CN116812115B - Reconfigurable bionic robot fish and combined bionic fish - Google Patents
Reconfigurable bionic robot fish and combined bionic fishInfo
- Publication number
- CN116812115B CN116812115B CN202311041880.2A CN202311041880A CN116812115B CN 116812115 B CN116812115 B CN 116812115B CN 202311041880 A CN202311041880 A CN 202311041880A CN 116812115 B CN116812115 B CN 116812115B
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- permanent magnet
- reconfigurable
- fish
- sucker
- tail
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Abstract
The invention discloses a reconfigurable bionic robot fish and a combined bionic fish, wherein the reconfigurable bionic robot fish comprises a main body mechanism and a tail mechanism, the main body mechanism comprises a sealing shell and an electric control permanent magnet device which are connected with each other, the electric control permanent magnet device comprises a magnetizing state and a demagnetizing state, and the tail mechanism is used for driving the sealing shell to move. The tail mechanism can drive the main body mechanism to realize at least one degree of freedom movement, when the electric control permanent magnet device is in a magnetizing state, the electric control permanent magnet device can be connected with other reconfigurable bionic robot fish or other driving components, so that the spliced structure can realize flexible movement in multiple movement directions, when facing a narrow use environment, the electric control permanent magnet device can be controlled to be in a demagnetizing state, and components magnetically connected with the electric control permanent magnet device are removed, so that the reconfigurable bionic robot fish can be restored to the original size, and the application requirements of the narrow environment can be met.
Description
Technical Field
The invention relates to the technical field of underwater bionic robots, in particular to a reconfigurable bionic robot fish and a combined bionic fish.
Background
At present, the existing bionic robot fish mainly relies on complex mechanical structure design to realize underwater multi-mode movement, namely the existing bionic robot fish needs to realize multi-degree-of-movement flexible movement and can be realized by means of cooperation of various driving components, but the complex mechanism design increases the overall size of the robot fish on one hand, so that the robot fish is difficult to execute operation tasks in narrow scenes, and increases the maintenance and multiplexing costs of the robot fish on the other hand.
In view of the above, there is a need to provide a new reconfigurable biomimetic robotic fish and combinatorial biomimetic fish that solves or at least alleviates the above-mentioned technical drawbacks.
Disclosure of Invention
The invention mainly aims to provide a reconfigurable bionic robot fish and a combined bionic fish, and aims to solve the technical problems that the conventional robot fish is difficult to consider movement flexibility and meets the requirement of narrow use scenes.
In order to achieve the above object, the present invention provides a reconfigurable biomimetic robotic fish comprising:
The main body mechanism comprises a sealed shell and an electric control permanent magnet device which are connected with each other, and the electric control permanent magnet device comprises a magnetizing state and a demagnetizing state;
and the tail mechanism is used for driving the sealing shell to move.
In an embodiment, the tail mechanism comprises a tail and a waist, the tail comprises a tail fin driving assembly and a tail fin, the tail fin driving assembly is connected with the tail fin to drive the tail fin to swing, and the tail fin driving assembly is connected with the sealing shell through the waist.
In one embodiment, the waist comprises a waist driving assembly and a waist connecting piece which are connected with each other, wherein the waist driving assembly is used for driving the waist connecting piece to rotate, and the waist connecting piece is connected with the tail fin driving assembly.
In an embodiment, the rotation axis of the waist connector is perpendicular to the rotation axis of the tail fin.
In an embodiment, the number of the electrically controlled permanent magnet devices is multiple, the sealing shell is provided with a plurality of mounting surfaces, and each mounting surface is provided with the electrically controlled permanent magnet device.
In an embodiment, the electric control permanent magnet device comprises a sucker circuit board, a sucker shell, a permanent magnet assembly, a sucker coil and a sealing ring, wherein the permanent magnet assembly is connected with the sucker shell, the sucker coil is electrically connected with the sucker circuit board, the sucker coil is wound on the periphery of the permanent magnet assembly, the sucker shell is mounted on the mounting surface, a first through hole for exposing the outer side surface of the sucker shell is formed in the mounting surface, the sucker circuit board, the sucker coil and the sealing ring are all located in the sealing shell, the sealing ring is connected with the sucker shell and used for preventing water from entering the sealing shell, and the sucker circuit board can control the permanent magnet assembly to switch between a magnetizing state and a demagnetizing state through the sucker coil.
