CN113772066B - Mixed line drive continuous bionic machine tuna - Google Patents

Abstract

A mixed line driving continuous type bionic machine tuna comprises a head part, an abdomen part and a tail part which are sequentially connected, wherein a pectoral fin rotating module is arranged on the abdomen part and used for realizing the rising and submerging and rolling motion of the mixed line driving continuous type bionic machine tuna on a vertical surface; a wire driving module and a propeller propelling module are arranged at the tail part, and the wire driving module is used for realizing a fish-imitating propelling mode of the mixed wire driving continuous bionic machine tuna; the propeller propulsion module is used for providing continuous thrust for the mixed line drive continuous type bionic machine tuna during straight-trip movement and providing steering torque for the mixed line drive continuous type bionic machine tuna during steering, so that the hybrid line drive continuous type bionic machine tuna can resist the propulsion movement of wind waves and the high-maneuverability steering movement in the sea. The hybrid line-driven continuous bionic machine tuna provided by the disclosure has the advantages of high bionics, high speed, high maneuverability and the like.

Description

A hybrid wire-driven continuous bionic robotic tuna

technical field

The present disclosure relates to the technical field of underwater bionic robots, in particular to a hybrid line-driven continuous bionic machine tuna.

Background technique

In recent years, with the development of bionics, underwater bionic robots have developed rapidly. Underwater bionic robots have the advantages of high maneuverability, low disturbance, and no pollution, and are suitable for monitoring in narrow, complex and dynamic underwater environments. , search, exploration, rescue and other tasks. At present, most underwater bionic robots use multi-joint rigid bodies connected in series, each joint needs a motor or a steering gear to drive, the structure is complex, and the propulsion efficiency is low.

Patent CN206766306U discloses a robotic fish suitable for underwater noise monitoring. The fishtail consists of two joints and a tail fin. The steering gear pulls the traction rope to drive the entire fishtail to swing, and an elastic rod is installed between the two joints to support and provide The restoring force acts to make the joint movement smoother. However, the robotic fish can only swim in a two-dimensional plane.

Patent CN201807186U discloses a compound turning device for robotic fish, which uses two steel wires to distribute the rotational torque generated by the stepping motor to the fin and the fish head, and drives both to rotate, thereby improving the turning efficiency. However, the swimming of the robotic fish relies on a pendulum rod to transmit power, there is no continuous type feature, and it can only be turned on a horizontal plane and cannot dive/float.

Patent CN111409799A discloses a line-driven bionic robot dolphin, which uses two pairs of traction lines to pull the spine to achieve line-driven driving. However, the wire-driven spine is composed of several vertebrae and intervertebral discs, the intervertebral discs are made of elastic materials, and the reciprocating compression thereof will consume a lot of energy.

Patent CN202966636U discloses a line-driven multi-joint underwater vector propulsion device, which is composed of flexible hoses, vertebrae and driving lines, and realizes the yaw and pitch motion of the underwater vehicle. However, the vertebrae of the wire-driven multi-joint underwater vector propulsion device are connected by spherical joints, which are prone to wear failures.

SUMMARY OF THE INVENTION

(1) Technical problems to be solved

In view of the above problems, the main purpose of the present invention is to provide a hybrid wire-driven continuous bionic robotic tuna, in order to at least partially solve at least one of the above-mentioned technical problems.

(2) Technical solutions

In order to achieve the above purpose, the technical solutions adopted in the present disclosure are as follows:

A hybrid wire-driven continuous bionic robotic tuna comprises a head 1, an abdomen 2 and a tail 3 connected in sequence, wherein:

A pectoral fin rotation module is installed on the abdomen 2, and the pectoral fin rotation module is used to realize the ascending, descending, and rolling motion of the hybrid line-driven continuous bionic robotic tuna in the vertical plane;

A wired drive module and a propeller propulsion module are installed on the tail 3, wherein:

The wire drive module is used to realize the fish-like propulsion mode of the hybrid wire-driven continuous bionic robot tuna;

The propeller propulsion module is used to provide continuous thrust for the hybrid wire-driven continuous bionic robotic tuna during straight swimming, and to provide steering torque to the hybrid wire-driven continuous bionic robotic tuna when turning, so as to realize the mixing The propulsion motion and high maneuverability steering motion of the line-driven continuous bionic machine tuna in the ocean against wind and waves.

