CN206068108U - A kind of Scad sections class bionic machine fish - Google Patents

Abstract

The utility model provides a biomimetic robotic fish of the family Trevally, which belongs to the technical field of underwater robots, and includes a fish tail, a tail transmission mechanism, a tail steering gear, a battery, a controller, a pectoral fin steering gear, a switch and a fish body, and also includes a pressure sensor , a sealing cylinder, an electronic compass, a buoyancy adjustment cylinder, a linear potentiometer, a buoyancy motor, a camera and a pectoral fin, the fish tail is connected with the tail steering gear through a tail transmission mechanism, a sealing cylinder and a buoyancy adjustment cylinder are arranged in the fish body, and the sealing cylinder A battery, a controller and a pectoral fin steering gear are arranged inside, a buoyancy motor is arranged at the rear end of the buoyancy adjustment cylinder, a switch and a camera are arranged on the head of the fish body. The beneficial effect of the utility model is that the structure is reasonable, novel and ingenious, it can be equipped with various information collection modules for data collection, and at the same time it can adapt to the operation requirements in various environments, it has good maneuverability and propulsion efficiency, and the modular design is easy to manufacture, Installation and commissioning simplifies the design and processing of complex parts and reduces costs.

Description

A biomimetic robotic fish of the family Trevalidae

technical field

The utility model relates to the technical field of underwater robots, in particular to a bionic robotic fish of the family Trevalidae.

Background technique

The current era is an era of rapid development in the marine field. As people gradually accelerate the process of resource development, the marine field has become an important part of development. During the development process, underwater robots have gradually developed into the main tool for marine resource exploration. Commonly used underwater robots often use propellers for propulsion, but propellers have disadvantages such as high manufacturing cost, low propulsion efficiency, and high noise, which limit their application. Due to its high propulsion efficiency, low noise during swimming, flexible and agile movement, high swing frequency during swimming, and good turning performance, the overall performance of the bionic robot fish is better than propeller propulsion, so it has become a popular choice for people to explore marine resources and collect underwater information. The first choice for other activities.

Utility model content

The utility model provides a bionic robotic fish of the family Trevally, which has a reasonable structure, is novel and ingenious, can carry various information collection modules for data collection, and can adapt to operation requirements in various environments at the same time, and has good maneuverability and propulsion efficiency , The modular design is convenient for manufacturing, installation and debugging, simplifies the design and processing of complex parts, and reduces the cost.

In order to solve the above-mentioned technical problems, the embodiment of the present application provides a bionic robot fish of the family Trevally, including fish tail, tail transmission mechanism, tail steering gear, battery, controller, pectoral fin steering gear, switch and fish body, and pressure sensor, sealing cylinder, electronic compass, buoyancy adjustment cylinder, linear potentiometer, buoyancy motor, camera and pectoral fins. The shape of the robotic fish includes a fish tail and a fish body. The fish tail is connected to the tail steering gear through a tail transmission mechanism. The body is provided with a sealed cylinder and a buoyancy regulating cylinder, and batteries, a controller and a pectoral fin steering gear are arranged in the sealed cylinder, a buoyancy motor is provided at the rear end of the buoyancy regulating cylinder, and a switch and a camera are provided on the head of the fish body.

As a preferred embodiment of this solution, the fishtail has a crescent-shaped structure, a NACA0018 airfoil profile, and an aspect ratio of 5.0-7.0.

As a preferred embodiment of this solution, the tail transmission mechanism is composed of a driving gear, a driven gear and a crank rocker mechanism, and the swing range is -30°-+30°.

As a preferred embodiment of this solution, the pressure sensor is located in the cavity where the tail steering gear is located, and is connected to the external waters.

As a preferred embodiment of the program, the battery is a lithium-ion secondary battery, and the center of gravity of the battery is on the same vertical line as the center of gravity of the robotic fish.

As a preferred embodiment of the program, the controller is Arduino microcontroller.

As a preferred embodiment of this solution, there are two pectoral fin steering gears, which are respectively connected to two pectoral fins. The shape of the pectoral fins is elliptical, and the section is NACA0014 linear. An electronic compass is also provided in the pectoral fin cavity.

As a preferred embodiment of this solution, the number of the cameras is two, located at the eyes of the fish body, and a protective cover made of acrylic material is provided outside.

As a preferred embodiment of this solution, the buoyancy motor is a stepping motor, which is connected to the piston in the buoyancy adjustment cylinder through a lead screw.

As a preferred embodiment of this solution, the material of the fish body is rubber, and the structure is the streamlined shape of the fish of the family Carangidae. The material of the internal sealing cylinder is aluminum alloy, and sealing covers are provided at both ends.