In an embodiment, the reconfigurable biomimetic robotic fish further comprises a visual identification mechanism, wherein the visual identification mechanism is arranged in the sealed housing and connected with the sucker housing, and the sucker housing is provided with a second through hole for exposing a lens of the visual identification mechanism.
In an embodiment, the number of the permanent magnet assemblies is multiple, and the sucker coils and the permanent magnet assemblies are consistent in number and are arranged in a one-to-one correspondence manner, so that the sucker circuit board can independently control any permanent magnet assembly to switch between the magnetizing state and the demagnetizing state.
In an embodiment, the reconfigurable biomimetic robotic fish comprises an image acquisition mechanism, the image acquisition mechanism comprises an image acquisition component and a waterproof shield, the image acquisition component comprises an image acquisition part and an image acquisition main control unit electrically connected with the image acquisition part, the image acquisition part is positioned in the waterproof shield, and the sealing shell is provided with an observation hole for a part of the waterproof shield to extend out.
In addition, the invention also provides a combined bionic fish which comprises at least two reconfigurable bionic robot fish, and any two reconfigurable bionic robot fish can be connected or separated through the electric control permanent magnet device.
According to the technical scheme, the tail mechanism can drive the main body mechanism to move in at least one degree of freedom, namely the tail mechanism can at least drive the main body mechanism to move along a certain direction, and when the electric control permanent magnet device is in a magnetizing state, the electric control permanent magnet device can be connected with other reconfigurable bionic robot fish or other driving parts, so that the spliced structure can flexibly move in multiple moving directions, when facing a narrow use environment, the electric control permanent magnet device can be controlled to be in a demagnetizing state, so that the parts connected with the electric control permanent magnet device through magnetism are removed, and the reconfigurable bionic robot fish can be restored to the original size, and the use requirement of the narrow use environment is met.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described below, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained without the inventive effort by a person skilled in the art, in a structure which is shown in accordance with these drawings.
FIG. 1 is a schematic diagram of a reconfigurable biomimetic robotic fish according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a partial structural exploded view of a reconfigurable biomimetic robotic fish according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a first embodiment of a combined bionic fish according to the invention;
FIG. 4 is a schematic diagram of a second embodiment of a combined bionic fish according to the invention;
fig. 5 is a schematic structural diagram of a third embodiment of the combined bionic fish according to the invention.
Reference numerals illustrate:
the achievement of the object, functional features and advantages of the present invention will be further described with reference to the drawings in connection with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as front, rear, left, right) in the embodiment of the present invention are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a certain specific posture (as shown in fig. 5), and if the specific posture is changed, the directional indicators are changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" can include at least one such feature, either explicitly or implicitly.
Moreover, the technical solutions of the embodiments of the present invention can be combined with each other, but it is necessary to be based on the fact that those skilled in the art can realize the technical solutions, and when the technical solutions are contradictory or cannot be realized, the technical solutions should be considered that the combination of the technical solutions does not exist, and the combination is not within the scope of protection required by the present invention.
The invention provides a reconfigurable biomimetic robotic fish 1, in an embodiment, as shown in fig. 1, the reconfigurable biomimetic robotic fish 1 comprises a main body mechanism 11 and a tail mechanism 12, wherein the main body mechanism 11 comprises a sealing shell 111 and an electric control permanent magnet device 112 which are connected with each other, the electric control permanent magnet device 112 comprises a magnetizing state and a demagnetizing state, and the tail mechanism 12 is used for driving the sealing shell 111 to move.
