Water surface garbage cleaning robotic fish based on pectoral fin assisted tail fin movement

Abstract

The invention discloses a water surface garbage cleaning robot fish based on pectoral fin auxiliary tail fin movement. The water surface garbage cleaning robot fish comprises a fish head assembly, pectoral fins, a tail connecting piece, tail fins, a telescopic rod, a garbage storage net and a fish-shaped shell. The characteristic that the robotic fish freely swims and sinks in the water body is utilized to mainly solve the cleaning problem of solid garbage in narrow water areas. According to the garbage collection device, the garbage storage net is adopted, the structure is simple, the net is detachable, and the size of the net can be adjusted and replaced according to the size of a water area; the net-shaped structure is light in weight and large in contact surface, and the garbage storage amount is increased while the cost is reduced. The robotic fish based on pectoral fin assisted tail fin movement can sink into water under the action of the balancing weight and buoyancy, and garbage cleaning is expanded to the whole shallow water area from the pure water surface range.

Description

technical field [0001] The invention relates to the technical field of robotic fish, in particular to a robotic fish for cleaning water surface rubbish based on pectoral fin-assisted tail fin movement. Background technique [0002] For the cleaning of water surface garbage, manual salvage or large-scale comprehensive cleaning devices are mostly used, but both are bulky, inconvenient to move in narrow waters, high cost, and low efficiency; underwater robots using traditional propeller propellers, During propeller rotation and propulsion, lateral vortices will be generated, which will increase resistance and energy consumption, reduce propulsion efficiency, and be bulky and noisy. It has become the goal pursued by researchers to imitate the swimming propulsion mode of fish and develop a bionic robot fish with high efficiency, low noise and flexible maneuverability, which can be used for underwater complex environment operations. Contents of the invention [0003] The purpos...

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Problems solved by technology

[0003] The purpose of the present invention is to solve the problems of low propulsion efficiency, large volume and high noise of the underwater robot, and the excessive volume of the existing water surface garbage cleaning equipment, and provide a kind of water surface garbage cleaning robot fish, which uses the pectoral fin of the robot fish to assist the tail fin to move flexibly High performance, small size, optimized to solve the problem of cleaning solid waste in water areas, reduce costs, and improve cleaning efficiency

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