One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

Reasonable structure, novel and ingenious, capable of carrying a variety of information acquisition modules for data acquisition, and at the same time able to adapt to the operational needs of various environments, with good maneuverability and propulsion efficiency, the modular design is easy to manufacture, install and debug, and simplifies the complexity The design and processing of parts reduces the cost.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the present utility model, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

Fig. 1 is the sectional structure schematic diagram of the embodiment of the present application;

FIG. 2 is a schematic top view of the embodiment of the present application.

In Fig. 1-Fig. 2: 1. fish tail, 2. tail transmission mechanism, 3. tail steering gear, 4. pressure sensor, 5. battery, 6. controller, 7. sealing cylinder, 8. sealing cover, 9. Electronic compass, 10, pectoral fin steering gear, 11, switch, 12, fish body, 13, buoyancy adjustment cylinder, 14, linear potentiometer, 15, buoyancy motor, 16, camera, 17, pectoral fin.

detailed description

The utility model provides a bionic robotic fish of the family Trevally, which has a reasonable structure, is novel and ingenious, can carry various information collection modules for data collection, and can adapt to operation requirements in various environments at the same time, and has good maneuverability and propulsion efficiency , The modular design is convenient for manufacturing, installation and debugging, simplifies the design and processing of complex parts, and reduces the cost.

In order to better understand the above-mentioned technical solution, the above-mentioned technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

As shown in Fig. 1-Fig. 2, a bionic robot fish of the family Trevally includes a fish tail 1, a tail transmission mechanism 2, a tail steering gear 3, a battery 5, a controller 6, a pectoral fin steering gear 10, a switch 11 and a fish body 12. It also includes a pressure sensor 4, a sealed cylinder 7, an electronic compass 9, a buoyancy adjustment cylinder 13, a linear potentiometer 14, a buoyancy motor 15, a camera 16 and a pectoral fin 17. The shape of the robotic fish includes a fish tail 1 and a fish body 12 Composition, the fish tail 1 is connected with the tail steering gear 3 through the tail transmission mechanism 2, the fish body 12 is provided with a sealing cylinder 7 and a buoyancy adjustment cylinder 13, and the sealing cylinder 7 is provided with a battery 5, a controller 6 and a pectoral fin steering gear 10, The rear end of the buoyancy adjustment cylinder 13 is provided with a buoyancy motor 15, and the fish body 12 heads are provided with a switch 11 and a camera 16.

Among them, in practical application, the fishtail 1 has a crescent-shaped structure, a NACA0018 airfoil profile, and an aspect ratio of 5.0-7.0. The swimming performance of fish with a large aspect ratio is smaller than that of the fish. The swimming speed of fish is fast, and the caudal fin of fish with large aspect ratio is generally crescent-shaped or forked, and the caudal peduncle is narrow and long. During the movement, the caudal fin swings, while the front two-thirds of the body only slightly swings. Or fluctuate, maintain great rigidity, the mechanical efficiency of the tail fin propulsion method of these fishes is very high, mainly typical of the trevally.

Among them, in practical application, the tail transmission mechanism 2 is composed of a driving gear, a driven gear and a crank rocker mechanism, the swing range is -30°-+30°, the structure design is reasonable, and it can generate higher propulsion efficiency.

Wherein, in practical application, the pressure sensor 4 is located in the cavity where the tail steering gear 3 is located, and is connected with the external waters, so as to monitor the diving depth of the robotic fish.

Wherein, in practical application, the battery 5 is a lithium-ion secondary battery, the center of gravity of the battery 5 is located on the same vertical line as the center of gravity of the robotic fish, maintains a good stable posture, has sensitive response speed and efficient power academic performance.

Wherein, in actual application, described controller 6 selects Arduino single-chip microcomputer for use, and Arduino is an open source hardware project platform, and this platform includes a circuit board with simple I/O function and a set of program development environment software, can It is used to develop interactive products, and can also develop peripheral devices connected to PCs, which can communicate with software on PCs at runtime.

Wherein, in practical application, the quantity of described pectoral fin steering gear 10 is two, is connected with two pectoral fins 17 respectively, and the shape of pectoral fin 17 is ellipse, and section is NACA0014 linear shape, and electronic compass 9 is also provided in pectoral fin cavity When the pectoral fin 17 moves, it is driven by the pectoral fin steering gear 10 to rotate, so that the robot fish body can rise or dive, and the accuracy of the rotation position and angle is determined by the micro switch, and the driving steering gear is determined according to the area of the pectoral fin. Torque and power, the NACA line shape of the cross section can well reduce the fluid resistance generated during the movement, and the pectoral fin 17 acts as an elevator to control the fish's ascension, with sensitive response speed and efficient dynamic performance.

