CN111846165A - A tandem flexible drive bionic robotic fish - Google Patents

Abstract

The invention provides a series-type flexible drive bionic robotic fish, which includes a fish head, a fish tail, a sealed cabin and a power cabin. The fish head and the fish tail respectively have a first cavity and a second cavity, and the sealed cabin and the power cabin are provided with In the first cavity and/or the second cavity, an attitude adjustment mechanism, a lithium battery and a control device are arranged in the sealed cabin, and a front steering unit and a rear steering unit are arranged in the power compartment, and one end of the front steering unit is connected to the rear steering unit, The other end is connected with the attitude adjustment mechanism, the other end of the rear steering unit is connected with the fish tail, the control device is electrically connected with the attitude adjustment mechanism and the lithium battery, and the control device controls the movement of the attitude adjustment mechanism, controls the movement of the power cabin, and then drives the movement of the fish tail; When the small flexible drive is used, the fish head is harmful to the left and right shaking, the purpose of improving the propulsion flexible drive efficiency and increasing the power, the bionic effect is good, and the stability is good; the attitude adjustment mechanism is simple in structure and small in size, and can quickly adjust the pitching attitude of the fish head, and cooperate with the fish tail drive. , to achieve rapid up and down diving.

Description

A tandem flexible drive bionic robotic fish

technical field

The present invention relates to an underwater robotic fish, in particular to a serial flexible driving bionic robotic fish.

Background technique

Compared with the underwater submersible driven by the propeller structure, the bionic robotic fish imitating the swimming of real fish has the obvious advantages of low noise, high efficiency and high flexibility.

At present, most of the bionic robotic fish adopt a multi-joint tail driving method, one motor drives one joint, thus providing a degree of freedom for swinging. The more degrees of freedom, the better the fitting effect, that is, the better the imitation effect. However, such a driving method has obvious shortcomings. When the number of joints is small, the continuity of the swimming posture of the robotic fish is poor, and the tail movement is stiff; when the number of joints is large, the coordinated control of the motor is complicated, and the stability changes. Difference.

Therefore, a flexible driving method that drives soft and coherent swimming with fewer motors has attracted attention. The name of the invention is a CPG control method of a multi-modal bionic pulling robot fish and the robot fish (publication number CN110937092A). This patent uses the steering gear to alternately pull the left and right sides of the fish body, and the left and right sides of the pull wire alternately pull. Tight, and then affect the fish tail to swing left and right accordingly. However, because the pull wires on both sides run through the entire tail and rely on a single steering gear to pull the pull wire, this will make only one side of the left and right sides of the fishtail tightened at the same time, and the fishtail as a whole swings quickly to the side under stress , which creates a large swinging impulse that causes the fish head to swing quickly to the other side, which is used to partially offset the swinging impulse produced by the tail. Therefore, while the robot fish swims forward by swinging its tail left and right, the fish head will also swing left and right accordingly, which not only reduces the propulsion efficiency of the robot fish, but also seriously affects the work of the internal modules of the robot fish such as cameras and sonar. At the same time, it relies on a single power source to drive the entire tail, and there will be problems of insufficient power and low flexibility.

In addition, most of the existing snorkeling devices have the disadvantages of complex structure and large space occupation, which are difficult to be applied to small and medium underwater submersibles, especially small and medium underwater robotic fish.

For the problems in the related technologies, no effective solutions have been proposed so far.

SUMMARY OF THE INVENTION

The present invention provides a series-type flexible driving bionic robotic fish, which can effectively solve the above problems.

The present invention is realized in this way:

A series-type flexible drive bionic robotic fish, comprising a fish head and a fish tail, the fish head and the fish tail respectively have a first cavity and a second cavity, and also include a sealed cabin and a power cabin, the sealed The cabin and the power cabin are respectively arranged in the first cavity and/or the second cavity, the airtight cabin is provided with an attitude adjustment mechanism, a lithium battery and a control device, and the power cabin is provided with a front steering unit And the rear steering unit, one end of the front steering unit is connected to the rear steering unit, the other end is connected to the attitude adjustment mechanism, the other end of the rear steering unit is connected to the tail end of the fishtail, and the control device is respectively connected with the The attitude adjustment mechanism is electrically connected to the lithium battery, and the control device is used to control the movement of the attitude adjustment mechanism, thereby controlling the movement of the power cabin, thereby driving the movement of the fish tail.

