CN2628239Y - Bionic robot fish - Google Patents

Abstract

The utility model relates to bionic robot fish swimming in the water. Between the body and the tail, a flexible connection is arranged there; a sink-float mechanism, a wobble mechanism, an information perception mechanism, a controller and a power supply are arranged in the frame; the sink-float mechanism is positioned in the head of the fish; the sink-float is connected with the driving lead screw; the upper part of a pressed compact is sleeved with the lead screw; the lower part of the pressed compact press on the side of a water bag; the cavity of the water bag is connected with the outside by a catheter; with regard to the wobble mechanism, a wobble motor is connected with the crank and rocker mechanism of the driving four-bar linkage while the crank and rocker mechanism is connected with the extension bar and the external part of the extension is connected with the fins; two devices are arranged in the wobble mechanism symmetrically; the wobble mechanism comprise a wobble motor and a driving derived bar(the two are connected with each other); the external connection driver of the derived bar is fixed on the wobble connecting piece of the tail; the range sensor in the information perception mechanism is arrange on the front part of the head of the fish; the vision sensor is arranged on place where the eyes locate; the attitude sensor and the pressure sensor are arranged inside the body of the fish; the controller and the power supply are arranged inside the body of the fish, too.

Description

bionic robot fish

1. Technical field

The utility model relates to a bionic robot, in particular to a fish-shaped robot capable of swimming in water.

2. Background technology

Existing all kinds of so-called "robot fish" (such as the novel remote control multi-joint bionic robot fish described in CN2476316Y), although they are relatively close to actual fish in appearance, when they move in water, their motion characteristics are due to mechanism There is a big gap between the influence of factors such as , movement coordination, and actual fish, and they cannot autonomously realize functions such as obstacle avoidance and real-time ups and downs during swimming.

3. Contents of the invention

1. Technical issues

The purpose of the utility model is to provide a bionic robot fish that can completely imitate fish swimming in water.

2. Technical solution

The bionic robot fish of the present utility model is composed of a shell, a control part and a driving part, and is characterized in that the bionic robot fish is composed of a fish-shaped shell and a frame, a sinking mechanism, a swing mechanism, a swing mechanism, an information sensing mechanism, a controller and a power supply. Composition; the fish body and fish tail are movable connections; the frame is sealed in the fish-shaped shell, and the sinking and floating mechanism, swinging mechanism, information sensing mechanism, controller and power supply are all installed in the frame; the sinking and floating mechanism is placed in the fish head, and the The fish head ups and downs motor is connected to the driving screw, the upper part of the briquetting block is sleeved on the driving screw, and the lower part of the briquetting block is pressed beside the water bag (34), and the inner chamber of the water bag is communicated with the outside world through a conduit; the swing mechanism is connected and driven by the swing motor The four-link crank rocker mechanism, the crank rocker mechanism is connected to drive the extension rod, and the outer end of the extension rod is connected to the fish fin, and this part is symmetrically arranged on the left and right; the swing mechanism is composed of a swing motor connected to drive the output rod, and the output The outer end of the rod is connected to drive the swing connector fixed on the fish tail; the distance sensor in the information sensing mechanism is set at the front of the fish head, the visual sensor is set at the fish eye position at the front of the fish head, and the attitude sensor and pressure sensor are set at the front of the fish head. Inside the fish body; the controller and power supply are located inside the fish body.

The fish tail part can be one joint, two joints or more joints, and the joints are connected with the rear part of the fish body through a double rocker transmission mechanism. The fish head sinking motor in the sinking mechanism is connected with the motor drive circuit in the controller through the feedback potentiometer; the swing motor in the swing mechanism is connected with the motor drive circuit in the controller through the feedback potentiometer. Described visual sensor is installed on fish head both sides, is binocular miniature CCD camera. The distance sensor installed at the foremost part of the fish head is an ultrasonic sensor. The attitude sensor is a high-precision gyroscope installed in the detection chamber of the fish body. The pressure sensor is a fluid pressure sensor, which is also installed in the detection chamber of the fish body. The sealing structure of the fish body can be composed of a head-body sealing cavity and a tail sealing cavity. The tail sealing cavity can be one section, two sections or more sections.

