CN102039994A - Bionic ribbonfish for exploration - Google Patents

Abstract

The invention relates to a bionic knifefish for detection, which can effectively solve the problems of large internal space, suitable for secondary development, and small environmental disturbance. The present invention adopts the following technical solutions: it includes a cavity composed of an upper shell and a lower shell, and a caudal fin driving device is arranged at the rear of the cavity, and the caudal fin driving device is connected with the caudal fin at the tail of the cavity for driving the caudal fin, and the caudal fin is connected with the cavity The tail of the body is connected by a sealed hose, which is conducive to the swing of the tail fin and prevents water from entering the cavity. There is a pelvic fin outside the bottom of the lower shell, and a pelvic fin driving device is installed inside the lower shell. A digital camera is installed at the front and lower part of the lower shell. , the upper part of the upper shell has a waterproof switch, a charging plug and a communication antenna. The invention has a novel and unique structure, large internal space, easy operation and control, high stability and little disturbance to the environment, can be effectively used in underwater resource detection, sea rescue and other fields, and has huge economic and social benefits.

Description

A bionic knifefish for detection

technical field

The invention relates to a robot fish, in particular to a bionic knifefish for detection (also known as a robot knifefish) driven by a pelvic fin of a crankshaft structure.

Background technique

Two-thirds of the earth's surface is covered by water, and the depths of the vast sea contain rich mineral resources. However, human exploration of underwater resources is still in its infancy, and our understanding of the depths of the ocean is relatively weak. The environment in the depths of the ocean is complex and changeable, and the conditions are harsh, which has brought many difficulties to human exploration of the ocean. As a high-tech means of exploration, underwater robots will surely bring great help to human beings in developing the ocean and exploring the underwater world. The application of underwater robots in deep sea observation, seabed exploration, underwater pipeline monitoring and military is increasing day by day. Compared with the traditional propeller underwater propeller, the fish movement mode has the advantages of low noise, flexible maneuvering, and high propulsion efficiency. It has become the bionic object for scientists to develop underwater bionic robots in recent years.

Robotic fish that mimic fish movements emerged in the 1990s. From the first bionic tuna in 1994 to the present, the bionic robot fish has adopted the following two modes of movement: 1. The way of generating thrust by swinging the body and tail fin; 2. The way of generating thrust by swinging the pectoral fin and tail fin. For the first movement mode, although the movement speed is fast and the efficiency is high, because the body needs to swing, there is less space for multiple sensors inside, so it is not suitable for the installation of a multi-object detection device. For the second movement mode, the two pectoral fins need to be driven separately, and the volume of the driving device occupies a large volume of the sealed cabin, which also limits the loading of the sensing equipment. When the robot fish with these two modes of movement move in areas with a lot of algae near the sea, the environment will be greatly disturbed, and the driving device will be easily entangled by algae.

When the knifefish swims in the water, it can realize the flexible underwater movement of the knifefish only by relying on the fluctuation of the pelvic fin, and the body remains rigid during the movement. If the underwater robot can realize the motion characteristics of the knifefish, the drawbacks of the above two motion modes of the underwater robot can be overcome. So how?

Contents of the invention

In view of the above situation, the purpose of the present invention is to provide a bionic knifefish for detection, which can effectively solve the problems of large internal space, suitable for secondary development, and small environmental disturbance.