As a further improvement, the front end of the fish head is provided with a laser rangefinder and a camera, the left and right sides of the outer surface of the fish head are provided with pectoral fins, the top surface of the fish head is provided with dorsal fins, and the rear end of the fish head is provided with The front steering gear fixing groove connects the attitude adjustment mechanism and the power cabin together through the front steering gear fixing groove.

As a further improvement, the laser rangefinder and the camera are respectively electrically connected to the control device.

As a further improvement, a waterproof coating is provided between the surface of the first cavity and the outer surface of the sealing chamber.

As a further improvement, the attitude adjustment mechanism includes a motor, a fixing frame, a pulley, a sliding rod, a counterweight, a sliding block and a screw rod, the motor is arranged at the rear end of the fixing frame, and one end of the screw rod is fixed The pulley is connected to the rotating shaft and the other end of the motor, and the pulley is fixed on the fixing frame; the sliding rod is fixed between the front end of the fixing frame and the motor, and is connected with the screw rod parallel; the sliding block is sleeved on the screw rod, the counterweight block is sleeved on the sliding block and the sliding rod, and the counterweight block is fixedly connected with the sliding block.

As a further improvement, the front steering unit includes a front steering gear fixed in the fixing groove of the front steering gear, a front U-shaped steering gear arm fixed on the front steering gear, and two front springs, two One end of the front spring is fixed on the front U-shaped steering gear arm, and the other end is connected with the rear steering unit.

As a further improvement, the rear steering unit includes a rear steering gear fixing slot for connecting with the front spring, a rear steering gear fixed on the rear steering gear fixing slot, and a rear steering gear fixed on the rear steering gear. The rear U-shaped steering gear arm and two rear springs, one end of the two rear springs is fixed on the rear U-shaped steering gear arm, the other end is connected with the end of the fish tail, and is fixed on the front end of the tail fin.

As a further improvement, the front steering gear and the rear steering gear are electrically connected to the control device.

As a further improvement, an opening is provided at the front end of the fishtail, the front steering gear fixing groove is arranged on the opening, the attitude adjustment mechanism is connected with the front steering gear, and the front end of the fishtail is waterproof The glue adheres to the back end of the fish head, so that the robotic fish forms an integrated shape.

As a further improvement, the two front springs and the two rear springs are arranged in parallel up and down, respectively.

The beneficial effects of the present invention are as follows: the present invention provides a series-type flexible driving bionic robotic fish, the tail of which is a series-type structure of flexible materials, and is driven in series by dual steering gears, which can greatly reduce the harmfulness of the fish head during flexible driving. The purpose of the left and right shaking, improving the propulsion flexible driving efficiency and increasing the power, the bionic effect is good, and the stability is good. The attitude adjustment mechanism has a simple structure and a small occupied volume, and can quickly adjust the pitch attitude of the fish head, and cooperate with the driving of the fish tail to realize rapid floating and diving swimming.

Description of drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic perspective view of the external structure of a bionic robotic fish with serial flexible drive according to an embodiment of the present invention.

FIG. 2 is a schematic cross-sectional side view of a bionic robotic fish with serial flexible drive according to an embodiment of the present invention.

3 is a schematic perspective view of a cutaway structure of a bionic robotic fish with serial flexible drive according to an embodiment of the present invention.

FIG. 4 is a schematic structural diagram of the S-shaped swimming of a serial flexible driven bionic robotic fish provided by an embodiment of the present invention.

FIG. 5 is a schematic structural diagram of a series-type flexible drive bionic robotic fish during arcuate swimming according to an embodiment of the present invention.

FIG. 6 is a schematic structural diagram of an attitude adjustment mechanism of a serial flexible driven bionic robotic fish provided by an embodiment of the present invention.