The tail mechanism 12 can drive the main body mechanism 11 to move in at least one degree of freedom, namely, the tail mechanism 12 can drive the main body mechanism 11 to move along a certain direction, and because the main body mechanism 11 comprises a sealed shell 111 and an electric control permanent magnet device 112, the electric control permanent magnet device 112 can be switched between a magnetizing state and a demagnetizing state, when the electric control permanent magnet device 112 is in the magnetizing state, the electric control permanent magnet device 112 can be connected with other reconfigurable bionic robot fish 1 or other driving parts, so that the spliced structure can realize flexible movement in multiple moving directions, and when facing a narrow use environment, the electric control permanent magnet device 112 can be controlled to be in the demagnetizing state, so that parts connected with the electric control permanent magnet device 112 through magnetism are removed, and the reconfigurable bionic robot fish 1 can be restored to the original size, so as to adapt to the use requirements of the narrow use environment. It should be noted that the electric control permanent magnet device 112 may use an existing electric permanent magnet. The inside of the sealed case 111 is a sealed space, and external water cannot enter the sealed space.
As shown in fig. 1 and 2, the tail mechanism 12 includes a tail 121 and a waist 122, the tail 121 includes a tail fin driving assembly 1211 and a tail fin 1212, the tail fin driving assembly 1211 is connected with the tail fin 1212 to drive the tail fin 1212 to swing, and the tail fin driving assembly 1211 is connected with the seal housing 111 through the waist 122. The tail fin driving component 1211 drives the tail fin 1212 to swing so as to simulate the tail fin of the fish, and the seal housing 111 is driven to move along a certain direction by the swing of the tail fin 1212. The tail fin driving assembly 1211 can also change the moving direction of the sealing housing 111 by changing the swing angle of the tail fin 1212 or the position of the tail fin 1212 when the tail fin 1212 stops swinging, thereby improving the flexibility of the reconfigurable biomimetic robotic fish 1. It should be noted that, the tail fin driving assembly 1211 drives the tail fin 1212 to swing to generate a main propulsion force for the travel of the reconfigurable biomimetic robotic fish 1, and the tail fin driving assembly 1211 is used for driving the tail fin 1212 to flap in the yaw direction.
According to an embodiment of the present invention, the tail fin driving assembly 1211 includes a tail steering engine 12111, a tail steering wheel 12112 and a tail handle 12113, wherein the tail steering engine 12111 is connected to the waist 122, an output shaft of the tail steering engine 12111 is connected to the tail steering wheel 12112, so that the tail steering engine 12111 can drive the tail steering wheel 12112 to rotate, the tail handle 12113 is L-shaped, one end of the tail handle 12113 is connected to the tail steering wheel 12112, and the other end of the tail handle 12113 is connected to the tail fin 1212, so that the tail steering engine 12111 can drive the tail fin 1212 to swing through the tail steering wheel 12112 and the tail handle 12113.
According to another embodiment of the present invention, the tail fin 1212 is a carbon fiber tail fin, wherein the carbon fiber tail fin has a certain passive flexibility, so that the movement efficiency of the reconfigurable biomimetic robotic fish 1 can be effectively improved.
Further, the waist 122 includes a waist drive assembly 1221 and a waist link 1222 connected to each other, the waist drive assembly 1221 for driving the waist link 1222 in rotation, the waist link 1222 connected to the skeg drive assembly 1211. The waist driving component 1221 can drive the tail fin 1212 to rotate through the waist connecting piece 1222 and the tail fin driving component 1211, so that the flapping mode of the tail fin 1212 is changed, the flapping mode of the tail fin 1212 is divided into a horizontal swinging mode and a vertical flapping mode, wherein the horizontal swinging mode is mainly used for realizing waist-tail type propulsion of the imitated fishes so as to finish maneuvering in a horizontal plane, and the vertical flapping mode is mainly used for realizing waist-tail type propulsion of the imitated whales so as to finish maneuvering in a vertical plane, so that the flexibility of the reconfigurable bionic robot fish 1 is obviously improved, and the reconfigurable bionic robot fish 1 can realize simple three-dimensional movement.