In order to achieve the above object, the present invention adopts the following technical solutions: it includes a cavity composed of an upper shell and a lower shell, a caudal fin driving device is arranged at the rear of the cavity, and the caudal fin driving device is connected with the caudal fin at the tail (rear) of the cavity , used to drive the caudal fin. The caudal fin is connected to the tail of the cavity by a sealed hose, which is beneficial to the swing of the caudal fin and prevents water from entering the cavity. There is a pelvic fin outside the bottom of the lower shell, and a pelvic fin driving device is installed inside the lower shell. A digital camera is installed on the front lower part of the lower housing, and a waterproof switch, a charging plug and a communication antenna are arranged on the upper part of the upper housing; , the steering gear is installed in the steering gear fixing frame, the steering gear rear shaft is installed at the rear of the steering gear, the steering gear rear shaft extends out of the steering gear fixing frame, the steering gear rear shaft extension end and the steering gear main shaft are equipped with a rudder disc, U-shaped The frame is connected with the rudder disc, the U-shaped frame is connected with the tail fin through the tail fin fixing frame, and the steering gear fixing frame is installed on the tail (rear) of the crankshaft bracket of the pelvic fin driving device; the said pelvic fin driving device includes crankshaft, crankshaft bracket, Motor, shaft coupling, crankshaft cover, rocker, feed rod and cover plate, the crankshaft is placed on the crankshaft support in the crankshaft bracket, the crankshaft has a crankshaft cover fixed on the crankshaft bracket, and the crankshaft is connected to the crankshaft through the coupling. On the outside of the crankshaft bracket (the left side in Figure 3), the motor used to drive the crankshaft is connected. The motor is connected to the power supply device in the cavity. Control device, the rocker is evenly installed on the light rod, the light rod is installed in the bottom hole of the crankshaft bracket, the U-shaped head on the upper part of the rocker is installed on the evenly distributed crankshaft on the crankshaft, and the rocker extends out of the bottom of the crankshaft bracket. Holes (openings), associated with pelvic fins.

The invention has a novel and unique structure, large internal space, easy operation and control, high stability and little disturbance to the environment, can be effectively used in underwater resource detection, sea rescue and other fields, and has huge economic and social benefits.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of a half-section structure of the present invention.

Fig. 3 is an exploded schematic diagram of the structure of the pelvic fin driving device of the present invention.

Fig. 4 is an exploded schematic diagram of the structure of the tail fin driving device of the present invention.

Detailed ways

Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figures 1 to 4, the present invention includes a cavity formed by an upper casing and a lower casing, a caudal fin driving device is provided at the rear of the cavity, and the caudal fin driving device is connected to the caudal fin 9 at the tail (rear) of the cavity , used to drive the caudal fin, the caudal fin is connected to the tail of the cavity by a sealed hose 5, which is beneficial to the swing of the caudal fin and prevents water from entering the cavity. There is a pelvic fin 7 outside the bottom of the lower shell 6, and a pelvic fin for driving the pelvic fin is arranged inside the lower shell. Driving device, digital camera 10 is equipped with in the front lower part of lower housing, and waterproof switch 3, charging plug 2 and communication antenna 1 are arranged in the upper part of upper housing 4; Said caudal fin driving device (shown in Figure 4) includes steering 19 (commercially available products, such as TowerPro MG995 steering gear produced by Huisheng Company), steering gear rear axle 25, U-shaped frame 21, steering plate 24, steering gear fixing frame 18, the steering gear is contained in the steering gear fixing frame, There is a steering gear rear shaft at the steering gear rear portion, and the steering gear rear shaft stretches out of the steering gear fixing frame, and the steering gear rear shaft extension end and the steering gear main shaft 30 are equipped with a steering wheel 24, and the U-shaped frame 21 is connected with the steering wheel. The type frame is connected with the caudal fin through the tail fin fixing frame 22, and the steering gear fixing frame is contained on the crankshaft bracket afterbody (rear portion) of the pelvic fin driving device; Crankshaft bracket 16, motor 13, shaft coupling 15, crankshaft cover 17, rocker 8, light rod 20 and cover plate 23, the crankshaft is placed on the crankshaft support 27 in the crankshaft bracket, and the crankshaft is fixed on the crankshaft bracket The crankshaft cover, the crankshaft is connected with the motor on the outside of the crankshaft bracket (as shown on the left side in Figure 3) through the coupling, which is used to drive the crankshaft. The motor is connected with the power supply device 11 in the cavity, and there is a cover plate on the upper part of the crankshaft bracket 23. The upper part of the cover plate is equipped with a communication control device 12 connected with the communication antenna, the rocker is evenly installed on the light rod, the light rod is installed in the bottom hole 29 of the crankshaft bracket, and the U-shaped head 26 on the upper part of the rocker is installed on the crankshaft On the evenly distributed crank throw 28, the rocking bar stretches out the movable hole (opening) at the bottom of the crankshaft support, and links with the pelvic fins.

In order to ensure the use effect, the power supply device 11 in the cavity is a rechargeable battery pack or storage battery, etc., the power supply device is connected with the charging plug 2, the motor 13 is connected with the waterproof switch 3, and the communication control device 12 is connected with the communication antenna 1 Connected, the communication antenna, the waterproof switch and the charging plug are all sealed and waterproof on the upper part of the upper casing.

