CN212556730U - A bionic fish with adjustable center of mass - Google Patents
A bionic fish with adjustable center of mass Download PDFInfo
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- CN212556730U CN212556730U CN202020984978.7U CN202020984978U CN212556730U CN 212556730 U CN212556730 U CN 212556730U CN 202020984978 U CN202020984978 U CN 202020984978U CN 212556730 U CN212556730 U CN 212556730U
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 82
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- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 230000009467 reduction Effects 0.000 claims description 17
- 238000007789 sealing Methods 0.000 claims description 4
- 210000000006 pectoral fin Anatomy 0.000 abstract description 7
- 230000009189 diving Effects 0.000 abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 238000007667 floating Methods 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 241000282414 Homo sapiens Species 0.000 description 5
- 238000009360 aquaculture Methods 0.000 description 2
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Abstract
本实用新型提供一种质心可调的仿生鱼，包括壳体和鱼尾，所述壳体内设有质心调整机构；所述质心调整机构包括配重块、调整轴和动力部，所述调整轴沿所述壳体长度方向设置，所述配重块可沿所述调整轴滑动，所述动力部用于驱动所述配重块滑动；还包括驱动装置，所述驱动装置用于驱动所述仿生鱼运动。本实用新型提供以电池为配重块，在鱼体内活动，改变鱼体质心位置，调整鱼体姿态，使鱼体在上浮和下潜时更灵活。壳体两侧设有螺旋桨，配合鱼尾摆动，使鱼体在水中自如运动。螺旋桨后设有胸鳍，胸鳍通过转动，在螺旋桨射流的作用下产生向上或向下的力。
The utility model provides a bionic fish with adjustable center of mass, comprising a shell and a fish tail, wherein a center of mass adjustment mechanism is arranged in the shell; the center of mass adjustment mechanism comprises a counterweight, an adjustment shaft and a power part, and the adjustment shaft The counterweight block is arranged along the length direction of the casing, the counterweight block can slide along the adjustment shaft, and the power part is used for driving the counterweight block to slide; and a driving device is also included, and the driving device is used for driving the said counterweight block to slide. Bionic fish movement. The utility model provides a battery as a counterweight block, which moves in the fish body, changes the position of the center of mass of the fish body, adjusts the posture of the fish body, and makes the fish body more flexible when floating and diving. There are propellers on both sides of the shell, which cooperate with the swing of the fish tail to make the fish move freely in the water. There is a pectoral fin behind the propeller, and the pectoral fin rotates to generate upward or downward force under the action of the propeller jet.
Description
Technical Field
The utility model relates to a bionical fish field especially relates to a bionical fish of centre of mass adjustable.
Background
In recent years, with the development of science and technology in China, diving operation is gradually increased. The sea beach rescue, the salvage of sunken ships and objects, the aquaculture, especially the exploration of submarine mineral, chemical, biological and energy resources, also need to be performed with diving operation. The diving operation of human needs professional equipment for assistance and professional training for divers. However, even if the underwater operation brings certain danger to the divers, the factors of high pressure, low temperature, buoyancy, resistance and the like under water all affect the normal physiological functions of the human body. If the effect of the underwater adverse factors exceeds the limit of human adaptation, corresponding functional disorder of the human body can be caused, and diving diseases can occur. In addition, the underwater operation time of human beings is very short, and the special condition requirements such as aquaculture, underwater rescue and the like which have extremely high time requirements cannot be met.
Experts and relevant organizations at home and abroad manufacture bionic fishes through observation and research on the fishes to finish underwater operation. The fish body is internally provided with a steering engine to drive the fish body to move in water. However, the bionic fish needs additional power to drive when floating up and submerging, so that the structure is complex, the consumption is high, and the endurance is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a bionic fish with adjustable mass center, which solves the problems.