According to an embodiment of the present invention, the lumbar driving assembly 1221 includes a lumbar steering engine 12211 and a lumbar rudder disk 12212, the lumbar steering engine 12211 is connected to the sealed housing 111, an output shaft of the lumbar steering engine 12211 is connected to the lumbar rudder disk 12212, and the lumbar rudder disk 12212 is connected to the lumbar connector 1222, so that the lumbar steering engine 12211 can rotate the lumbar connector 1222 through the lumbar rudder disk 12212, and thus, the tail fin 1212 is rotated through the lumbar connector 1222.
And, the rotation axis of the waist connector 1222 is perpendicular to the rotation axis of the tail fin 1212. The actions of the waist 122 and the tail 121 are closer to the fish tail, and the moving direction of the reconfigurable bionic robot fish 1 is easier to adjust by controlling the waist steering engine 12211 and the tail steering engine 12111. The extension line of the rotation axis of the waist connector 1222 is coplanar with and perpendicular to the extension line of the rotation axis of the tail fin 1212.
The number of electrically controlled permanent magnet units 112 is plural, and the seal housing 111 is provided with a plurality of mounting surfaces 1111, and each mounting surface 1111 is mounted with the electrically controlled permanent magnet unit 112. By arranging a plurality of electrically controlled permanent magnet units 112, each electrically controlled permanent magnet unit 112 can be magnetically connected with the electrically controlled permanent magnet units 112 of other reconfigurable bionic robot fish 1, and each reconfigurable bionic robot fish 1 is provided with a tail fin 1212 capable of swinging and a rotatable waist connector 1222, when only one reconfigurable bionic robot fish 1 is provided, the function of simple three-dimensional movement can be realized through the swinging of the tail fin 1212 and the rotation of the waist connector 1222, therefore, the reconfigured assembly can be completed by virtue of the electrically controlled permanent magnet units 112, more complex three-dimensional space movement can be completed, and more flexible posture adjustment can be realized.
The electronically controlled permanent magnet device 112 comprises a sucker circuit board 1121, a sucker housing 1122, a permanent magnet assembly 1123, a sucker coil 1124 and a sealing ring 1125, wherein the permanent magnet assembly 1123 is connected with the sucker housing 1122, the sucker coil 1124 is electrically connected with the sucker circuit board 1121, the sucker coil 1124 is wound around the periphery of the permanent magnet assembly 1123, the sucker housing 1122 is mounted on a mounting surface 1111, a first through hole 1112 for exposing the outer side surface of the sucker housing 1122 is formed in the mounting surface 1111, the sucker circuit board 1121, the sucker coil 1124 and the sealing ring 1125 are all located in the sealing housing 111, the sealing ring 1125 is connected with the sucker housing 1122 and used for preventing water from entering the sealing housing 111, and the sucker circuit board 1121 can control the permanent magnet assembly 1123 to switch between a magnetizing state and a demagnetizing state through the sucker coil 1124. Wherein, the two ends of the sucking disc coil 1124 are connected to the output end of the sucking disc circuit board 1121, the permanent magnet assembly 1123 includes two kinds of first permanent magnets and second permanent magnets (such as NdFeB magnets and AlNiCo magnets) with magnetic fluxes approaching and having obvious force difference of the corrective magnetic remanence, and the sucking disc coil 1124 is wound around the peripheries of the first permanent magnets and the second permanent magnets to wrap the two kinds of permanent magnets. The chuck circuit board 1121 may output a transient high current, causing a transient electromagnetic field of a fixed strength to be generated across the chuck coil 1124, thereby changing the polarity of the relatively lower one of the first and second permanent magnets that is being corrected magnetic remanence. When the polarities of the first permanent magnet and the second permanent magnet are opposite, the first permanent magnet and the second permanent magnet form an internal closed magnetic field, and the first permanent magnet and the second permanent magnet are not magnetic to the outside, namely the demagnetizing state. It should be noted that, the magnetism of the permanent magnet assembly 1123 only needs to be adjusted by pulse current, so that no power consumption is basically generated after the plurality of reconfigurable biomimetic robotic fishes 1 are assembled, and the cruising ability of the reconfigurable biomimetic robotic fishes 1 is effectively improved.