For the convenience of maintenance and use, said U-shaped frame 21 is fixed on the two rudder plates 24 through screw connection, the rudder plate 24 is fixed on the rear axle 25 of the steering gear through screws, and the steering gear fixing frame is fixed on the tail fin through bolts and nuts. The end of the crankshaft bracket of the drive unit. Said tail fin 9 is fixed on the tail fin holder 22 by screws (the tail fin holder 22 is made of four supports, as shown in Figure 4), and the tail fin holder is fixed on the U-shaped frame by bolts and nuts; said There are eight rocking bars, and the crankshaft 14 is equipped with evenly distributed bell cranks 28 corresponding to the eight rocking bars; said motor 13 is a high-torque DC low-speed motor, and the power is output to the crankshaft through a coupling, and the cover plate 23 It is installed on the crankshaft bracket 16 by bolts; the end of said rocker 8 passes through the opening of the lower part of the lower housing 6, and is fixedly connected to the ventral fin by waterproof glue; said upper housing and lower housing are made of transparent Made of plexiglass, crankshaft bracket, crankshaft cover, cover plate, U-shaped frame, steering wheel, steering gear rear axle, steering gear fixing frame and tail fin fixing frame are made of light aluminum alloy materials; rocker, light rod, The crankshaft is made of 45 steel; the coupling is made of bronze material; the ventral fin is made of waterproof rubber membrane; the caudal fin is made of hard plastic, and the sealing hose of the fishtail is made of soft rubber sleeve.

The steering gear rear axle is fixed on the steering gear fixed mount, and is coaxial with the steering gear main shaft 30.

When the present invention moves in water, the motor 13 rotates to drive the crankshaft 14 to perform circular motion around its center of rotation, and a group of rockers 8 whose center of revolution is fixed on the bottom of the crankshaft bracket 16 swings periodically reciprocatingly under the drive of the crankshaft 14 and is fixed on The pelvic fin 7 at the end of the rocker 8 completes a certain cycle of fluctuations under the drive of the rocker 8 . The pelvic fin 7 drives the robotic knifefish forward or backward. When the motor 13 rotates in the forward direction, the present invention moves forward; when the motor 13 rotates in the reverse direction, the present invention moves backward.

When the present invention moved in water, the rotation of the steering gear 19 drove the tail fin 9 to rotate left and right. In the low-speed motion state, the function of the caudal fin 9 is mainly used to control the motion direction of the robot knifefish; in the high-speed motion state, the steering gear 19 drives the tail fin 9 to swing left and right, which is superimposed with the fluctuation of the pelvic fin 7, so that the robot knifefish can obtain a higher speed. running speed.

The above is only a preferred embodiment of the present invention. In the technical field, all technical solutions that are essentially the same based on the equivalent and replacement means of the changes and improvements of the technical solutions of the present invention all belong to the protection scope of the present invention. .

The present invention has the following outstanding advantages:

1. When the present invention is moving underwater, the fish body remains stalemate, and the shape does not change during the movement process. The internal space is large and not squeezed, which can provide the necessary development space for subsequent secondary development.

2. The movement of the bionic knifefish of the present invention adopts the movement mode driven by the ventral fin, so that the stability of its underwater movement is improved.

3. The speed control of the present invention is simple, and only by controlling the rotating speed of the drive motor, the continuous transformation of the motion speed of the robot saury can be realized. In addition, when high-speed motion is required, the caudal fin for controlling the direction can also be used as the driving device for advancing, and the pelvic fin The drive phases are superimposed to provide a compound drive under high-speed motion.

4. The driving structure of the pelvic fin crankshaft of the present invention is simple, and after simple modification, it can be applied to various small underwater propellers. It has the advantages of wide application range, high stability, small disturbance to the environment, and good portability. Exploration of underwater resources, rescue at sea, etc. will also play a role in future maritime military operations, with huge economic and social benefits.

