CN112407200A - Floating and sinking mechanism of bionic robot fish - Google Patents
Floating and sinking mechanism of bionic robot fish Download PDFInfo
- Publication number
- CN112407200A CN112407200A CN202011200669.7A CN202011200669A CN112407200A CN 112407200 A CN112407200 A CN 112407200A CN 202011200669 A CN202011200669 A CN 202011200669A CN 112407200 A CN112407200 A CN 112407200A
- Authority
- CN
- China
- Prior art keywords
- water tank
- floating
- bionic robot
- sinking mechanism
- robot fish
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 30
- 238000007667 floating Methods 0.000 title claims abstract description 24
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 78
- 238000005452 bending Methods 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims description 4
- 239000012528 membrane Substances 0.000 claims description 4
- 230000005484 gravity Effects 0.000 abstract description 4
- 238000002347 injection Methods 0.000 abstract description 4
- 239000007924 injection Substances 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 241000252233 Cyprinus carpio Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses a floating and sinking mechanism of a bionic robot fish, which comprises a body, wherein the right side of the body is provided with a head, the left side of the head is movably connected with a mounting rack, the right end of the mounting rack is fixedly provided with a bending rod, the bending rod is fixedly provided with a plurality of skeletons, the outer side of each skeleton is coated with an outer film, and the right end of each skeleton is provided with a fish tail; the inboard of mounting bracket is rotated and is connected with the water tank, and the upper end of water tank is provided with elasticity rope and PCL control respectively, and both sides all are provided with the abdomenal fin around the water tank, and the vertical pin that is fixed with in left side upper portion of water tank, the base is installed to the lower extreme of water tank, and the water pump is installed to the base internal rotation. The invention controls the water injection or drainage in the water tank by controlling the rotation of the water pump, changes the gravity and the buoyancy of the water tank, and can efficiently float and sink the controller.
Description
Technical Field
The invention relates to a floating and sinking mechanism of a bionic robot fish, in particular to a floating and sinking mechanism of a bionic robot fish.
Background
The bionic fish is used for detecting pollutants in water and drawing a 3D pollution graph of river water. The machine fish is similar to a carp in shape, is provided with a detection sensor, and can find various pollutants in water, such as fuel oil or other chemicals leaked from a ship.
The floating and sinking mechanism is used as an important mechanism of the bionic fish and plays a vital role, but the existing floating and sinking mechanism is low in efficiency, and meanwhile, the existing bionic fish steering mechanism is lack of novelty. Therefore, the invention provides a floating and sinking mechanism of a bionic robot fish, which aims to solve the problems in the background technology.
Disclosure of Invention
The invention aims to provide a floating and sinking mechanism of a bionic robot fish, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a floating and sinking mechanism of a bionic robot fish comprises a body, wherein a head is arranged on the right side of the body, a mounting rack is movably connected to the left side of the head, a bending rod is fixed to the right end of the mounting rack, a plurality of frameworks are fixed to the bending rod, outer membranes wrap the outer sides of the frameworks, and fish tails are arranged on the right ends of the frameworks;
the inboard of mounting bracket is rotated and is connected with the water tank, and the upper end of water tank is provided with elasticity rope and PCL control respectively, and both sides all are provided with the abdomenal fin around the water tank, and the vertical pin that is fixed with in left side upper portion of water tank, the base is installed to the lower extreme of water tank, and the water pump is installed to the base internal rotation.
As a further scheme of the invention: the motor I is installed in the left side of the mounting frame, the right side of the motor I is in driving connection with a disc, a supporting rod is fixed to the right end of the disc, and the supporting rod is located on one side of the stop lever.
As a still further scheme of the invention: the mounting groove has been seted up to the lower extreme of base, and the upper end of mounting groove is provided with the arc wall, the upper end and the water tank intercommunication of arc wall.
As a still further scheme of the invention: the middle periphery of the water pump is provided with an annular plug in a sealing mode, the left side and the right side of the water pump are provided with plug plates, and the upper side and the lower side of the water pump are provided with a water inlet and a water outlet respectively.
As a still further scheme of the invention: the annular plug is partially positioned in the arc-shaped groove, and a closed space is formed between the upper part of the plug plate and the arc-shaped groove in a horizontal state.