The controller includes a microprocessor, a signal collector, a signal converter and a motor drive circuit, the corresponding sensors are respectively connected to the signal collector, the signal collector is connected to the microprocessor, and the microprocessor is connected to the motor through the signal converter. The drive circuit is connected, and the motor drive circuit is connected with the corresponding motor; the power supply is a self-contained battery, which is respectively connected with the corresponding sensor, motor and controller.

The fish body of the utility model swims through the swing of the fish tail and tail fin as power. This movement is driven by the rotation of the swing motor to drive the movement of the double rocker transmission mechanism to finally realize the swing of the fish tail and tail fin, so that the fish body can swim freely. . The balance of the fish body is mainly through the rotation of the swing motor to drive the movement of the four-link crank rocker mechanism to finally realize the back and forth rotation of the fish fins (that is, swing). The swaying of the fish body. The ups and downs of the fish body are realized by driving the lead screw driven by the ups and downs motor to drive the pressing block to change the volume of the water bag, thereby changing the weight of the fish head. A series of sensors such as vision, distance, attitude, and pressure placed on the fish body can sense the environment and obtain environmental information in real time; through the microprocessor-based controller installed on the fish body and the corresponding control software, the above Partial coordination works, simulating the three-dimensional swimming of fish underwater, and autonomously realizing functions such as obstacle avoidance and real-time ups and downs during swimming.

3. Beneficial effects

The bionic robot fish of the utility model can completely imitate the swimming of fish in water, and can fully autonomously imitate the parade, maneuvering movement, obstacle avoidance, real-time automatic ups and downs and other functions of the set specific fish, thus realizing the bionic robot fish Intelligent swimming, and has the unique drag reduction characteristics, wake characteristics and propulsion efficiency of this fish species in terms of movement characteristics.

4. Description of drawings

Figure 1 is a schematic diagram of the overall structure of the utility model bionic robot fish.

Fig. 2 is a top view of the overall structure of the bionic robotic fish of the present invention.

Fig. 3 is a structural schematic diagram of the ups and downs mechanism 3 of the bionic robotic fish of the present invention.

Fig. 4 is a structural schematic diagram of the body 11 of the bionic robotic fish of the present invention.

Fig. 5 is a front view structural diagram of the swing mechanism 4 of the bionic robotic fish of the present invention in Fig. 4 .

Fig. 6 is a structural schematic diagram of the controller 7 of the bionic robotic fish of the present invention.

Fig. 7 is a schematic diagram of the motor drive circuit of the utility model bionic robotic fish (only the drive circuit of one of the motors is shown in the figure, and the rest are all the same).

Fig. 8 is a flow chart of the control software of the utility model bionic robotic fish.

In the above figure, there are fish-shaped shell 1, fish body 11, detection chamber 10, fish tail 12; frame 2; ups and downs mechanism 3, fish head ups and downs motor 31, driving screw 32, briquetting block 33, water bag 34, conduit 35, Potentiometer 36; swing mechanism 4, swing motor 41, crank rocker mechanism 42, extension rod 43, fish fin 44; swing mechanism 5, swing motor 51, lead-out rod 52, swing connector 53, potentiometer 54; information perception Mechanism 6, distance sensor 61, vision sensor 62, attitude sensor 63, pressure sensor 64; controller 7; power supply 8.

5. Specific implementation

The utility model is described in detail below in conjunction with example:

As can be seen from the figure, the overall structure of the bionic robotic fish of the present invention is mainly composed of four parts:

The fish head is mainly equipped with the pressing block 33 in the sinking mechanism 3, the driving screw 32, the water bag 34 and some head sensors, specifically the distance sensor 61 and the visual sensor 62;

The fish body is equipped with controller 7 and power supply, the crank rocker mechanism 42 of fish fin swing motor 41 and four-link, fish head ups and downs motor 31, fish tail swing motor 51 and deriving rod 52 double rocker transmission mechanism, and some fish Body sensors, specifically pressure sensor 64 and attitude sensor 63, are all installed in this part, and the sensors are installed in the detection chamber.