A bionic fish with an adjustable mass center comprises a shell and a fish tail, wherein a mass center adjusting mechanism is arranged in the shell;
the mass center adjusting mechanism comprises a balancing weight, an adjusting shaft and a power part, the adjusting shaft is arranged along the length direction of the shell, the balancing weight can slide along the adjusting shaft, and the power part is used for driving the balancing weight to slide;
the bionic fish motion device further comprises a driving device, and the driving device is used for driving the bionic fish to move.
Further, an adjusting cabin is arranged in the shell, the adjusting shaft is fixed in the adjusting cabin, a rack parallel to the adjusting shaft is further fixed in the adjusting cabin, the power part is fixed on the balancing weight and is a motor, a gear meshed with the rack is arranged on an output shaft of the motor, and the adjusting cabin is sealed by a sealing cock.
Furthermore, a control cabin is arranged in the adjusting cabin, a control part is arranged in the control cabin, and the control part is used for controlling the bionic fish to move.
Further, drive arrangement is for locating swing mechanism between casing and the fish tail, swing mechanism includes swing steering wheel, first reduction gear, second reduction gear and oscillating axle, the swing steering wheel with the oscillating axle is all fixed casing one end, first reduction gear with the output shaft of swing steering wheel is connected, second reduction gear is fixed the one end of fish tail, the fish tail passes through the bearing and installs on the oscillating axle, the swing steering wheel passes through reduction gear group drive the fish tail winds the oscillating axle swings.
Further, the driving device is a propeller arranged on two sides of the shell, and the propeller is arranged at one end of the shell in the advancing direction.
Furthermore, be equipped with pectoral fin on the casing, pectoral fin passes through the axis of rotation and installs the casing both sides, be equipped with the commentaries on classics fin motor in the casing, the output shaft of commentaries on classics fin motor is equipped with first commentaries on classics fin gear, be fixed with the second commentaries on classics fin gear in the axis of rotation, first commentaries on classics fin gear and the meshing of second commentaries on classics fin gear.
Further, a detachable mechanical arm is mounted on the shell.
Further, a camera is arranged at one end of the shell in the advancing direction, and the camera is mounted on the shell through a holder.
Furthermore, a lighting device is arranged in the middle of the propeller.
Further, the balancing weight is a battery.
The utility model provides a pair of bionic fish of germplasm center adjustable to the battery is the balancing weight, at the internal activity of fish, changes fish body barycenter position, adjusts fish body gesture, makes the fish body more nimble when come-up and dive. The two sides of the shell are provided with propellers which are matched with the swinging of the fish tail to ensure that the fish body can move freely in water. The pectoral fins are arranged behind the propeller and generate upward or downward force under the action of jet flow of the propeller through rotation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a structure of a bionic fish with adjustable center of mass in an embodiment of the present invention;
FIG. 2 is a top view of the bionic fish with adjustable center of mass in the embodiment of the present invention;
FIG. 3 is a cross-sectional view of a bionic fish with adjustable center of mass in the embodiment of the present invention;
fig. 4 is a sectional view of the center of mass adjusting mechanism in the embodiment of the present invention;
fig. 5 is a schematic structural view of a mass center adjusting mechanism in the embodiment of the present invention;
fig. 6 is a schematic view of the pectoral fin rotation structure in the embodiment of the present invention;
fig. 7 is a schematic structural view of a swing mechanism in an embodiment of the present invention;
FIG. 8 is a front view of a bionic fish with adjustable center of mass in the embodiment of the present invention;
FIG. 9 is a diagram illustrating the rotation of the pectoral fins to generate downward force on the fish body according to the embodiment of the present invention;
FIG. 10 is a diagram illustrating an embodiment of the present invention when the pectoral fin rotates to generate an upward force on the fish body;
in the figure: 1. a housing; 2. fish tail; 3. a center of mass adjustment mechanism; 31. a balancing weight; 32. an adjustment shaft; 33. a power section; 34. adjusting the cabin; 35. a rack; 36. a gear; 37. sealing the cock; 38. a control cabin; 39. a control component; 4. a swing mechanism; 41. swinging the steering engine; 42. a first reduction gear; 43. a second reduction gear; 44. a swing shaft; 5. a propeller; 51. an illumination device; 6. a pectoral fin; 61. a rotating shaft; 62. a fin-rotating motor; 63. a fin rotating gear; 7. an interface; 8. a camera; 81. a holder;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1-3, a bionic fish with adjustable centroid, which comprises a shell 1 and a fish tail 2, wherein a centroid adjusting mechanism 3 is arranged in the shell 1;
the mass center adjusting mechanism 3 comprises a balancing weight 31, an adjusting shaft 32 and a power part 33, wherein the adjusting shaft 32 is arranged along the length direction of the shell 1, the balancing weight 31 can slide along the adjusting shaft 32, and the power part 33 is used for driving the balancing weight 31 to slide;
the bionic fish motion device further comprises a driving device, and the driving device is used for driving the bionic fish to move. The driving device in the embodiment adopts a swing mechanism and a propeller to drive in a mixed mode, and can also adopt one of the swing mechanism and the propeller to drive separately.