In the picture: 1. Fish head 2. Dorsal fin 3. Tail fin

4. Fish tail 5. Pectoral fin 6. Laser rangefinder

7. Camera 8. Airtight cabin 9. Attitude adjustment mechanism

10. Lithium battery 11. Control device 12. Power compartment

13. Front steering gear fixing slot 14. Rear steering gear fixing slot 15. Front steering gear

16. Rear steering gear 17. Front U-shaped steering gear arm 18. Rear U-shaped steering gear arm

19. Front spring 20. Rear spring 21. Nut

22. Motor 23. Fixed frame 24. Pulley

25. Slide bar 26. Counterweight 27. Slider

28. Screw

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in 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. Obviously, the described embodiments These are some embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, the terms "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

Referring to FIGS. 1 to 6 , a series-type flexible drive bionic robotic fish includes a fish head 1 and a fish tail 4 , the fish head 1 and the fish tail 4 respectively have a first cavity and a second cavity It is characterized in that it also includes a sealed cabin 8 and a power cabin 12, the sealed cabin 8 and the power cabin 12 are respectively arranged in the first cavity and/or the second cavity, and the sealed cabin 8 An attitude adjustment mechanism 9, a lithium battery 10 and a control device 11 are provided. The power compartment 12 is provided with a front steering unit and a rear steering unit. One end of the front steering unit is connected to the rear steering unit, and the other end is connected to the attitude. Adjustment mechanism 9, the other end of the rear steering unit is connected to the tail end of the fish tail, the control device 11 is electrically connected to the attitude adjustment mechanism 9 and the lithium battery 10 respectively, and the control device 11 is used for The movement of the attitude adjustment mechanism 9 is controlled, thereby controlling the movement of the power cabin 12 , thereby driving the movement of the fish tail 4 .

Further, the front end of the fish head 1 is provided with a laser rangefinder 6 and a camera 7, the left and right sides of the outer surface of the fish head 1 are respectively provided with pectoral fins 5, the top surface of the fish head 1 is provided with a dorsal fin 2, and the The rear end of the fish head 1 is provided with a front steering gear fixing slot 13, and the attitude adjusting mechanism 9 is connected with the power cabin 12 through the front steering gear fixing slot 13; the laser range finder 6 and the The cameras 7 are respectively electrically connected to the control device 11 .

Further, a waterproof coating is provided between the surface of the first cavity and the outer surface of the sealed compartment 8 .

As shown in FIG. 6 , the posture adjusting mechanism 9 includes a motor 22 , a fixing frame 23 , a pulley 24 , a sliding rod 25 , a counterweight 26 , a sliding block 27 and a screw rod 28 , and the motor 22 is arranged on the fixing frame At the rear end of 23, one end of the screw rod 28 is fixed on the rotating shaft of the motor 22 and rotates coaxially, and the other end of the screw rod 28 is connected to the pulley 24, and the pulley 24 is fixed on the fixing frame 23 the round hole; the sliding rod 25 is fixed between the front end of the fixing frame 23 and the motor 22, and is parallel to the screw rod 28; the sliding block 27 is sleeved on the screw rod 28, so The weight block 26 is sleeved on the slider 27 and the sliding rod 25, and the weight block 26 is fixedly connected with the slider 27; the motor 22 adopts a stepping motor; the slider 27 and the screw rod 28 have mutually matched threads, and the slider 27 can drive the counterweight 26 to move on the screw rod 28 .

Further, the front steering unit includes a front steering gear 15, a front U-shaped steering gear arm 17 and two front springs 19, and the rear steering unit includes a rear steering gear fixing groove 14, a rear steering gear 16, and a rear U-shaped rudder. Arm 18 and two rear springs 20, the front steering gear 15 is fixed in the front steering gear fixing groove 13, and is tightened and reinforced by nuts 21, and the front U-shaped steering gear arm 17 is fixed in the On the gear shaft of the front steering gear 15, one end of the two front springs 19 is welded to the front U-shaped steering gear arm 17, and the other end is embedded in the rear steering gear fixing groove 14, and passes through the nut. 21 Tighten and reinforce, the rear U-shaped steering gear arm 18 is fixed on the gear shaft of the rear steering gear 16, and one end of the two rear springs 20 is welded to the rear U-shaped steering gear arm 18, and the other end is welded on the rear U-shaped steering gear arm 18. Pass through the end of the fish tail 4 and be fixed to the front end of the tail fin 3; the nut 21 can be a countersunk head nut, but is not limited to a countersunk head nut; the front steering gear 15 and the rear steering gear 16 and the control The device 11 is electrically connected.

Further, an opening is provided at the front end of the fishtail 4. In this embodiment, the opening is a rectangle, but not limited to a rectangle. The front steering gear fixing groove 13 is arranged on the opening to adjust the attitude. The mechanism 9 is connected with the front steering gear 15, and the front end of the fish tail 4 is adhered to the rear end of the fish head 1 through waterproof glue, so that the robotic fish forms an integrated shape.