In the above solution, the pectoral fin rotation module includes two steering gear fixing frames 211 , two steering gears 212 , two steering wheels 213 , two couplings 214 , two output shafts 215 and two bionic pectoral fins 216 . : two steering gear mounts 211 , two steering gears 212 , two steering discs 213 , two couplings 214 , two output shafts 215 and two bionic pectoral fins 216 , all of which are driven by a continuous type of hybrid line. The mid-longitudinal section of the bionic robotic tuna is installed symmetrically.

In the above solution, the steering gear fixing frame 211 is fixed in the middle of the abdomen 2; the steering gear 212 is fixed on the steering gear fixing frame 211, the steering gear 212 is connected with the steering wheel 213, and the steering gear 212 is The rudder wheel 213 is connected with the coupling 214 , the coupling 214 is connected with the output shaft 215 , and the output shaft 215 is connected with the bionic pectoral fin 216 as a piercing part. The bionic pectoral fins 216 drive the steering gear 212 to deflect and drive the steering wheel 213 and the bionic pectoral fins 216 to rotate, thereby realizing the ascending, descending, and rolling motions of the hybrid line-driven continuous bionic robotic tuna in the vertical plane. .

In the above solution, the line drive module includes a motor 311, a fixing frame 312, a flange 313, a motor output shaft 314, a spine 315 and a transmission wire 316, wherein: the fixing frame 312 is fixed on the The back of the abdomen 2; the motor 311 is connected to the flange 313 through the motor output shaft 314; one end of the spine 315 is connected to the fixing frame 312, and the other end extends into the tail 3; One end of the transmission wire 316 is connected to the flange 313 , and the other end is passed through the spine 315 .

In the above solution, the rotation of the motor 311 drives the flange 313 to deflect, and the deflection of the flange 313 drives the transmission wire 316 to move, and the movement of the transmission wire 316 drives the spine 315 to swing left and right, thereby realizing the The fish-like propulsion method of the hybrid line-driven continuous bionic robot tuna is described.

In the above solution, the spine 315 includes a plurality of universal joints 3151, a plurality of stem vertebrae 3152 and two support rods 3153, wherein: the first universal joint of the plurality of universal joints 3151 is the same as the The fixed frame 312 is connected, and the other universal joints in the plurality of universal joints 3151 are alternately connected with the plurality of stem vertebrae 3152; the two support rods 3153 pass through the multiple universal joints. The segment 3151 and the plurality of stem segment vertebrae 3152 play the role of supporting and providing restoring force.

In the above solution, the spine 315 is machined; the two support rods 3153 are made of elastic material; the abdomen 2 is made of polyoxymethylene.

In the above scheme, the propeller propulsion module includes a propeller fixing frame 321, a propeller driving plate 322 and a ducted propeller 323, wherein: the propeller fixing frame 321 is fixed on the last vertebra of the spine 315, The propeller drive plate 321 and the ducted propeller 323 are integrally mounted on the propeller fixing frame 321 in the caudal fin cabin, and the ducted propeller 323 is fixed outside the caudal fin cabin and located in the central part of the caudal fin.

In the above solution, the direct swimming motion of the hybrid line-driven continuous bionic robotic tuna includes three motion modes: bionic direct swimming, propeller propulsion direct swimming, and propeller line-driven phase matching direct swimming, wherein:

When the hybrid line-driven continuous bionic machine tuna performs bionic direct swimming motion, the two steering gears of the pectoral fin rotation module are in a holding state, and the motor of the line-driven module generates a regular sinusoidal signal, which drives the flange plate. Rotation, and then realize the bionic straight swimming movement;

When the hybrid wire-driven continuous bionic machine tuna performs propeller-propulsion straight-line motion, the pectoral fin rotation module and the steering gear and motor of the wire-driven module are in an intermediate position, and the ducted propeller propulsion module The propeller rotates stably to generate forward thrust and realize the propeller propulsion and direct swimming motion;

When the hybrid line-driven continuous bionic machine tuna performs the propeller line-driven phase-coordinated straight-swimming motion, the cooperating swing of the propeller propulsion module and the line-drive module realizes the phase-coordinated swimming mode, which improves the swimming time of the imitation fish. propulsion efficiency.