As a still further scheme of the invention: and the driving of the water pump is connected with a second motor.
As a still further scheme of the invention: the left and right sides of water tank all is provided with the axostylus axostyle, and the axostylus axostyle rotates with the mounting bracket to be connected.
As a still further scheme of the invention: the upper end of the mounting rack is provided with dorsal fins, and the two sides of the head of the body are provided with fish fins.
As a still further scheme of the invention: a gyroscope or a level meter is arranged in the water pump.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention controls the water injection or drainage in the water tank by controlling the rotation of the water pump, changes the gravity and the buoyancy of the water tank, and can efficiently float and sink the controller.
2. The invention is provided with the motor and drives the disc to rotate forwards or reversely, and the water tank (ventral fin) is controlled to continuously swing to a certain side under the action of the supporting rod, so that the controller turns, and the invention is practical and efficient.
Drawings
Fig. 1 is a schematic structural diagram of a floating and sinking mechanism of a bionic robot fish.
Fig. 2 is a schematic structural diagram at a in fig. 1.
Fig. 3 is a schematic structural diagram of a base in a floating and sinking mechanism of a bionic robot fish.
Fig. 4 is a schematic structural diagram at B in fig. 3.
FIG. 5 is a schematic structural diagram of a water pump and an annular plug in a floating and sinking mechanism of a bionic robot fish.
In the figure: 1. a body; 2. a dorsal fin; 3. a PCL control; 4. a mounting frame; 5. an outer membrane; 6. a bending rod; 7. a framework; 8. fish tail; 9. ventral fins; 10. a water pump; 11. a base; 12. a water tank; 13. a first motor; 14. a fin; 15. a shaft lever; 16. a disc; 17. a stop lever; 18. a strut; 19. mounting grooves; 20. an annular plug; 21. an arc-shaped slot; 22. a second motor; 23. a plug plate; 24. a water inlet; 25. and (7) a water outlet.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 5, in the embodiment of the invention, the floating and sinking mechanism of the bionic robot fish comprises a body 1, wherein a head is arranged on the right side of the body 1, an installation frame 4 is movably connected to the left side of the head, a bending rod 6 is fixed at the right end of the installation frame 4, a plurality of frameworks 7 are fixed on the bending rod 6, outer membranes 5 are coated on the outer sides of the frameworks 7, and fish tails 8 are arranged at the right ends of the frameworks 7; the inboard of mounting bracket 4 is rotated and is connected with water tank 12, and the upper end of water tank 12 is provided with elasticity rope and PCL control 3 respectively, and both sides all are provided with ventral fin 9 around water tank 12, and the vertical pin 17 that is fixed with in left side upper portion of water tank 12, and base 11 is installed to the lower extreme of water tank 12, and water pump 10 is installed to 11 internal rotations of base.
Further, install motor 13 in the left side of mounting bracket 4, the right side drive of motor 13 is connected with disc 16, and the right-hand member of disc 16 is fixed with branch 18, and branch 18 is located one side of pin 17, its characterized in that, mounting groove 19 has been seted up to the lower extreme of base 11, and the upper end of mounting groove 19 is provided with arc wall 21, the upper end and the water tank 12 intercommunication of arc wall 21.
Further, an annular plug 20 is hermetically arranged on the middle peripheral side of the water pump 10, plug plates 23 are arranged on the left side and the right side of the water pump 10, a water inlet 24 and a water outlet 25 are respectively arranged on the upper side and the lower side of the water pump 10, the annular plug 20 is partially positioned in the arc-shaped groove 21, and a closed space is formed between the upper side of the plug plate 23 and the arc-shaped groove 21 in a horizontal state; the driving connection of water pump 10 has motor two 22, the left and right sides of water tank 12 all is provided with axostylus axostyle 15, and axostylus axostyle 15 rotates with mounting bracket 4 to be connected, the upper end of mounting bracket 4 is provided with back of the body fin 2, and the head both sides of body 1 are provided with fin 14.
Specifically, when the floating and sinking processes are realized, the method comprises the following steps: the rotation of controlling water pump 10 through two 22 motors, level gauge or gyroscope are built-in to water pump 10 for under the combined action of cock plate 23 and annular stopper 20, form airtight space on the upper portion of arc wall 21, then start water pump 10, to pouring into water or drainage in water tank 12, during the water injection, gravity increase, during the drainage, buoyancy increase, thereby control come-up and sink, high-efficient and convenient.