The main part is mainly in the shape of a rectangular parallelepiped, and the shell 1 of light material is used to cover the main part, and the waterproof glue is used to connect with the main part of the rectangular shape to realize the streamlined shape of the fish, and the required shape can also be designed by oneself. The tail fin can be directly made into a suitable shape with lightweight materials.

In Fig. 3, the ups and downs mechanism 3 arranged at the fish head position is made up of a fish head up and down motor 31, a leading screw 32, a briquetting block 33, a water bag 34, and a potentiometer 36. The water bag 34 is made of a variable-volume member, such as a leather bag. During work, the motor (the motors in this embodiment all adopt the Canon EN22-H12G58 type 12-volt DC servo motor, the same below) obtains a rotation command, and the briquetting block is driven by the lead screw 32 33 extrude or loosen the leather bag, the inner cavity of the skin bag communicates with the outside world through a hard conduit 35 with an inner diameter greater than 1.5mm (the present embodiment adopts a stainless steel conduit with an inner diameter of 2mm), and water can freely enter and exit, so that the weight of the whole bionic robotic fish ( Especially the weight of the head) has changed. Simultaneously, the number of circles that leading screw 32 rotates is connected with counter mechanism by motor output shaft, and counter mechanism is the potentiometer 36 of gear or toothed belt transmission (this embodiment is toothed belt transmission), is connected with controller again by its signal line 7 in the motor drive circuit is connected. The number of turns of the lead screw 32 is fed back to the motor drive circuit by the potentiometer 36, and the real-time position of the pressing block 33 is recorded to realize precise control. In order to better realize the sinking and floating function, the maximum volume of the water bag of the sinking and floating mechanism should be between one-tenth and one-eighth of the drainage volume of the whole fish body, which is one-tenth in this embodiment.

The main reason why the sinking and floating mechanism is placed on the head is to make the center of gravity of the fish body move back and forth. For the fish body, the resultant point of buoyancy force is fixed. After the counterweight, the fish body can be kept in a balanced position. When the water tank becomes larger, the head will become heavier, not only the whole fish body will become heavier, but the center of gravity of the fish body will It will also move forward, and the swing of the fish tail can accelerate the sinking of the fish. Instead, fish float up.

The fish body is the main body of the fish, and most of the structures are placed on the fish body part, as shown in Figure 4, except for the ups and downs motor 31, the fish tail swing motor 51 and the corresponding feedback devices (such as the counter mechanism mentioned above), It also includes a fin drive structure, a power supply 8, a controller 7, and a fish body state detection chamber 10, etc. The structure and functions of each main part are introduced respectively below.

1. Fin structure, sealing and its function

As shown in FIG. 5 , the specific shape of the fish fin 16 can be made according to user's needs. Two fins 44 are respectively controlled by left and right swing motors 41, and the crank in the crank rocker mechanism 42 composed of four connecting rods swings back and forth, driving the fin extension rod 43 fixedly connected with the crank to rotate back and forth, and the swing motor 41 The rotation of fish fin 44 just becomes (the present embodiment is 37 degree) and rotates back and forth in certain angle range. Because fish fin 44 does not provide the power that fish body advances, so load is less, the structure that protruding rod adopts O type ring, sealing ring pressing sheet to form is sealed. The main effect of fish fin 44 is to control the balance of fish body. Utilize its own swing and the force of the water flow on the fins when it is moving forward to control the swing of the fish body, so that the fish-shaped simulation robot can swim in water with better balance and more postures.