In the above solution, the steering motion of the hybrid line-driven continuous bionic robotic tuna includes two modes: imitation fish steering and propeller-assisted C-shaped steering, wherein:

When the hybrid wire-driven continuous bionic machine tuna performs fish-like steering motion, the motor of the wire-driven module generates a biased and regular sinusoidal signal, which drives the flange to rotate back and forth with a bias, thereby driving the spine Offset swing to realize fish-like steering motion;

When the hybrid wire drives the continuous bionic machine tuna to perform the propeller-assisted C-steering motion, the motor of the wire drive module remains in a biased state, so that the spine remains in a biased state, and the propeller is activated to provide the hybrid wire. Drive the continuous bionic machine tuna to provide steering torque to achieve fast C-shaped steering.

In the above solution, when the hybrid wire-driven continuous bionic robotic tuna dives or floats, the two steering gears of the pectoral fin rotation module are in an upward or downward biased state; the motor of the wire-driven module is in an upward or downward biased state; A regular sinusoidal signal without bias is generated, which drives the flange to rotate back and forth, thereby driving the spine to swing to achieve diving or floating; or the steering gear and motor of the pectoral fin rotation module and the line drive module are kept state, the hybrid wire drives the ducted propeller of the continuous bionic machine tuna to rotate at a uniform speed, so as to realize the movement of diving or floating.

In the above solution, when the hybrid wire-driven continuous bionic machine tuna is in a stiff state, the motor of the wire-driven module, the steering gear of the pectoral fin rotation module and the propeller propulsion module are all in a hold state when powered on, so All drive cables of the cable drive module are under tension.

In the above solution, the hybrid wire-driven continuous bionic robot tuna also has a mode of backward swimming, and when the wire-driven module of the hybrid wire-driven continuous bionic robot tuna is stiff in the neutral position, the Forward rotation or reverse rotation realizes the forward and backward movement of the hybrid line-driven continuous bionic robotic tuna when there are winds, waves and turbulence, and cooperates with the pectoral fin rotation module to realize the constant-depth cruise of the hybrid line-driven continuous bionic robotic tuna .

In the above solution, the wire drive module swings the tail to an appropriate direction and maintains a stable and rigid state, and the propeller propulsion module cooperates with the wire drive module to provide thrust for the hybrid wire-driven continuous bionic machine tuna. When the heading angle of the hybrid wire-driven continuous bionic machine tuna turns to a desired position, the wire-driven module quickly returns the tail and swings rhythmically to achieve a quick start.

(3) Beneficial effects

It can be seen from the above technical solutions that the hybrid wire-driven continuous bionic robotic tuna provided by the present disclosure has at least one of the following beneficial effects:

1. In the hybrid line-driven continuous bionic machine tuna provided by the present disclosure, the motor of the line drive module drives the flange to deflect, and the flange deflects to drive the motion of the transmission line, and the motion of the transmission line drives the spine to swing left and right; The steering gear of the pectoral fin rotation module drives the steering wheel to deflect, and the steering wheel deflection drives the pectoral fin to bias upward or downward, thereby realizing the bionic, supple and curved three-dimensional motion of the hybrid line-driven continuous bionic robotic tuna, which is closer to the biological The real swimming mode, that is to say, the hybrid line-driven continuous bionic robotic tuna provided by the present disclosure can not only move in a two-dimensional plane, but also can dive or float in a vertical plane.

2. The hybrid line-driven continuous bionic machine tuna provided by the present disclosure can not only realize the swimming mode of the imitation fish, but also adopt the propeller propulsion mode to achieve high stability and high stability in the complex water environment with wind, waves and currents such as the ocean. The three-dimensional motion performance of high mobility is simple in structure, easy to realize, and has the advantages of high bionics, high speed and high maneuverability.

3. The hybrid line-driven continuous bionic machine tuna provided by the present disclosure is not only different from the traditional line-driven propulsion method in mechanical structure, but also has a brand-new swimming strategy. Dynamic mode, but also has better speed and maneuverability. When the hybrid wire-driven continuous bionic machine tuna is turned, the wire-driven module oscillates offset, and the propellers run at the maximum offset position, providing an instantaneous large steering torque for the hybrid wire-driven continuous biomimetic tuna, realizing Imitation fish quick C-steer. When the hybrid wire-driven continuous bionic machine tuna completes the turning, the wire-driven module returns to the center position, the propellers rotate rapidly, provide acceleration thrust, make up for the speed loss after turning, and realize the quick start of the imitation fish.

4. In the hybrid line-driven continuous bionic machine tuna provided by the present disclosure, when the line-driven module oscillates, the propeller propeller rotates at a suitable position, and cooperates with the line-driven module to realize a combined swimming mode, which improves the swimming performance of the imitation fish. Drive efficiency.