The reconfigurable biomimetic robotic fish 1 further includes a visual identification mechanism 13, where the visual identification mechanism 13 is disposed in the sealed housing 111 and connected to a suction cup housing 1122, and the suction cup housing 1122 is provided with a second through hole 11221 for exposing the lens of the visual identification mechanism 13. By adding the visual recognition mechanism 13, the reconfigurable bionic robot fish 1 can realize autonomous docking with other reconfigurable bionic robot fish 1 based on the visual recognition of the visual recognition mechanism 13.
As shown in fig. 1 and 2, the number of the permanent magnet assemblies 1123 is plural, and the sucking disc coils 1124 are arranged in correspondence with the number of the permanent magnet assemblies 1123 one by one, so that the sucking disc circuit board 1121 can individually control any one of the permanent magnet assemblies 1123 to switch between the magnetizing state and the demagnetizing state. By adding a plurality of permanent magnet assemblies 1123, and the state of each permanent magnet assembly 1123 can be independently controlled by the suction cup circuit board 1121, the magnetic strength of the electronically controlled permanent magnet assembly 1123 can be controlled by controlling the number of permanent magnet assemblies 1123 in the magnetized state.
Further, the reconfigurable biomimetic robotic fish 1 includes an image acquisition mechanism 14, the image acquisition mechanism 14 includes an image acquisition component 141 and a waterproof shield 142, the image acquisition component 141 includes an image acquisition member 1411 and an image acquisition main control unit 1412 electrically connected with the image acquisition member 1411, the image acquisition member 1411 is located in the waterproof shield 142, and the sealed housing 111 is provided with an observation hole for extending out a part of the body of the waterproof shield 142. The image pickup 1411 is protected by providing the waterproof cover 142 so that the image pickup 1411 can obtain an image under water. It should be noted that, the image capturing element 1411 may be a fisheye camera, and the image capturing main control unit 1412 is further electrically connected to the visual identification mechanism 13, so that the image capturing main control unit 1412 can further control the visual identification mechanism 13 to perform image capturing.
According to an embodiment of the present invention, the reconfigurable biomimetic robotic fish 1 further includes a micro-host 15 located in the sealed housing 111, where the micro-host 15 is communicatively connected to the image acquisition main control unit 1412, and the micro-host 15 is mainly used for visual information processing and other complex operations.
The reconfigurable biomimetic robotic fish 1 further comprises a battery pack 16, the battery pack 16 comprises a plurality of battery packs 16, the number of the batteries can be 6, the types of the batteries can be 18650 type batteries, and 12.6V power supply voltage is provided, wherein the battery packs 16 are positioned in the sealed shell 111 and are arranged close to the bottom of the sealed shell 111, so that the gravity center of the reconfigurable biomimetic robotic fish 1 is reduced, and the posture of the reconfigurable biomimetic robotic fish 1 is more stable.
The reconfigurable biomimetic robotic fish 1 further comprises two communication units 17 located in the sealed housing 111, the two communication units 17 are symmetrically arranged on two sides of the battery pack 16, the communication units 17 are used for wireless communication between the reconfigurable biomimetic robotic fish 1, and the communication units 17 can also be used for wireless communication between the reconfigurable biomimetic robotic fish 1 and an onshore control terminal.
The reconfigurable biomimetic robotic fish 1 further comprises a voltage stabilizing plate 18 and a main control board 19, wherein the voltage stabilizing plate 18 and the main control board 19 are arranged in the sealed shell 111, and the voltage stabilizing plate 18 is used for generating voltages required by the micro-host 15 and the main control board 19.
The reconfigurable biomimetic robotic fish 1 further comprises an inertial measurement unit 20 located within the sealed housing 111, the inertial measurement unit 20 being configured to measure the pose information of the reconfigurable biomimetic robotic fish 1. It should be noted that, the micro-host 15, the communication unit 17, and the inertial measurement unit 20 are all connected to the main control board 19 through USART interfaces.