As shown in fig. 4 and 5, an adjusting chamber 34 is provided in the housing 1, the adjusting shaft 32 is fixed in the adjusting chamber 34, a rack 35 parallel to the adjusting shaft is further fixed in the adjusting chamber 34, a power portion 33 is fixed on the counterweight block 31, the power portion 33 is a motor, a gear 36 meshed with the rack 35 is provided on an output shaft of the motor, and the adjusting chamber 34 is sealed by a sealing cock 37.
In this embodiment, the weight member 31 is a battery. The motor drives the gear 36 to rotate, so that the counterweight block 31 moves along the direction of the rack 35, namely the direction of the adjusting shaft 32, and the mass center position of the bionic fish changes along with the movement of the counterweight block 31. The balancing weight 31 moves forwards, the head part of the bionic fish sinks, the tail part of the bionic fish tilts upwards, and the bionic fish is in a sinking posture; the balancing weight 31 moves backwards, the head part of the bionic fish upwarps, the tail part of the bionic fish sinks, and the bionic fish is in a floating posture. Through the adjustment to the mass center of the bionic fish, the bionic fish does not need to be additionally provided with power to drive the bionic fish to float and sink, and the bionic fish is more flexible in water.
A control cabin 38 is arranged in the adjusting cabin 34, a control part 39 is arranged in the control cabin 38, and the control part 39 is used for controlling the movement of the bionic fish. The control part 39 comprises a communication module, a control module and the like, can be connected with a remote controller, and a user sends instructions through the remote controller and controls the motion of the bionic fish. The control of the motion of the bionic fish by means of remote control is prior art and is not described here in detail.
As shown in fig. 7, the swing mechanism 4 is disposed between the housing 1 and the fishtail 2, the swing mechanism 4 includes a swing steering gear 41, a first reduction gear 42, a second reduction gear 43 and a swing shaft 44, the swing steering gear 41 and the swing shaft 43 are both fixed at one end of the housing 1, the first reduction gear 42 is connected with an output shaft of the swing steering gear 41, the second reduction gear 43 is fixed at one end of the fishtail 2, the fishtail 2 is mounted on the swing shaft 44 through a bearing, and the swing steering gear 41 drives the fishtail 2 to swing around the swing shaft 44 through the reduction gear set 42.
As shown in fig. 8, the propellers 5 are provided on both sides of the casing 1, and the propellers 5 are provided at one end in the traveling direction of the casing 1.
In the embodiment, the propeller 5 and the swinging fish tail 2 drive the bionic fish to move together, so that the bionic fish is more abundant in power and more flexible in movement.
As shown in fig. 6, the chest fin 6 is arranged on the housing 1, the chest fin 6 is mounted on two sides of the housing 1 through the rotating shaft 61, the fin rotating motor 62 is arranged in the housing 1, the first fin rotating gear 63 is mounted on the output shaft of the fin rotating motor 62, the second fin rotating gear 64 is fixed on the rotating shaft 61, and the first fin rotating gear 63 is meshed with the second fin rotating gear 64.