5. In the hybrid line-driven continuous bionic robotic tuna provided by the present disclosure, when the online drive module is rigid in the neutral position, the hybrid line-driven continuous bionic robotic tuna can be realized by the forward rotation or reverse rotation of the propeller propeller. It has forward and backward movement during wind, wave and turbulence, and cooperates with the pectoral fin rotation module to realize the constant-depth cruise of the hybrid line-driven continuous bionic robotic tuna.

Description of drawings

The above and/or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a schematic diagram of the overall structure of a hybrid wire-driven continuous bionic robotic tuna according to an embodiment of the present disclosure;

2 is a partial exploded structural diagram of a pectoral fin rotation module, a wire drive module and a propeller propulsion module in a hybrid wire-driven continuous bionic robotic tuna fish according to an embodiment of the present disclosure.

Reference number:

1 head, 2 abdomen, 3 tail;

211 steering gear fixing frame, 212 steering gear, 213 steering wheel, 214 coupling, 215 output shaft, 216 bionic pectoral fins;

311 motor, 312 fixed frame, 313 flange, 314 motor output shaft, 315 spine, 316 transmission line;

3151 universal joint, 3152 stem vertebra, 3153 support rod;

321 thruster mount, 322 thruster drive plate, 323 ducted propeller.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the specific embodiments and the accompanying drawings.

Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure and should not be construed as a limitation of the present disclosure.

In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc., or The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the present disclosure, "plurality" means two or more, unless expressly and specifically defined otherwise.

In the description of the present disclosure, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

In the description of the present disclosure, unless otherwise expressly specified and defined, a first feature "on" or "under" a second feature may include direct contact between the first and second features, or may include the first and second features The two features are not in direct contact but through another feature between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the present disclosure. Furthermore, the present disclosure may repeat reference numerals and/or reference letters in different instances for the purpose of simplicity and clarity and not in itself indicative of a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

As shown in FIG. 1, FIG. 1 is a schematic diagram of the overall structure of a hybrid wire-driven continuous bionic robotic tuna according to an embodiment of the present disclosure. The hybrid wire-driven continuous bionic robotic tuna includes a head 1, an abdomen 2 and A tail 3, where:

A sensing device such as a camera and an infrared sensor is installed in the center of the head 1 . In an embodiment of the present disclosure, the head 1 is made of transparent resin, which can be 3D printed.

The abdomen 2 is a cavity, and a pectoral fin rotation module is installed inside, and the pectoral fin rotation module is used to realize the ascending, descending, and rolling motion of the hybrid line-driven continuous bionic robotic tuna in the vertical plane. The pectoral fin rotation module is installed in the middle position of the abdomen 2 . In an embodiment of the present disclosure, a lithium battery pack, a depth sensor, a controller, an attitude sensor, a USBL positioning module, and the like are also installed inside the abdomen 2 . The lithium battery pack is installed on the lower part of the abdomen 2, and is used to supply power for the hybrid line-driven continuous bionic robot tuna, the attitude sensor is used to obtain the motion attitude of the bionic robot tuna, and the depth sensor is installed on the abdomen. Below, used to obtain the dive depth of the bionic robotic tuna. The depth sensor, the attitude sensor and the controller are connected through a serial port. The USBL positioning module is installed above the abdomen and connected to the controller through a serial port.

A wire drive module and a propeller propulsion module are installed on the tail part 3, wherein: the wire drive module is used to realize the fish-like propulsion mode of the hybrid wire drive continuous bionic robot tuna; the propeller propulsion module is used for direct swimming Provides continuous thrust for the hybrid wire-driven continuous bionic robotic tuna when moving, and provides steering torque for the hybrid wire-driven continuous bionic robotic tuna when turning, so as to realize the hybrid wire-driven continuous bionic robotic tuna in the ocean Wind-resistant propulsion and highly maneuverable steering. In an embodiment of the present disclosure, the propeller fixing frame of the propeller propulsion module is fixed on the tail joint of the wire drive module in the last section, and the propeller drive plate of the propeller propulsion module is installed in the tail fin cabin. The ducted propeller of the propeller propulsion module is fixed outside the tail fin compartment, the central part of the tail fin.