The reconfigurable biomimetic robotic fish 1 further comprises a depth gauge 21 positioned in the sealed housing 111, wherein the depth gauge 21 is used for measuring the water depth of the current environment where the reconfigurable biomimetic robotic fish 1 is positioned, and is connected with the main control board 19 through an IIC (Inter-INTEGRATED CIRCUIT, integrated circuit bus) protocol. The main control board 19 uses an STM32 embedded processor as a core, runs an RT-Thread operating system and is responsible for information processing of each sensor and bottom layer motion control.
The reconfigurable biomimetic robotic fish 1 further comprises a button 22, wherein the switch button 22 is exposed outside the sealed housing 111, and the switch button 22 is used for controlling the reconfigurable biomimetic robotic fish 1 to be opened or closed.
The reconfigurable biomimetic robotic fish 1 further comprises an aviation plug 23 positioned in the sealed shell 111, wherein the aviation plug 23 is electrically connected with the battery pack 16, so that the battery pack 16 can be charged through the aviation plug 23, and the aviation plug 23 is in communication connection with the main control board 19, so that the main control board 19 can download and debug programs through the aviation plug 23.
In addition, the invention also provides a combined bionic fish 2, the combined bionic fish 2 comprises at least two reconfigurable bionic robot fish 1, and any two reconfigurable bionic robot fish 1 can be connected or separated through the electric control permanent magnet device 112. The combined bionic fish 2 adopts all the technical schemes of all the embodiments, so that the combined bionic fish 2 has at least all the beneficial effects brought by the technical schemes of the embodiments, and is not described in detail herein.
The combined bionic fish 2 has multiple combination forms, for example:
Embodiment one:
As shown in fig. 3, the front ends of two reconfigurable biomimetic robotic fishes 1 are attracted together by an electronically controlled permanent magnet assembly 1123, and this combination is used to perform four degrees of freedom MPF (MEDIAN AND/or PAIRED FIN, middle fin/pair fin mode) flapping.
Embodiment two:
as shown in fig. 4, the sides of two reconfigurable biomimetic robotic fishes 1 are adsorbed together through an electric control permanent magnet assembly 1123, that is, the left side of one reconfigurable biomimetic robotic fish 1 and the right side of another reconfigurable biomimetic fish are adsorbed together through an electric control permanent magnet assembly 1123, so that double-tail flapping can be realized.
Embodiment III:
As shown in fig. 5, two opposite reconfigurable biomimetic robotic fishes 1 are newly added on the basis of the second embodiment, wherein the right side of one reconfigurable biomimetic robotic fish 1 is connected with the front end of the reconfigurable biomimetic robotic fish 1 positioned on the left side in the second embodiment, and the left side of the other reconfigurable biomimetic robotic fish 1 is connected with the front end of the reconfigurable biomimetic robotic fish 1 positioned on the right side in the second embodiment, so that the combination mode can complete three-dimensional space movement and realize flexible posture adjustment.