When the turning is required to be controlled, the first motor 13 is started, the first motor 13 drives the disc 16, the disc 16 rotates to push the stop lever 17 to continuously swing towards the left side or the right side through the support rod 18, and according to the positive and negative rotation of the first motor 13, the left swing or the right swing of the ventral fin 9 is further controlled, and the turning is controlled (forward driving is required to be matched, and is not shown in the figure).
The working principle of the invention is as follows:
when the invention realizes the processes of floating and sinking: the rotation of controlling water pump 10 through two 22 motors, level gauge or gyroscope are built-in to water pump 10 for under the combined action of cock plate 23 and annular stopper 20, form airtight space on the upper portion of arc wall 21, then start water pump 10, to pouring into water or drainage in water tank 12, during the water injection, gravity increase, during the drainage, buoyancy increase, thereby control come-up and sink, high-efficient and convenient.
When the turning is required to be controlled, the first motor 13 is started, the first motor 13 drives the disc 16, the disc 16 rotates to push the stop lever 17 to continuously swing towards the left side or the right side through the support rod 18, and according to the positive and negative rotation of the first motor 13, the left swing or the right swing of the ventral fin 9 is further controlled, and the turning is controlled (forward driving is required to be matched, and is not shown in the figure).
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The floating and sinking mechanism of the bionic robot fish comprises a body (1) and is characterized in that a head is arranged on the right side of the body (1), a mounting frame (4) is movably connected to the left side of the head, a bending rod (6) is fixed to the right end of the mounting frame (4), a plurality of frameworks (7) are fixed to the bending rod (6), outer membranes (5) are wrapped on the outer sides of the frameworks (7), and fish tails (8) are arranged at the right ends of the frameworks (7);
the inboard of mounting bracket (4) is rotated and is connected with water tank (12), and the upper end of water tank (12) is provided with elasticity rope and PCL control (3) respectively, and both sides all are provided with ventral fin (9) around water tank (12), and the vertical pin (17) that is fixed with in left side upper portion of water tank (12), base (11) are installed to the lower extreme of water tank (12), and water pump (10) are installed to base (11) internal rotation.
2. The floating and sinking mechanism of the bionic robot fish as claimed in claim 1, wherein a first motor (13) is installed in the left side of the mounting rack (4), a disc (16) is drivingly connected to the right side of the first motor (13), a supporting rod (18) is fixed to the right end of the disc (16), and the supporting rod (18) is located on one side of the stop lever (17).
3. The floating and sinking mechanism of the bionic robot fish as claimed in claim 1, wherein the lower end of the base (11) is provided with an installation groove (19), the upper end of the installation groove (19) is provided with an arc-shaped groove (21), and the upper end of the arc-shaped groove (21) is communicated with the water tank (12).
4. The floating and sinking mechanism of the bionic robot fish as claimed in claim 1, wherein the middle periphery of the water pump (10) is hermetically provided with an annular plug (20), the left side and the right side of the water pump (10) are both provided with a plug plate (23), and the upper side and the lower side of the water pump (10) are respectively provided with a water inlet (24) and a water outlet (25).
5. The floating and sinking mechanism of the bionic robot fish as claimed in claim 4, wherein the annular plug (20) is partially positioned in the arc-shaped groove (21), and a closed space is formed between the upper part of the plug plate (23) and the arc-shaped groove (21) in a horizontal state.
6. The floating and sinking mechanism of the bionic robot fish as claimed in claim 1, wherein the drive of the water pump (10) is connected with a second motor (22).
7. The floating and sinking mechanism of the bionic robot fish as claimed in claim 1, wherein the left and right sides of the water tank (12) are provided with shaft levers (15), and the shaft levers (15) are rotatably connected with the mounting rack (4).