The hybrid line-driven continuous bionic machine tuna provided by the present disclosure can realize the three-dimensional motion of bionic, flexible and curved, which is closer to the real swimming mode of the creature, and realizes efficient swimming. It can not only move in the two-dimensional plane, but also realize the Dive or float. In addition to realizing the swimming mode of imitating fish, it can also use the propeller propulsion mode to achieve three-dimensional motion performance with high stability and high maneuverability in complex water environments such as the ocean with wind, waves and currents. The structure is simple and easy to implement. The advantages of high bionics, high speed and high maneuverability.

In addition, in the hybrid wire-driven continuous bionic robotic tuna provided by the present disclosure, when the wire-driven module oscillates, the propeller propeller rotates at an appropriate position, and cooperates with the wire-driven module to realize a combined swimming mode, thereby improving the swimming performance of the imitation fish. Drive efficiency.

The hybrid wire-driven continuous bionic robotic tuna provided by the present disclosure will be described in detail below with reference to FIG. 1 and FIG. 2 .

As shown in FIG. 2 , FIG. 2 is a partial exploded structural diagram of a pectoral fin rotation module, a wire drive module and a propeller propulsion module in a hybrid wire-driven continuous bionic robotic tuna fish according to an embodiment of the present disclosure.

In an embodiment of the present disclosure, as shown in FIGS. 1 and 2 , the pectoral fin rotation module includes two steering gear fixing frames 211 , two steering gears 212 , two steering discs 213 , and two couplings 214 , two output shafts 215 and two bionic pectoral fins 216, wherein: two steering gear fixing frames 211, two steering gears 212, two steering wheels 213, two couplings 214, two output shafts 215 and two The bionic pectoral fins 216 are installed symmetrically with respect to the mid-longitudinal section of the hybrid wire-driven continuous bionic robotic tuna.

According to the embodiment of the present disclosure, the steering gear fixing frame 211 is fixed in the middle of the abdomen 2 ; the steering gear 212 is fixed on the steering gear fixing frame 211 , and the steering gear 212 is connected with the steering wheel 213 , the rudder plate 213 is connected with the coupling 214 , the coupling 214 is connected with the output shaft 215 , and the output shaft 215 is connected with the bionic pectoral fin 216 as a piercing piece. The bionic pectoral fins 216 are made of soft rubber and are made of 3D printing.

According to an embodiment of the present disclosure, the bionic pectoral fin 216 drives the steering gear 212 to deflect and drives the steering wheel 213 and the bionic pectoral fin 216 to rotate, thereby realizing the hybrid line-driven continuous bionic robotic tuna in the vertical plane. Ascent, dive and roll movements.

In an embodiment of the present disclosure, as shown in FIGS. 1 and 2 , the wire drive module includes a motor 311 , a fixing frame 312 , a flange 313 , a motor output shaft 314 , a spine 315 and a A transmission line 316, wherein: the fixing frame 312 is fixed at the back of the abdomen 2; the motor 311 is connected with the flange 313 through the motor output shaft 314; one end of the spine 315 is connected with the The fixing frame 312 is connected, and the other end extends into the tail portion 3 ;

According to the embodiment of the present disclosure, the rotation of the motor 311 drives the flange plate 313 to deflect, the deflection of the flange plate 313 drives the transmission wire 316 to move, and the movement of the transmission wire 316 drives the spine 315 to swing left and right, Further, a fish-like propulsion method of the hybrid wire-driven continuous bionic machine tuna is realized.

According to an embodiment of the present disclosure, the spine 315 includes a plurality of universal joints 3151 , a plurality of stem vertebrae 3152 and two support rods 3153 , wherein: a first universal joint of the plurality of universal joints 3151 Connected with the fixing frame 312, the other universal joints in the multiple universal joints 3151 are alternately connected with the multiple trunk vertebrae 3152; the two support rods 3153 pass through the multiple The universal joints 3151 and the plurality of stem vertebrae 3152 play the role of supporting and providing restoring force.

According to an embodiment of the present disclosure, the spine 315 is formed by machining; the two support rods 3153 are formed by elastic material; and the abdomen 2 is formed by processing polyoxymethylene.

In an embodiment of the present disclosure, as shown in FIGS. 1 and 2 , the propeller propulsion module includes a propeller fixing frame 321 , a propeller driving plate 322 and a ducted propeller 323 , wherein: the propeller fixing frame 321 is fixed on the last vertebra of the spine 315, the propeller drive plate 321 and the ducted propeller 323 are integrally installed on the propeller fixing frame 321 in the tail fin compartment, and the ducted propeller 321 is integrated. The propeller 323 is fixed outside the caudal fin cabin and is located in the central portion of the caudal fin.