Further, the two front springs 19 and the two rear springs 20 are arranged in parallel up and down respectively, so as to prevent the fish tail from rotating around the front spring 19 and the rear spring 20 as axes.

Further, the fish tail 4 is made of silicone material, and the tail fin 3 is made of rubber material.

Further, the motor 22 adopts a stepping motor.

The working principle of the present invention is as follows:

The fish tail 4 of the present invention is made of silica gel material, the silica gel material is a flexible material, the fish tail unit is a series structure, and is driven by a series coupling of double steering gears. When the bionic robotic fish moves forward in an S-shape, Taking Fig. 4 as an example, with the fish head facing the positive direction, the front steering gear 15 drives the front U-shaped steering gear arm 17 to rotate to the right, and the front spring 15 is deformed by force, forming a convex to the right. The bow-shaped flexible structure, after that with the recovery of the deformation of the front spring 15, the front half of the fishtail unit flexibly swings to the right; at the same time, the rear steering gear 16 drives the rear U-shaped steering gear arm 18 Turning to the left, the rear spring 18 is deformed by force, forming a bow-shaped flexible structure that protrudes to the left. After that, with the recovery of the deformation of the rear spring, the rear half of the fishtail unit and the tail fin 3 made of rubber material Swing flexibly to the left, thus forming an S-shaped serial flexible drive, the front and rear parts of the fishtail unit respectively generate swing impulses in opposite directions due to the swing, and the impulses in the left and right directions of the fishtail unit It is roughly offset, greatly reducing the shaking of the fish head unit during the S-shaped flexible drive, overcoming the problems existing in the prior art, and improving the efficiency and stability of the flexible drive. In addition, the present invention has greater propulsion force than the existing single-power flexible drive structure due to the use of dual-power series coupling drive.

When the bionic robotic fish performs bow swimming and steering, taking FIG. 5 as an example, the front steering gear 15 and the rear steering gear 16 drive the front U-shaped steering gear arm 17 and the rear U-shaped rudder respectively. The arm 18 rotates to the left, the front spring 19 and the rear spring 20 are deformed by force, and both form an arcuate flexible structure that protrudes to the left, forming an arcuate series flexible drive. After the deformation of the spring 19 and the rear spring 20 is restored, the entire fishtail unit flexibly swings to the left, generating a large leftward impulse, causing the fishhead unit to quickly turn rightward.

The attitude adjustment mechanism 9 can adjust the pitching attitude of the fish head unit and cooperate with the driving of the fish tail unit to realize rapid ascending and descending swimming. When the rotating shaft of the motor 22 and the lead screw 28 rotate coaxially and clockwise, the slider 27 and the counterweight 26 are driven to move forward together, the center of gravity of the fish moves forward, and the fish head unit moves downward. When the rotating shaft of the motor 22 and the lead screw 28 rotate counterclockwise coaxially, the slider 27 and the counterweight are driven. The blocks 26 move backward together, the center of gravity of the fish moves backward, the fish head unit is raised, and the fish body floats up and down with the drive of the fish tail unit; when the counterweight block 26 moves to the sliding bar 25 In a suitable position in the middle, the center of gravity of the fish is balanced, the fish head unit is oriented horizontally, and the fish body swims horizontally.

The camera 7 can collect underwater images and store them in the memory card of the control device 11; the laser rangefinder 6 can use laser short-range distance measurement underwater, and when approaching an obstacle to a certain distance, the The control device 11 recognizes the signal, and issues a steering and swimming command to achieve emergency obstacle avoidance; the control program of the control device 11 is easily obtained by those skilled in the art, and will not be repeated here.