2. Fish tail, caudal fin structure and its sealing

The swing of the fishtail is realized by the fishtail swing motor 51 through the double rocker transmission mechanism (the motor 51 is feedback controlled by the potentiometer 54). The flapping of the tail, like the flapping of the caudal fin, is an important moving part for powering the fish. Because it is moving underwater, sealing is an important issue in design. The traditional method is to wrap the fish as a whole with a skin, and use a multi-section skeleton to prop up the skin in the middle. However, it is usually difficult to meet the requirements of the elasticity, toughness, airtightness and compression deformation resistance of the skin at the same time, so there are problems in material selection. Many problems, difficult to achieve. The utility model transmits the rotation of the swing motor 51 sealed in the box to the rotation of the fish tail in the non-sealed area through the translational movement of the lead-out rod 52 through the double-rocker mechanism, and the translational lead-out rod uses a stretchable rubber It is enough to make a fixed connection and seal on the rod and the box body. Since there is no need to ensure the shape and there is no relative movement at the connection, it is easy to realize. When the sealing structure is installed, a soft gasket can also be placed on the joint surface, and a sealant can be applied to achieve a good sealing effect.

According to the set fish shape or actual needs, the tail part of the fish can be one section, two sections or more sections, and the joints are connected with the next unit of the fish body through a double rocker transmission mechanism. That is to say, the double rocker transmission mechanism is connected with the swing connector fixed on the next unit of the fish body.

The swing of the tail fin is driven by the tail fin swing motor 51 through the lead-out rod 52 in the double rocker transmission mechanism (the swing motor 51 is controlled by the feedback of the potentiometer 54), and other structures are exactly the same as those in the previous section. More details. The tail fin is usually a section, and its swing link 53 is directly fixed on the tail fin.

3. Power supply and counterweight

The battery of this embodiment adopts a large-capacity Li battery, and multiple cells are connected in series to reach 24v to supply power to each circuit. The battery is not only the source of energy for the robot, but also a relatively heavy part. Therefore, the center of gravity of the fish can be adjusted by changing the position of the battery so that the center of gravity of the whole fish is in the middle of the fish when it is balanced.

4. Sensors

In this embodiment, a distance sensor 61 and a visual sensor 62 are installed at the fish head to perceive the surrounding environment of the fish and avoid obstacles in time; the pressure sensor 64 and the attitude sensor 63 are installed in the detection chamber 10 of the fish body so that It is suitable for sealing (the detection chamber can be set at any position of the fish body, as long as it is convenient for installation and wiring), so as to sense the water depth of the fish body and its own posture. (The distance sensor in this embodiment adopts Echomax XRS-5 Transducer ultrasonic sensor, the visual sensor adopts binocular micro-CCD camera, the specific model is KAI-0330D image sensor, the pressure sensor adopts YX-PS-500 pressure sensor, and the attitude sensor adopts IMU 400CA precision Gyro)

5. Controller system

The whole control system takes the controller as the core. Described controller comprises microprocessor, electrical signal collector, electrical signal converter, image signal collector and motor drive circuit (the microprocessor that present embodiment adopts is PC104 industrial computer; PC104 self contains image signal acquisition module , so there is no need to set up a separate image signal collector; the electrical signal collector and electrical signal converter use the DMM-16-AT type A/D-D/A card, which integrates the two together). The corresponding sensor signal lines are respectively connected to the signal collector, and the signal collector is connected to the microprocessor (the visual sensor is directly connected to the image acquisition port of the PC104 industrial computer, and the pressure, attitude and distance sensors are connected to the DMM- The input port of the 16-AT type A/D-D/A card is connected, and the A/D-D/A card is directly inserted into the PCI slot of the microprocessor), and the microprocessor is connected with the output port of the A/D-D/A card. The motor drive circuit is connected, and the motor drive circuit is connected with the corresponding motor; corresponding processing software (software flow chart in its embodiment as shown in Figure 8) is housed in the microprocessor of the controller, by collecting, analyzing, processing each sensor The acquired information is fused with multi-sensor information to complete the understanding of the environment, its own position, and attitude, so as to determine the movement mode, and finally realize the drive of various functional motors. In this embodiment, the motor is driven by voltage in combination with the actual situation of mechanical system drive. First, the controller gives each motor drive circuit a voltage representing the required rotation position of the motor. The motor drive circuit compares the position voltage with the voltage fed back by the feedback device. If the two are inconsistent, the motor is driven to rotate. until it reaches the position required by the control. The power supply is a self-contained battery, which is connected to the corresponding sensors, motors and controllers. The power lines of the sensor, the microprocessor and the motor drive circuit are all connected with the battery through the flexible pipe, and the motor power line is connected with the motor drive circuit through the flexible pipe.