The hybrid wire-driven continuous bionic machine tuna provided by the present disclosure is not only different from the traditional wire-driven propulsion method in mechanical structure, but also has a brand-new swimming strategy. It also has better speed and maneuverability. When the hybrid wire-driven continuous biomimetic robotic tuna turns, the wire-driven module oscillates in an offset manner, and the propeller propeller operates at the maximum offset position, providing an instantaneous large Steering torque to achieve fast C-shaped steering imitating fish. When the hybrid wire-driven continuous bionic machine tuna completes the turning, the wire-driven module returns to the center position, the propellers rotate rapidly, provide acceleration thrust, make up for the speed loss after turning, and realize the quick start of the imitation fish.

In one embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2 , the direct swimming motion of the hybrid wire-driven continuous bionic robotic tuna includes three types: bionic direct swimming, propeller propulsion direct swimming, and propeller wire-driven phase matching direct swimming. modes of motion, where:

When the hybrid line-driven continuous bionic machine tuna performs bionic direct swimming motion, the two steering gears of the pectoral fin rotation module are in a holding state, and the motor of the line-driven module generates a regular sinusoidal signal, which drives the flange plate. Rotation, and then realize the bionic straight swimming movement;

When the hybrid wire-driven continuous bionic machine tuna performs propeller-propulsion straight-line motion, the pectoral fin rotation module and the steering gear and motor of the wire-driven module are in an intermediate position, and the ducted propeller propulsion module The propeller rotates stably to generate forward thrust and realize the propeller propulsion and direct swimming motion;

When the hybrid line-driven continuous bionic machine tuna performs the propeller line-driven phase-coordinated straight-swimming motion, the cooperating swing of the propeller propulsion module and the line-drive module realizes the phase-coordinated swimming mode, which improves the swimming time of the imitation fish. propulsion efficiency.

In an embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2 , the steering motion of the hybrid wire-driven continuous bionic robot tuna includes two modes: fish-like steering and propeller-assisted C-shaped steering, wherein:

When the hybrid wire-driven continuous bionic machine tuna performs fish-like steering motion, the motor of the wire-driven module generates a biased and regular sinusoidal signal, which drives the flange to rotate back and forth with a bias, thereby driving the spine Offset swing to realize fish-like steering motion;

When the hybrid wire drives the continuous bionic machine tuna to perform the propeller-assisted C-steering motion, the motor of the wire drive module remains in a biased state, so that the spine remains in a biased state, and the propeller is activated to provide the hybrid wire. Drive the continuous bionic machine tuna to provide steering torque to achieve fast C-shaped steering.

In one embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2 , when the hybrid wire-driven continuous bionic robotic tuna performs diving or floating motion, the two steering gears of the pectoral fin rotation module are in the upward or downward position. Downward biased state; the motor of the line drive module generates a regular sinusoidal signal without bias, which drives the flange to rotate back and forth, thereby driving the spine to swing to achieve diving or floating movement; or the pectoral fin rotates The module and the steering gear and motor of the wire-driven module are in a maintained state, and the ducted propeller of the hybrid wire-driven continuous bionic machine tuna rotates at a uniform speed to achieve diving or floating motion.

In an embodiment of the present disclosure, as shown in FIGS. 1 and 2 , when the hybrid wire-driven continuous bionic robotic tuna is in a stiff state, the motor of the wire-driven module and the steering gear of the pectoral fin rotation module Both the power-on and the propeller propulsion module are in the hold state, and all the transmission lines of the line drive module are in the tension state.

In an embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2 , the hybrid wire-driven continuous bionic robotic tuna further has a reverse swimming mode, and the hybrid wire-driven continuous bionic robotic tuna has a wire drive module When stiff in the neutral position, the hybrid line-driven continuous bionic robotic tuna can move forward and backward when there are wind waves and turbulence by means of the forward rotation or reverse rotation of the propeller, and cooperate with the pectoral fin rotation module to achieve The hybrid line drives the continuous-type bionic machine for fixed-depth cruise of tuna.

In an embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2 , the wire drive module swings the tail to a proper direction and maintains a stable and rigid state, and the propeller propulsion module cooperates with the wire drive module for the purpose of The hybrid wire drives the continuous bionic robotic tuna to provide thrust, and when the hybrid wire drives the continuous bionic robotic tuna to turn the heading angle to a desired position, the wire drive module quickly returns the tail and swings rhythmically, Get a quick start.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc. A particular feature, structure, material, or characteristic described in this embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present disclosure in detail. It should be understood that the above-mentioned specific embodiments are only specific embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included within the protection scope of the present disclosure.