The fish tail 4 of the present invention is made of silica gel material, the silica gel material is a flexible material, the fish tail unit is a series structure, and is driven by double steering gear in series, which can greatly reduce the harmfulness of the fish head unit during flexible driving. The purpose of the left and right shaking, improving the propulsion flexible driving efficiency and increasing the power, the bionic effect is good, and the stability is good; the attitude adjustment mechanism 9 has a simple structure and a small footprint, and can quickly adjust the pitch attitude of the fish head unit. The driving of the fishtail unit realizes rapid ascending and descending swimming.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A serially flexible driven bionic robotic fish, comprising a fish head (1) and a fish tail (4), the fish head (1) and the fish tail (4) having a first cavity and a second cavity respectively A cavity, characterized in that it further comprises a sealed cabin (8) and a power cabin (12), wherein the sealed cabin (8) and the power cabin (12) are respectively disposed in the first cavity and/or the second cavity Inside the cavity, an attitude adjustment mechanism (9), a lithium battery (10) and a control device (11) are arranged in the sealed compartment (8), and a front steering unit and a rear steering unit are arranged in the power compartment (12), One end of the front steering unit is connected to the rear steering unit, the other end is connected to the attitude adjustment mechanism (9), the other end of the rear steering unit is connected to the tail end of the fish tail, and the control device (11) is respectively is electrically connected with the attitude adjustment mechanism (9) and the lithium battery (10), and the control device (11) is used to control the movement of the attitude adjustment mechanism (9), thereby controlling the movement of the power cabin (12) , thereby driving the movement of the fish tail (4). 2. The bionic robotic fish driven in series according to claim 1, characterized in that, the front end of the fish head (1) is provided with a laser rangefinder (6) and a camera (7), and the fish head ( 1) The left and right sides of the outer surface are respectively provided with pectoral fins (5), the top surface of the fish head (1) is provided with a dorsal fin (2), and the rear end of the fish head (1) is provided with a front steering gear fixing groove (13) , the attitude adjustment mechanism (9) and the power cabin (12) are connected together through the front steering gear fixing groove (13). 3 . The serial flexible driven bionic robotic fish according to claim 2 , wherein the laser rangefinder ( 6 ) and the camera ( 7 ) are electrically connected to the control device ( 11 ), respectively. 4 . 4. The tandem flexible drive bionic robotic fish according to claim 3, characterized in that a waterproof coating is provided between the surface of the first cavity and the outer surface of the airtight compartment (8). 5 . The serial flexible driven bionic robotic fish according to claim 4 , wherein the posture adjustment mechanism (9) comprises a motor (22), a fixing frame (23), a pulley (24), a sliding rod ( 5 . 25), a counterweight (26), a slider (27) and a lead screw (28), the motor (22) is arranged at the rear end of the fixing frame (23), and one end of the lead screw (28) is fixed The rotating shaft and the other end of the motor (22) are connected with the pulley (24), the pulley (24) is fixed on the fixing frame (23); the sliding rod (25) is fixed on the fixing frame (23) The front end of the frame (23) is between the motor (22) and parallel to the lead screw (28); the slider (27) is sleeved on the lead screw (28), and the counterweight ( 26) is sleeved on the sliding block (27) and the sliding rod (25), and the counterweight block (26) is fixedly connected with the sliding block (27). 6. The bionic robotic fish driven in series according to claim 1, wherein the front steering unit comprises a front steering gear (15), a front steering gear (15) fixed in the front steering gear fixing groove (13), A front U-shaped steering arm (17) fixed on the front steering gear (15), and two front springs (19), one end of the two front springs (19) is fixed on the front U-shaped The steering gear arm (17) and the other end are connected to the rear steering unit. 7 . The bionic robotic fish with serial flexible drive according to claim 6 , wherein the rear steering unit comprises a rear steering gear fixing groove ( 14 ), a fixing groove ( 14 ) for connecting with the front spring ( 19 ), A rear steering gear (16) arranged in the rear steering gear fixing groove (14), a rear U-shaped steering gear arm (18) fixed on the rear steering gear (16), and two rear springs (20) ), one end of the two rear springs (20) is fixed on the rear U-shaped steering gear arm (18), the other end is connected with the end of the fish tail (4), and is fixed on the front end of the tail fin (3). 8 . The serial flexible driven bionic robotic fish according to claim 7 , wherein the front steering gear ( 15 ) and the rear steering gear ( 16 ) are electrically connected to the control device ( 11 ). 9 . 9 . The bionic robotic fish with serial flexible drive according to claim 8 , wherein an opening is formed at the front end of the fish tail ( 4 ), and the front steering gear fixing groove ( 13 ) is arranged on the opening. 10 . , the attitude adjustment mechanism (9) is connected with the front steering gear (15), the front end of the fish tail (4) is adhered to the rear end of the fish head (1) through waterproof glue, so that the robotic fish is Form an integrated shape. 10 . The serial flexible driven bionic robotic fish according to claim 9 , wherein the two front springs ( 19 ) and the two rear springs ( 20 ) are arranged in parallel up and down, respectively. 11 .

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