8. The floating and sinking mechanism of the bionic robot fish as claimed in claim 1, wherein the upper end of the mounting rack (4) is provided with a dorsal fin (2), and the two sides of the head of the body (1) are provided with fins (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011200669.7A CN112407200A (en) | 2020-11-02 | 2020-11-02 | Floating and sinking mechanism of bionic robot fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011200669.7A CN112407200A (en) | 2020-11-02 | 2020-11-02 | Floating and sinking mechanism of bionic robot fish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112407200A true CN112407200A (en) | 2021-02-26 |
Family
ID=74828249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011200669.7A Pending CN112407200A (en) | 2020-11-02 | 2020-11-02 | Floating and sinking mechanism of bionic robot fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112407200A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS50118486A (en) * | 1974-03-05 | 1975-09-17 | ||
| CN101033000A (en) * | 2007-04-28 | 2007-09-12 | 哈尔滨工程大学 | Multi-joint fluctuation-propulsion fish-shape robot |
| CN101665147A (en) * | 2009-09-18 | 2010-03-10 | 哈尔滨工程大学 | Robotic fish with flexibly swinging pectoral fins |
| CN102039994A (en) * | 2010-11-01 | 2011-05-04 | 河南工程学院 | Bionic ribbonfish for exploration |
| CN106114792A (en) * | 2016-07-05 | 2016-11-16 | 杭州畅动智能科技有限公司 | The floating sinking mechanism of bionic machine fish |
| CN106364650A (en) * | 2016-11-05 | 2017-02-01 | 杭州畅动智能科技有限公司 | Bionic robot fish |
| CN107310705A (en) * | 2017-06-21 | 2017-11-03 | 桂林电子科技大学 | A kind of underwater robot of imitative coelacanth |
| US20190135393A1 (en) * | 2017-11-03 | 2019-05-09 | Aquaai Corporation | Modular biomimetic underwater vehicle |
| CN110667813A (en) * | 2019-09-30 | 2020-01-10 | 武汉工程大学 | Mobile bionic robot fish for water quality monitoring and oxygen increasing and control method |
| CN210027856U (en) * | 2019-06-06 | 2020-02-07 | 成都理工大学 | Double-steering engine transmission fishtail propelling device based on framework structure |
| CN210310838U (en) * | 2019-06-26 | 2020-04-14 | 深圳光启空间技术有限公司 | Bionic robot fish |
| CN111086615A (en) * | 2019-12-16 | 2020-05-01 | 哈尔滨工程大学 | A three-dimensional space mobile bionic robotic fish and buoyancy adjustment device |
-
2020
- 2020-11-02 CN CN202011200669.7A patent/CN112407200A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS50118486A (en) * | 1974-03-05 | 1975-09-17 | ||
| CN101033000A (en) * | 2007-04-28 | 2007-09-12 | 哈尔滨工程大学 | Multi-joint fluctuation-propulsion fish-shape robot |
| CN101665147A (en) * | 2009-09-18 | 2010-03-10 | 哈尔滨工程大学 | Robotic fish with flexibly swinging pectoral fins |
| CN102039994A (en) * | 2010-11-01 | 2011-05-04 | 河南工程学院 | Bionic ribbonfish for exploration |
| CN106114792A (en) * | 2016-07-05 | 2016-11-16 | 杭州畅动智能科技有限公司 | The floating sinking mechanism of bionic machine fish |
| CN106364650A (en) * | 2016-11-05 | 2017-02-01 | 杭州畅动智能科技有限公司 | Bionic robot fish |
| CN107310705A (en) * | 2017-06-21 | 2017-11-03 | 桂林电子科技大学 | A kind of underwater robot of imitative coelacanth |
| US20190135393A1 (en) * | 2017-11-03 | 2019-05-09 | Aquaai Corporation | Modular biomimetic underwater vehicle |
| CN210027856U (en) * | 2019-06-06 | 2020-02-07 | 成都理工大学 | Double-steering engine transmission fishtail propelling device based on framework structure |
| CN210310838U (en) * | 2019-06-26 | 2020-04-14 | 深圳光启空间技术有限公司 | Bionic robot fish |
| CN110667813A (en) * | 2019-09-30 | 2020-01-10 | 武汉工程大学 | Mobile bionic robot fish for water quality monitoring and oxygen increasing and control method |
| CN111086615A (en) * | 2019-12-16 | 2020-05-01 | 哈尔滨工程大学 | A three-dimensional space mobile bionic robotic fish and buoyancy adjustment device |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210226 |
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| RJ01 | Rejection of invention patent application after publication |