outlet pipe 134 to form the floating force control mechanism 13; the fish head base 112 is provided with a communication hole for communicating the air chamber with the outside of the fish head mechanism 1.
Preferably, the front steering engine 203 and the rear steering engine 207 are both waterproof steering engines.
Preferably, the fish head housing 111 and the fish head base 112 are adhesively connected, and the suction cup housing 122 is adhesively connected to the bottom of the fish head housing 111.
Preferably, the fishtail 3 is fixedly connected with the rear steering engine rotating shaft bracket 206 through four fishtail self-tapping screws.
Preferably, the front steering engine rotating shaft bracket 202 and the rear steering engine rotating shaft bracket 206 are respectively connected and fixed with the front steering wheel 204 and the rear steering wheel 208 through respective tapping screws.
When the bionic robot fish is used specifically, the floating and sinking motions of the bionic robot fish are realized by the buoyancy control mechanism 13, the air bag 135 can be correspondingly expanded or reduced by pumping air inwards or exhausting air outwards through the bidirectional air pump 132 so as to change the size of the space not occupied by the air bag 135 in the air cavity chamber, namely, change the proportion of liquid and air in the air cavity chamber; specifically, when the air bag 135 is inflated, the volume occupied by the air in the air chamber increases, the liquid is discharged, the overall buoyancy of the biomimetic robotic fish increases, the upward acceleration increases, and conversely, when the air bag 135 is deflated, the volume occupied by the air in the air chamber decreases, the liquid enters, the overall buoyancy of the biomimetic robotic fish increases, and the downward acceleration increases.
The bionic robot fish moves forwards and turns to the motion and is realized by double steering engine actuating mechanism 2, preceding steering engine 203 drives back steering engine support frame 205 and the whole swing of back steering engine 207 through preceding steering engine 204 and preceding steering engine pivot support 202, back steering engine 207 directly drives the swing of fish tail 3 through back steering engine pivot support 206 behind steering engine 208, preceding steering engine 203 and back steering engine 207 realize the second grade drive of fish tail 3 jointly, can be according to actual need through the swing frequency of adjusting the output of preceding steering engine 203 and back steering engine 207 respectively, the angle, in order to produce different thrust, realize the antedisplacement and the turning to of the different speeds of bionic robot fish, also can design the concrete size, the shape of fish tail according to actual need.
Wall operation of bionic machine fish is realized by sucking disc structure 12 and buoyancy control mechanism 13 and the cooperation of double steering wheel actuating mechanism 2 jointly, in the wall operation process, the accessible is adjusted the adsorption affinity of electro-magnet body 123 and is realized the regulation of sucking disc structure 12 adsorption affinity, specifically be when electro-magnet body 123 adsorption affinity increases, the electro-magnet output is under the adsorption affinity, overcome the elasticity of spring 124, move up along sucking disc shell 122, make the adsorption affinity increase between sucking disc structure 12 and the wall, on the contrary, when electro-magnet body 123 adsorption affinity reduces, the electro-magnet output moves down along sucking disc shell 122 under the effect of spring 124 elasticity, make the adsorption affinity between sucking disc structure 12 and the wall reduce. When the suction force between the suction cup structure 12 and the wall surface is proper, the bionic robot fish can slide along the wall surface under the driving of the double-steering engine driving mechanism 2. Meanwhile, the bionic robot fish can realize the adsorption and separation with the underwater wall surface by matching with the floating and sinking actions realized by the driving of the floating force control mechanism 13.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (7)
1. A multifunctional bionic robot fish is characterized in that: the fish head mechanism comprises a fish head mechanism (1), a double-steering engine driving mechanism (2) and a fish tail (3) which are sequentially connected from front to back, a fish head shell (111) and a fish head base (112) are connected in a matched mode, a cavity structure is formed inside the fish head shell, a lithium battery (113) and a circuit control board (114) are arranged in the cavity structure, two sucker structures (12) are arranged in the front and back mode and are installed on the fish head base (112), and suckers (121) of the sucker structures extend out to the lower portion of the fish head base (112) to form the fish head mechanism (1);