Claims (14)

1. A hybrid wire-driven continuous bionic robotic tuna, comprising a head (1), an abdomen (2) and a tail (3) connected in sequence, wherein: A pectoral fin rotation module is installed on the abdomen (2), and the pectoral fin rotation module is used to realize the ascending, descending, and rolling motion of the hybrid line-driven continuous bionic robotic tuna in the vertical plane; A wired drive module and a propeller propulsion module are installed on the tail (3), wherein: The wire drive module is used to realize the fish-like propulsion mode of the hybrid wire-driven continuous bionic robot tuna; The propeller propulsion module is used to provide continuous thrust for the hybrid wire-driven continuous bionic robotic tuna during straight swimming, and to provide steering torque to the hybrid wire-driven continuous bionic robotic tuna when turning, so as to realize the mixing The propulsion motion and high maneuverability steering motion of the line-driven continuous bionic machine tuna in the ocean against wind and waves; When the hybrid wire-driven continuous bionic robot tuna dives or floats, the two steering gears of the pectoral fin rotation module are in an upward or downward biased state; the motor of the wire-driven module generates no bias The regular sinusoidal signal of the fin drives the flange to rotate back and forth, thereby driving the spine to swing to achieve diving or floating; The ducted propeller of the hybrid wire-driven continuous bionic robot tuna rotates at a uniform speed to achieve diving or ascending movements. 2 . The hybrid wire-driven continuous bionic robotic tuna according to claim 1 , wherein the pectoral fin rotation module comprises two steering gear fixing frames ( 211 ), two steering gears ( 212 ), and two steering discs. 3 . (213), two couplings (214), two output shafts (215) and two bionic pectoral fins (216), wherein: Two steering gear brackets (211), two steering gears (212), two steering wheels (213), two couplings (214), two output shafts (215) and two bionic pectoral fins (216) , are symmetrically installed relative to the mid-longitudinal section of the hybrid line-driven continuous bionic robotic tuna. 3. The hybrid line-driven continuous bionic robot tuna according to claim 2, wherein the steering gear fixing frame (211) is fixed in the middle of the abdomen (2); the steering gear (212) is fixed In the steering gear fixing frame (211), the steering gear (212) is connected with the steering wheel (213), the steering wheel (213) is connected with the coupling (214), and the coupling The device (214) is connected with the output shaft (215), and the output shaft (215) is connected with the bionic pectoral fin (216) as a piercing member. 4. The hybrid line-driven continuous bionic robotic tuna according to claim 3, wherein the bionic pectoral fins (216) drive the steering gear (212) to deflect and drive the steering wheel (213) to follow the rotation of the bionic pectoral fins (216). The bionic pectoral fins (216) rotate together, thereby realizing the ascending, descending, and rolling motions of the hybrid line-driven continuous bionic robotic tuna in the vertical plane. 5. The hybrid wire-driven continuous bionic machine tuna according to claim 1, wherein the wire-driven module comprises a motor (311), a fixing frame (312), a flange (313), a a motor output shaft (314), a spine (315), and a drive wire (316), wherein: the fixing frame (312) is fixed behind the abdomen (2); The motor (311) is connected to the flange (313) through the motor output shaft (314); One end of the spine (315) is connected with the fixing frame (312), and the other end extends into the tail (3); One end of the transmission wire (316) is connected with the flange (313), and the other end is passed through the spine (315). 6 . The hybrid line-driven continuous bionic machine tuna according to claim 5 , wherein the motor ( 311 ) rotates to drive the flange ( 313 ) to deflect, and the flange ( 313 ) deflects to drive The transmission line (316) moves, and the movement of the transmission line (316) drives the spine (315) to swing left and right, thereby realizing a fish-like propulsion method in which the hybrid line drives the continuous bionic machine tuna. 7. The hybrid wire-driven continuous biomimetic robotic tuna according to claim 5, wherein the spine (315) comprises a plurality of universal joints (3151), a plurality of stem spines (3152) and two supports Rod (3153), where: A first universal joint of the plurality of universal joints (3151) is connected to the fixing frame (312), and other universal joints of the plurality of universal joints (3151) are connected to the plurality of universal joints (3151). The stem vertebrae (3152) are alternately arranged and connected; the two support rods (3153) are passed through the plurality of universal joints (3151) and the plurality of stem vertebrae (3152) to support and Provides resilience. 