The foregoing is only the preferred embodiments of the present invention, and not the limitation of the scope of the present invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (5)
1. The combined bionic fish is characterized by comprising at least two reconfigurable bionic robot fish bodies, wherein any two reconfigurable bionic robot fish bodies can be connected or separated through an electric control permanent magnet device, and the reconfigurable bionic robot fish bodies comprise:
the main body mechanism comprises a sealed shell and the electric control permanent magnet device which are connected with each other, and the electric control permanent magnet device comprises a magnetizing state and a demagnetizing state;
the tail mechanism is used for driving the sealed shell to move;
The tail mechanism comprises a tail and a waist, the tail comprises a tail fin driving assembly and a tail fin, the tail fin driving assembly is connected with the tail fin to drive the tail fin to swing, and the tail fin driving assembly is connected with the sealing shell through the waist;
The waist comprises a waist driving component and a waist connecting piece which are connected with each other, the waist driving component is used for driving the waist connecting piece to rotate, and the waist connecting piece is connected with the tail fin driving component;
The rotating shaft of the waist connecting piece is perpendicular to the rotating shaft of the tail fin;
the number of the electric control permanent magnet devices is multiple, the sealing shell is provided with a plurality of mounting surfaces, and each mounting surface is provided with the electric control permanent magnet device;
The combined bionic fish has multiple combination forms, and comprises:
the front ends of the two reconfigurable bionic robot fish are adsorbed together through the electric control permanent magnet device, and the combination mode is used for performing four-degree-of-freedom middle fin and/or flapping fin modes;
the two sides of the reconfigurable biomimetic robotic fish are adsorbed together through the electric control permanent magnet device, namely the left side of one reconfigurable biomimetic robotic fish and the right side of the other reconfigurable biomimetic robotic fish are adsorbed together through the electric control permanent magnet device, so as to realize double-tail flapping;
And on the basis of the second mode, two opposite reconfigurable biomimetic robotic fishes are newly added, wherein the right side of one reconfigurable biomimetic robotic fish is connected with the front end of the reconfigurable biomimetic robotic fish positioned on the left side in the second mode, and the left side of the other reconfigurable biomimetic robotic fish is connected with the front end of the reconfigurable biomimetic robotic fish positioned on the right side in the second mode.
2. The combination bionic fish according to claim 1, wherein the electric control permanent magnet device comprises a sucker circuit board, a sucker shell, a permanent magnet assembly, a sucker coil and a sealing ring, wherein the permanent magnet assembly is connected with the sucker shell, the sucker coil is electrically connected with the sucker circuit board, the sucker coil is wound around the periphery of the permanent magnet assembly, the sucker shell is mounted on the mounting surface, a first through hole for exposing the outer side surface of the sucker shell is formed in the mounting surface, the sucker circuit board, the sucker coil and the sealing ring are all located in the sealing shell, the sealing ring is connected with the sucker shell and used for preventing water from entering the sealing shell, and the sucker circuit board can control the permanent magnet assembly to switch between the magnetizing state and the demagnetizing state through the sucker coil.
3. The combination biomimetic fish of claim 2, wherein the reconfigurable biomimetic robotic fish further comprises a visual identification mechanism, the visual identification mechanism is arranged in the sealed housing and connected with a sucker housing, and the sucker housing is provided with a second through hole for exposing a lens of the visual identification mechanism.
4. The combined bionic fish according to claim 2, wherein the number of the permanent magnet assemblies is plural, and the sucker coils are arranged in a one-to-one correspondence with the number of the permanent magnet assemblies, so that the sucker circuit board can individually control any one of the permanent magnet assemblies to switch between the magnetizing state and the demagnetizing state.
5. The combination bionic fish according to claim 1, wherein the reconfigurable bionic robot fish comprises an image acquisition mechanism, the image acquisition mechanism comprises an image acquisition assembly and a waterproof shield, the image acquisition assembly comprises an image acquisition part and an image acquisition main control unit electrically connected with the image acquisition part, the image acquisition part is positioned in the waterproof shield, and the sealing shell is provided with an observation hole for a part of the waterproof shield to extend out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202311041880.2A CN116812115B (en) | 2023-08-17 | Reconfigurable bionic robot fish and combined bionic fish |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311041880.2A CN116812115B (en) | 2023-08-17 | Reconfigurable bionic robot fish and combined bionic fish |
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| CN116812115A CN116812115A (en) | 2023-09-29 |
| CN116812115B true CN116812115B (en) | 2026-02-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162300A (en) * | 2021-11-25 | 2022-03-11 | 华南理工大学 | Detachable underwater robot |
| CN114429730A (en) * | 2021-12-09 | 2022-05-03 | 沈阳航天新光集团有限公司 | Intelligent bionic robot fish for science popularization education of teenagers and children |
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162300A (en) * | 2021-11-25 | 2022-03-11 | 华南理工大学 | Detachable underwater robot |
| CN114429730A (en) * | 2021-12-09 | 2022-05-03 | 沈阳航天新光集团有限公司 | Intelligent bionic robot fish for science popularization education of teenagers and children |
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