As shown in fig. 9, the fin-rotating motor drives the pectoral fins to rotate through the first fin-rotating gear 63 and the second fin-rotating gear 64, so that the upper surfaces of the pectoral fins are deflected to the propellers 5, and the jet flow of the propellers impacts the upper surfaces of the pectoral fins, so that the bionic fish generates a downward force; as shown in fig. 10, the fin-rotating motor drives the pectoral fins to rotate through the first fin-rotating gear 63 and the second fin-rotating gear 64, so that the lower surfaces of the pectoral fins are deflected to the propellers 5, and the jet flow of the propellers impacts the lower surfaces of the pectoral fins, so that the bionic fish generates an upward force;
the bionic fish can ascend and descend more flexibly and freely through the rotation of the pectoral fins.
A mechanical arm 7 is detachably mounted on the housing 1. A mechanical interface is arranged on the shell 1 and used for being connected with a mechanical arm 7, and meanwhile, a metal contact is arranged in the interface and used for electrically connecting the mechanical arm with the fish body and controlling the movement of the mechanical arm. In addition to the robot arm, a sonar, a digger blade, a fish pusher, a sampler, etc. may be installed and controlled.
One end of the advancing direction of the shell 1 is provided with a camera 8, and the camera 8 is arranged on the shell 1 through a cloud platform 81. The middle of the propeller 5 is provided with a lighting device 51. The environment can be illuminated, and observation is facilitated.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020984978.7U CN212556730U (en) | 2020-06-02 | 2020-06-02 | A bionic fish with adjustable center of mass |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020984978.7U CN212556730U (en) | 2020-06-02 | 2020-06-02 | A bionic fish with adjustable center of mass |
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| Publication Number | Publication Date |
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| CN212556730U true CN212556730U (en) | 2021-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020984978.7U Expired - Fee Related CN212556730U (en) | 2020-06-02 | 2020-06-02 | A bionic fish with adjustable center of mass |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113320664A (en) * | 2021-06-30 | 2021-08-31 | 贵州大学明德学院 | Underwater object taking monitoring bionic fish based on dual-control system |
| CN113772066A (en) * | 2021-10-09 | 2021-12-10 | 北京大学 | A hybrid wire-driven continuous bionic robotic tuna |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
| CN115535195A (en) * | 2022-09-27 | 2022-12-30 | 山东大学 | An underwater robot based on bionic swing and propeller hybrid drive and its working method |
| CN115565440A (en) * | 2022-09-15 | 2023-01-03 | 武汉理工大学 | Bionic mantis applied to teaching or exhibition |
-
2020
- 2020-06-02 CN CN202020984978.7U patent/CN212556730U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113320664A (en) * | 2021-06-30 | 2021-08-31 | 贵州大学明德学院 | Underwater object taking monitoring bionic fish based on dual-control system |
| CN113772066A (en) * | 2021-10-09 | 2021-12-10 | 北京大学 | A hybrid wire-driven continuous bionic robotic tuna |
| CN113772066B (en) * | 2021-10-09 | 2022-07-12 | 北京大学 | Mixed line drive continuous bionic machine tuna |
| CN114954857A (en) * | 2022-06-23 | 2022-08-30 | 哈尔滨理工大学 | Underwater automatic robot with bionic structure |
| CN115565440A (en) * | 2022-09-15 | 2023-01-03 | 武汉理工大学 | Bionic mantis applied to teaching or exhibition |
| CN115535195A (en) * | 2022-09-27 | 2022-12-30 | 山东大学 | An underwater robot based on bionic swing and propeller hybrid drive and its working method |
| CN115535195B (en) * | 2022-09-27 | 2024-08-20 | 山东大学 | Underwater robot based on hybrid driving of bionic swing and propeller and working method thereof |
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Granted publication date: 20210219 |