the front steering engine (203) is installed and connected to a front steering engine support frame (201), an output shaft of the front steering engine is vertically arranged, the tail end of the output shaft of the front steering engine is connected with a front steering wheel (204), a front steering engine rotating shaft support (202) is of a U-shaped structure with an opening facing forwards and is arranged at the tail of the front steering engine (203), two ends of the front steering engine rotating shaft support are front support horizontal sections, the front steering engine rotating shaft support and the front steering engine rotating shaft support frame are respectively connected with the front steering wheel (204) and are rotatably connected with the front steering engine support frame (201; a rear steering engine support frame (205) is fixedly connected with the vertical section of the front support frame through a support bolt nut, a rear steering engine (207) is installed and connected to the rear steering engine support frame (205), an output shaft of the rear steering engine support frame is vertically arranged, the tail end of the rear steering engine support frame is connected with a rear steering wheel (208), a rear steering engine rotating shaft support frame (206) is of a U-shaped structure with a forward opening and is arranged at the tail of the rear steering engine (207), and two ends of the rear steering engine rotating shaft support frame are respectively connected with the rear steering wheel (208) and are rotatably connected with the rear steering engine support frame (205) through rotating shaft bolt groups to form;
the fish tail (3) is of a tail fin structure, is arranged behind the rear steering engine rotating shaft support (206) and is fixedly connected with the rear steering engine rotating shaft support (206), and the front steering engine support frame (201) is fixedly connected with the tail part of the fish head shell (111); the lithium battery (113) is communicated with the two sucker structures (12), the circuit control board (114), the front steering engine (203) and the rear steering engine (207), and the circuit control board (114) is communicated with the two sucker structures (12), the front steering engine (203) and the rear steering engine (207).
2. The multifunctional biomimetic robotic fish of claim 1, wherein: the electromagnet body (123) is arranged in the cavity structure and is installed on the fish head base (112) through an electromagnet support (125), the output end of the electromagnet is fixedly connected with the corresponding sucker (121) and is connected with the electromagnet body (123) through a spring (124) arranged through a mounting hole in the fish head base (112), and a sucker shell (122) covers the outer side of the sucker (121) to form the sucker structure (12); the sucker (121) can slide up and down in the corresponding sucker shell (122), and the size of the sucker (121) positioned in front is larger than that of the sucker (121) positioned in back.
3. The multifunctional biomimetic robotic fish of claim 1, wherein: the fish head air pump is characterized by further comprising a buoyancy control mechanism (13), an air chamber shell (131) is hermetically connected with the fish head base (112) through a sealant and forms an air chamber inside the fish head base, a bidirectional air pump (132) is arranged on the fish head base (112) and located outside the air chamber shell (131), the bidirectional air pump (132) has a function of compressing air or is provided with a compressed air bottle, an air bag (135) is arranged in the air chamber, and the bidirectional air pump (132) is communicated with the air bag (135) through an air inlet pipe (133) and an air outlet pipe (134) to form the buoyancy control mechanism (13); the fish head base (112) is provided with a communicating hole which communicates the air chamber with the outside of the fish head mechanism (1).
4. The multifunctional biomimetic robotic fish of claim 1, wherein: the front steering engine (203) and the rear steering engine (207) are both waterproof steering engines.
5. The multifunctional biomimetic robotic fish of claim 2, wherein: the fish head shell (111) and the fish head base (112) are connected in an adhesive manner, and the sucker shell (122) is connected to the bottom of the fish head shell (111) in an adhesive manner.
6. The multifunctional biomimetic robotic fish of claim 1, wherein: the fishtail (3) is fixedly connected with the rear steering engine rotating shaft support (206) through four fishtail self-tapping screws.
7. The multifunctional biomimetic robotic fish of claim 1, wherein: the front steering engine rotating shaft support (202) and the rear steering engine rotating shaft support (206) are respectively connected and fixed with the front steering wheel (204) and the rear steering wheel (208) through respective tapping screws.
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| CN201921641585.XU CN210793593U (en) | 2019-09-29 | 2019-09-29 | Multifunctional bionic robot fish |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110510088A (en) * | 2019-09-29 | 2019-11-29 | 中国科学院合肥物质科学研究院 | A kind of Multifunctional biomimetic robotic fish |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110510088A (en) * | 2019-09-29 | 2019-11-29 | 中国科学院合肥物质科学研究院 | A kind of Multifunctional biomimetic robotic fish |
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