Claims (9)

1. A bionic knifefish for detection, comprising a cavity made of an upper shell and a lower shell, characterized in that, the rear portion of the cavity is provided with a caudal fin driving device, and the caudal fin driving device is connected to the caudal fin (9) at the cavity tail , used to drive the caudal fin, the caudal fin is connected with the tail of the cavity by a sealed hose (5), which is beneficial to the swing of the caudal fin and prevents water from entering the cavity. There is a pelvic fin (7) outside the bottom of the lower shell (6), and there is a A pelvic fin driving device for driving the pelvic fin is installed, a digital camera (10) is installed at the front lower part of the lower housing, and a waterproof switch (3), a charging plug (2) and a communication antenna (1) are arranged at the upper part of the upper housing (4); The stern drive device of the tail fin comprises a steering gear (19), a steering gear rear axle (25), a U-shaped frame (21), a steering wheel (24), a steering gear fixing frame (18), and the steering gear is contained in the steering gear fixing frame Inside, the rear portion of the steering gear has a steering gear rear axle, and the steering gear rear axle stretches out of the steering gear fixing frame, and the steering wheel (24) is housed on the steering gear rear axle extension end and the steering gear main shaft (30), and the U-shaped frame (21 ) is connected with the steering wheel, the U-shaped frame is connected with the tail fin through the tail fin fixing frame (22), and the steering gear fixing frame is installed on the tail of the crankshaft bracket of the pelvic fin driving device; the said pelvic fin driving device includes a crankshaft (14) , crankshaft bracket (16), motor (13), coupling (15), crankshaft cover (17), rocker (8), feed rod (20) and cover plate (23), the crankshaft is placed in the crankshaft bracket On the crankshaft support (27), there is a crankshaft cover fixed on the crankshaft bracket on the crankshaft, and the crankshaft is connected with the motor on the outside of the crankshaft bracket through the coupling, which is used to drive the crankshaft, and the motor is connected with the power supply device in the cavity ( 11) Connected, there is a cover plate (23) on the upper part of the crankshaft support, and a communication control device (12) connected to the communication antenna is installed on the upper part of the cover plate, the rocker is evenly installed on the light rod, and the light rod is installed on the bottom of the crankshaft support In the hole (29), the U-shaped head (26) on the top of the rocking bar is contained on the crankshaft (28) evenly distributed on the crankshaft, and the rocking bar stretches out from the movable hole at the bottom of the crankshaft support to link with the pelvic fin. 2. The bionic knifefish for detection according to claim 1 is characterized in that, said power supply unit is connected with charging plug (2), motor (13) is connected with waterproof switch (3), and communication control device (12 ) is connected with the communication antenna (1), and the communication antenna, waterproof switch and charging plug are all sealed and waterproof on the top of the upper housing. 3. the bionic knifefish for detection according to claim 1, is characterized in that, said U-shaped frame (21) is fixed on two rudder discs (24) through screw connection, and rudder disc (24) is fixed on two rudder discs (24) through screw. On the steering gear rear axle (25), the steering gear fixing frame is fixed on the crankshaft support afterbody of the tail fin driving device through bolts and nuts. 4. The bionic knifefish for detection according to claim 1 is characterized in that, said tail fin (9) is fixed on the tail fin holder (22) by screws, and the tail fin holder bolt and nut are fixed on the U-shaped frame. 5. The bionic knifefish for detection according to claim 1, wherein said rocking bars have eight, and the crankshaft (14) is equipped with crank throws (28) that are evenly distributed and corresponding to the eight rocking bars. 6. The bionic knifefish for detection according to claim 1, characterized in that, said motor (13) is a high-torque DC low-speed motor, and the power is output to the crankshaft through a coupling, and the cover plate (23) is mounted by bolts. on the crankshaft bracket (16). 7. The bionic knifefish for detection according to claim 1, characterized in that the end of said rocker (8) passes through the lower opening of the lower casing (6), and is fixedly connected to the pelvic fin by waterproof glue . 8. The bionic knifefish for detection according to claim 1 is characterized in that, said upper casing and lower casing are made of transparent plexiglass, crankshaft bracket, crankshaft cover, cover plate, U-shaped frame, rudder The disc, steering gear rear axle, steering gear fixing frame and tail fin fixing frame are made of light aluminum alloy; rocker, smooth rod and crankshaft are made of 45 steel; couplings are made of bronze material; ventral fins are made of waterproof rubber membrane; the caudal fin is made of hard plastic and the sealing hose of the fishtail is made of soft rubber sleeve. 9. The bionic knifefish for detection according to claim 1, characterized in that, the rear axle of the steering gear is fixed on the steering gear fixing frame, and is on the same axis as the steering gear main shaft (30).

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