Through the coordinated work of the above various parts, the utility model can fully autonomously imitate the parade, maneuvering movement, obstacle avoidance, real-time automatic ups and downs and other functions of the set specific fish, thereby realizing the intelligent swimming of the bionic robot fish. And in terms of movement characteristics, it has the unique drag reduction characteristics, wake characteristics and propulsion efficiency of this fish species.

Claims (7)

1. A bionic robotic fish, consisting of a shell, a control part and a driving part, characterized in that the bionic robotic fish consists of a fish-shaped shell (1) and a frame (2), a sinking mechanism (3), a swing mechanism (4) , swing mechanism (5), information sensing mechanism (6), controller (7) and power supply; the fish body (11) and the fish tail (12) are movable connections; the frame (2) is sealed in the fish-shaped shell ( In 1), the sinking and floating mechanism (3), the swinging mechanism (5), the information sensing mechanism (6), the controller (7) and the power supply are all installed in the frame (2); the sinking and floating mechanism (3) is placed in the fish head, The fish head ups and downs motor (31) connects the driving screw (32), and the top of the briquetting block (33) is enclosed within the driving screw (32), and the bottom of the briquetting block (33) is pressed beside the water bag (34). The inner chamber of the bag (34) communicates with the outside world through a conduit (35); the swing mechanism (4) is connected to a crank rocker mechanism (42) driven by a swing motor (41), and the crank rocker mechanism (42) is connected to drive an extension Out of the rod (43), the outer end of the rod (43) is connected to the fish fin (44), and this part is symmetrically arranged on the left and right sides; the swing mechanism (5) is composed of a swing motor (51) connected to drive the lead-out rod (52) , the outer end of the deriving rod (52) is connected to drive the swing connector (53) fixed on the fish tail (12); the distance sensor (61) in the information sensing mechanism (6) is located at the front of the fish head, and the visual sensor (62) be located at the fish eye position of fish head front portion, attitude sensor (63), pressure sensor (64) are located in the fish body (11); Controller (7) and power supply are located in the fish body (11). 2. The bionic robotic fish according to claim 1, characterized in that the fish tail (12) can be one, two or more joints, and the joints are connected to the fish body (11) through a double rocker transmission mechanism. ) rear connection. 3. The bionic robotic fish according to claim 1, characterized in that the fish head up and down motor (31) in the up and down mechanism (3) is driven by the motor in the controller (7) through the feedback potentiometer (36) The circuit is connected; the swing motor (51) in the swing mechanism (5) is connected with the motor drive circuit in the controller (7) through the feedback potentiometer (54). 4. The bionic robotic fish according to claim 1, characterized in that the visual sensor (62) is installed on both sides of the head of the fish and is a binocular miniature CCD camera. 5. The bionic robotic fish according to claim 1, characterized in that the distance sensor (61) installed at the front of the fish head is an ultrasonic sensor. 6. The bionic robotic fish according to claim 1, characterized in that the attitude sensor (63) is a high-precision gyroscope installed in the detection chamber (10) of the fish body (11). 7. The bionic robotic fish according to claim 1, characterized in that the pressure sensor (64) is a fluid pressure sensor, which is also installed in the detection chamber (10) of the fish body (11).

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