Bionic robot fish having up-down movement module and tail module

A technology of robotic fish and fish body, which is applied in the field of bionic robotic fish, can solve the problems of inconvenient adjustment of tail fin motion parameters, poor motion stability, and low diving speed, etc., and achieve fish body swings that are not obvious, easy to adjust, and motion stability Good results

Inactive Publication Date: 2010-10-06
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problems of the existing bionic robot fish, such as low ascension speed, poor ascension characteristics, inconvenient adjustment of tail fin motion parameters, obvious fish body swing, poor motion stability, and unfavorable for realizing efficient propulsion, etc., the present invention further provides A biomimetic robotic fish with an ascending module and a tail module

Method used

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  • Bionic robot fish having up-down movement module and tail module

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specific Embodiment approach 1

[0008] Specific implementation manner one: such as Figure 1~6 As shown, the bionic robotic fish having a submersible lift module and a tail module according to this embodiment includes a semi-elliptical fish head 56, a fish body tube 60, a conical tail body 62, and a support 58, The bionic robotic fish also includes a submersible lift module 81 and a tail module 82; the submersible lift module 81 includes a submersible lift module DC torque motor 13, a spur gear 12, a spur gear 10, a screw 11, and a cylinder tube 1. , Piston 4, screw end cover 3, cylinder end cover 6, motor support 8, bearing assembly 83; the tail module 82 includes a tail module lifting module DC torque motor 20, straight-tooth bevel pinion 37, straight Tooth bevel gear 38, box body 39, central shaft 43, first disc 22, second disc 44, first eccentric shaft 25, second eccentric shaft 41, two sets of sliding mechanism assembly 84, first connecting rod Assembly 85, second connecting rod assembly 86, end cap 26,...

specific Embodiment approach 2

[0009] Specific implementation manner two: such as Figure 1~6 As shown, the two sets of sliding mechanism assemblies 84 in this embodiment are respectively composed of a slider 24, two linear guides 21, two linear bearings 23, a tie rod 27, and a retractable rubber tube 28. The two linear guides 21 The two linear bearings 23 are respectively installed between the two linear guide rails 21 and the slider 24, and the two linear bearings 23 are respectively connected to the slider 24. The two ends of the two linear guide rails 21 are respectively fixedly connected to the box 39 and the end cover 26, the sliding block 24 is provided with a long hole 24-2 along the length direction, and the sliding part of the sliding mechanism assembly 84 The block 24 is installed at the eccentric position of the first disc 22 through the first eccentric shaft 25 installed in the long hole 24-2, and the slider 24 in the other sliding mechanism assembly 84 passes through the long hole 24. The seco...

specific Embodiment approach 3

[0010] Specific implementation manner three: such as Figure 5 As shown, the first connecting rod assembly 85 and the second connecting rod assembly 86 described in this embodiment are all connecting rods with adjustable lengths. The first connecting rod assembly 85 and the second connecting rod assembly 86 are composed of a front joint 47, a middle connecting rod 48, and a rear joint 49. Both ends of the middle connecting rod 48 are respectively processed with left-hand threads and right-hand threads, The front joint 47 and the rear joint 49 are screwed together by the middle connecting rod 48. The length of the first connecting rod assembly 85 and the second connecting rod assembly 86 can be changed by rotating the middle connecting rod 48. The initial position of the tailstock can be corrected by adjusting the length of the first connecting rod assembly 85. By adjusting the second The length of the connecting rod assembly 86 can realize the adjustment of the water striking a...

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Abstract

The invention provides a bionic robot fish provided with a rising module and a tail module, relating to the bionic robot fish used underwater and aiming at solving the defects of the existing bionic robot fishes that the rising speed is low; rising characteristics are indistinct and adjusting the tail fin movement-diameter is inconvenient, etc. The other end of a screw (11) is fixedly connected with a piston (4) through a screw end closure (3), the piston (4) is arranged in a cylinder (1), and one end of a cylinder end closure (6) is fixedly connected with the cylinder (1); a straight-spur cone gearwheel (38) is arranged on a central shaft (43) and two ends of a central shaft (43) are rotationally connected with two sides of a box body (39), and two sets of sliding mechanism assemblies (84) are respectively arranged on a first disk (22) and a second disk (44) through a first eccentric shaft (25) and a second eccentric shaft (41). The bionic robot fish provided by the invention has a better rising characteristic and better bionic effect and can easily realize the adjusting to the tail fin movement-diameter of the robot fish so as to lead the swaying of the fish body to be rare and the moving stability to be better.

Description

Technical field [0001] The invention relates to a bionic robotic fish used in underwater. Background technique [0002] As a new type of underwater propeller, the bionic robotic fish has the advantages of high energy efficiency, better fluid performance, good maneuverability, low noise, the unity of the propeller and the rudder, and the diversification of driving methods. The bionic robotic fish can carry out long-term, large-scale, and complex underwater operations. It can be used in occasions with high requirements for maneuverability, and it can also be used in many occasions such as marine life surveys, seabed exploration and marine lifesaving. In the military, because the bionic robotic fish has almost the same form of sonar as the biological fish, it has the characteristics of low noise, little disturbance to the environment, and difficulty for the enemy to find, which is extremely conducive to concealment. In view of the many advantages of the biomimetic robotic fish, dom...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H1/36B63H21/17B63H23/02B63G8/14
Inventor 刘军考刘英想陈维山谢涛
Owner HARBIN INST OF TECH
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