8. The hybrid wire-driven continuous bionic robotic tuna according to claim 7, wherein the spine (315) is machined; the two support rods (3153) are formed of elastic materials; the The abdomen (2) is made of polyoxymethylene. 9. The hybrid wire-driven continuous bionic machine tuna according to claim 5, wherein the propeller propulsion module comprises a propeller fixing frame (321), a propeller driving plate (322) and a ducted propeller (323) ),in: The thruster fixing frame (321) is fixed on the last vertebra of the spine (315), and the thruster drive plate (322) and the ducted propeller (323) are integrally installed in the tail fin cabin. On the propeller fixing frame (321), the ducted propeller (323) is fixed outside the caudal fin cabin and is located in the central part of the caudal fin. 10 . The hybrid wire-driven continuous bionic robotic tuna according to claim 1 , wherein the straight-swimming motion of the hybrid wire-driven continuous biomimetic robotic tuna includes bionic direct swimming, propeller-propulsion direct swimming, and propeller-line driving phase. 11 . With three motion modes of direct swimming, including: When the hybrid line-driven continuous bionic machine tuna performs bionic direct swimming motion, the two steering gears of the pectoral fin rotation module are in a holding state, and the motor of the line-driven module generates a regular sinusoidal signal, which drives the flange plate. Rotation, and then realize the bionic straight swimming movement; When the hybrid wire-driven continuous bionic machine tuna performs propeller-propulsion straight-line motion, the pectoral fin rotation module and the steering gear and motor of the wire-driven module are in an intermediate position, and the ducted propeller propulsion module The propeller rotates stably to generate forward thrust and realize the propeller propulsion and direct swimming motion; When the hybrid line-driven continuous bionic machine tuna performs the propeller line-driven phase-coordinated straight-swimming motion, the cooperating swing of the propeller propulsion module and the line-drive module realizes the phase-coordinated swimming mode, which improves the swimming time of the imitation fish. propulsion efficiency. 11. The hybrid wire-driven continuous biomimetic robotic tuna of claim 1, wherein the steering motion of the hybrid wire-driven continuous biomimetic robotic tuna includes two modes of imitation fish steering and propeller-assisted C-shaped steering, wherein : When the hybrid wire-driven continuous bionic machine tuna performs fish-like steering motion, the motor of the wire-driven module generates a biased and regular sinusoidal signal, which drives the flange to rotate back and forth with a bias, thereby driving the spine Offset swing to realize fish-like steering motion; When the hybrid wire drives the continuous bionic machine tuna to perform the propeller-assisted C-steering motion, the motor of the wire drive module remains in a biased state, so that the spine remains in a biased state, and the propeller is activated to provide the hybrid wire. Drive the continuous bionic machine tuna to provide steering torque to achieve fast C-shaped steering. 12 . The hybrid wire-driven continuous bionic robotic tuna according to claim 1 , wherein when the hybrid wire-driven continuous bionic robotic tuna is in a rigid state, the motor of the wire drive module and the pectoral fin rotate. 13 . The steering gear of the module and the propeller propulsion module are both in a hold state when powered on, and all the transmission lines of the wire drive module are in a tensioned state. 13 . The hybrid line-driven continuous biomimetic robotic tuna according to claim 1 , wherein the hybrid line-driven continuous bionic robotic tuna further has a backward swimming mode, and the hybrid line-driven continuous biomimetic robotic tuna 14 . When the wire-driven module is rigid in the neutral position, the hybrid wire-driven continuous bionic robotic tuna can move forward and backward with the help of the forward rotation or reverse rotation of the propeller propeller when there are wind waves and turbulence, and cooperate with the pectoral fins. The rotating module realizes the constant-depth cruise of the hybrid line-driven continuous bionic robot tuna. 14. The hybrid wire-driven continuous bionic robot tuna according to claim 1, wherein the wire-driven module swings the tail to a proper direction and maintains a stable and rigid state, the propeller propulsion module and the wire-driven module It cooperates to provide thrust for the hybrid wire-driven continuous bionic robotic tuna, and when the heading angle of the hybrid wire-driven continuous bionic robotic tuna turns to a desired position, the wire drive module quickly returns the tail, and has Oscillate rhythmically for a quick start.

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