Wherein, in practical application, the quantity of described camera 16 is two, is positioned at the eye of fish body, is provided with the protective cover of acrylic material outside, and camera module mainly is made up of camera 16 and acrylic transparent cover, and integral sealing shell , wire inlet seal and other parts, its working principle is to transmit the image captured by the camera 16 to the operator in real time, and the operator makes decision-making analysis according to the image content. The ring is sealed, and the wires carried by the camera 16 are connected to the overall circuit through the motor wire inlet seal.

Wherein, in practical applications, the buoyancy motor 15 is a stepping motor, which is connected with the piston in the buoyancy adjustment cylinder 13 through a lead screw, and adjusts the heavy buoyancy balance of the robotic fish by controlling the suction and drainage of the buoyancy adjustment cylinder 13. When the robot fish body is still at a certain position, the water storage tank method can be used to move up and down in the vertical direction. At the same time, when the robot fish body cannot move in an emergency, the water storage tank method can be used as an emergency rescue device. The gravity of the fish body is less than the buoyancy, so that the robot fish body floats up for emergency rescue.

Wherein, in actual application, the material of the fish body 12 is rubber, and the structure is the streamlined shape of the fish of the family Carangidae. The fish body 12 utilizes rubber material to cover the internal module to form a streamlined fish body shape. Because the fish body shape is complex, it is processed by mold injection molding. The fish body is divided into left and right parts along the central axis of the head and tail. The sealing cylinder 7 and the buoyancy adjustment cylinder 13 are bundled together with a plastic hoop, and the two shells are supported and positioned by a support positioning piece to prevent the two shells from touching and scratching; the left and right rubber fish bodies 12 are clad and buckled during installation It is combined and tightened with bolts on the outside to make the left and right fish bodies seamless. Finally, the sealant is used to seal the gap to make the whole seamless and smooth, reducing additional resistance during movement.

The above are only preferred embodiments of the present utility model, and do not limit the utility model in any form. Although the utility model has been disclosed as above with preferred embodiments, it is not intended to limit the utility model. Any Those who are familiar with this profession, without departing from the scope of the technical solution of the present utility model, can use the technical content disclosed above to make some changes or modify equivalent embodiments with equivalent changes, but all without departing from the technical solution of the utility model Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the utility model still belong to the scope of the technical solution of the utility model.

Claims (10)

1. a kind of Scad sections class bionic machine fish, including fish tail (1), tail transfer mechanism (2), afterbody steering wheel (3), battery (5), control Device (6) processed, pectoral fin steering wheel (10), switch (11) and fish body (12), it is characterised in that also including pressure transducer (4), sealing drum (7), electronic compass (9), buoyancy adjustment cylinder (13), linear potentiometers (14), buoyancy motor (15), photographic head (16) and pectoral fin (17), described machine fish profile includes fish tail (1) and fish body (12) composition, and fish tail (1) is by afterbody drive mechanism (2) and tail Portion's steering wheel (3) connects, and is provided with sealing drum (7) and buoyancy adjustment cylinder (13) in fish body (12), sealing drum (7) is interior be provided with battery (5), Controller (6) and pectoral fin steering wheel (10), the rear end of buoyancy adjustment cylinder (13) are provided with buoyancy motor (15), and fish body (12) head is provided with Switch (11) and photographic head (16).

2. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that the structure of described fish tail (1) For crescent, section is NACA0018 aerofoil profiles, and aspect ratio is 5.0-7.0.

3. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described afterbody drive mechanism (2) it is made up of driving gear, driven gear and crank rocker mechanism, amplitude of fluctuation is -30 ° -+30 °.

4. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described pressure transducer (4) In the cavity of afterbody steering wheel (3) place, it is connected logical with extraneous waters.

5. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described battery (5) for lithium from Sub- secondary cell, battery (5) position of centre of gravity are located on same vertical curve with the center of gravity of machine fish.

6. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described controller (6) is selected Arduino single-chip microcomputers.

7. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described pectoral fin steering wheel (10) Quantity is two, be connected with two pectoral fins (17) respectively, and pectoral fin (17) is shaped as ellipse, and section is linear for NACA0014, Pectoral fin intracavity is additionally provided with electronic compass (9).

8. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that the number of described photographic head (16) Measure for two, positioned at the eye of fish body, outside is provided with the protective cover of acrylic material.

9. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that described buoyancy motor (15) is Motor, is connected with the piston in buoyancy adjustment cylinder (13) by leading screw.

10. a kind of Scad sections class bionic machine fish according to claim 1, it is characterised in that the material of described fish body (12) Matter is rubber, and structure is the profile streamline of Scad sections class Fish, and the material of inner sealing cylinder (7) is aluminium alloy, and two ends are provided with sealing Lid (8).