A suction-type bionic robot fish

Abstract

The present invention provides an adsorption-type bionic robot fish, comprising a main cabin, an adsorption component, a pectoral fin component, a bionic fish tail and a caudal fin; the main cabin, the bionic fish tail and the caudal fin are connected in sequence, and the bionic fish tail can swing left and right relative to the main cabin; the adsorption component comprises a suction cup, which is arranged on the top of the main cabin, and the suction cup can be adsorbed on the surface of a target object or detached from the surface of the target object; the pectoral fin component comprises a first driving component, a first pectoral fin and a second pectoral fin, the first driving component is arranged in the main cabin, the first pectoral fin and the second pectoral fin are relatively arranged on the left and right sides of the main cabin, and the first driving component is respectively connected to the first pectoral fin and the second pectoral fin; the bionic robot fish of the present invention can truly imitate the motion modes and biological characteristics of biological fish, has rich motion modes and good motion performance, can achieve high motion flexibility, can realize underwater adsorption tasks, and provides new ideas for complex underwater exploration tasks.

Description

Technical Field

[0001] The invention relates to the technical field of underwater bionic robots, and in particular to an adsorption-type bionic robot fish. Background Art

[0002] In recent years, underwater robots have played an increasingly important role in the exploration and development of the ocean. As a special underwater robot, the bionic robot fish has gradually received widespread attention and application. The bionic robot fish is a product of the combination of robotics and bionics. Thanks to its fish-like swimming, compared with traditional propeller-propelled underwater robots, the bionic robot fish has the advantages of good maneuverability, low energy consumption, low disturbance and high concealment. Therefore, the bionic robot fish has broad application prospects in the fields of marine resource detection and development, military reconnaissance, underwater archaeology, underwater biological observation, etc.

[0003] At present, the existing bionic robot fish has certain perception ability and good control performance, but there are still problems such as insufficient motion performance, low sensor accuracy, and limited operation scenes, which cannot cope with complex and changeable underwater operation scenes and diversified underwater operation tasks. Fish can use their unique suction cup structure to attach to the surface of the host, greatly reducing their own energy consumption during ocean voyages. Fish can also quickly adjust their posture while swimming in the water, move in a highly maneuverable manner even in narrow waters, and quickly attach to the host surface.

[0004] However, the existing bionic robot fish mainly relies on the tail fin to drive, which not only makes it difficult to achieve good swimming performance, but also lacks the ability of autonomous adsorption, making it difficult to truly imitate biological The movement characteristics of fish are poor in movement flexibility. Summary of the invention

[0005] The present invention provides an adsorption-type bionic robot fish for realistically imitating biological The movement characteristics of fish can realize complex underwater tasks such as underwater adsorption, and solve the problem of poor movement flexibility of existing bionic robot fish.

[0006] The present invention provides an adsorption-type bionic robotic fish, comprising: a main cabin, an adsorption component, a pectoral fin component, a bionic fish tail and a caudal fin;

[0007] The main cabin, the bionic fish tail and the tail fin are connected in sequence, and the bionic fish tail can swing left and right relative to the main cabin;

[0008] The adsorption assembly includes a suction cup, which is arranged on the top of the main cabin, and the suction cup can be adsorbed on the surface of the target object or detached from the surface of the target object;

[0009] The pectoral fin assembly comprises a first drive assembly, a first pectoral fin and a second pectoral fin, wherein the first drive assembly is disposed in the main cabin, the first pectoral fin and the second pectoral fin are disposed on the left and right sides of the main cabin respectively, and the first drive assembly is connected to the first pectoral fin and the second pectoral fin respectively;

[0010] The first driving component is used to adjust the inclination angles of the first pectoral fin and the second pectoral fin relative to the horizontal plane, and to drive the first pectoral fin and the second pectoral fin to swing up and down relative to the main cabin.

[0011] According to the adsorption type bionic robotic fish provided by the present invention, the adsorption component further includes a negative pressure pump and a three-way valve;

[0012] The suction surface of the suction cup is provided with a suction port; the three-way valve comprises a first port, a second port and a third port, the negative pressure pump is connected to the first port, and the second port is connected to the suction port;

[0013] The three-way valve has a first state and a second state; when the three-way valve is in the first state, the first port is communicated with the second port; when the three-way valve is in the second state, the third port is communicated with the second port.

[0014] According to the adsorption-type bionic robotic fish provided by the present invention, the adsorption component also includes a pressure sensor; the pressure sensor is arranged on the adsorption surface of the suction cup, and the pressure sensor is electrically connected to the negative pressure pump.

[0015] According to the adsorption-type bionic robotic fish provided by the present invention, the first driving assembly includes a first steering gear, a second steering gear, a third steering gear, a first mounting seat and a second mounting seat;

[0016] The first steering gear is connected to the first mounting seat and the second mounting seat respectively to drive the first mounting seat and the second mounting seat to rotate synchronously along the first axis; the second steering gear and the third steering gear are coaxially arranged along the first axis; the first mounting seat is rotatably arranged at the output end of the second steering gear, and the second mounting seat is rotatably arranged at the output end of the third steering gear;

[0017] The first mounting seat and the first pectoral fin are rotatably connected along a second axis, and a first detent pin is provided at an output end of the second steering gear, and the first detent pin is movably inserted into a first guide opening on the first pectoral fin; when the second steering gear rotates, the first detent pin can drive the first pectoral fin to swing back and forth relative to the first mounting seat;

[0018] The second mounting seat and the second pectoral fin are rotatably connected along a third axis, and a second detent pin is provided at an output end of the third steering gear, and the second detent pin is movably inserted into a second guide opening on the second pectoral fin; when the third steering gear rotates, the second detent pin can drive the second pectoral fin to swing back and forth relative to the second mounting seat;

[0019] The first axis is respectively perpendicular to the second axis and the third axis, and the second axis and the third axis are arranged in parallel.

[0020] According to the adsorption-type bionic robotic fish provided by the present invention, the first driving assembly further includes a gear assembly and a connecting rod;

[0021] The gear assembly comprises a first gear structure and a second gear structure; the output end of the first steering gear is connected to the first gear structure, the first gear structure and the second gear structure are meshed, and the second gear structure is coaxially connected to the first mounting seat;

[0022] The extending direction of the connecting rod is parallel to the first axis, so that the connecting rod is eccentrically arranged relative to the first axis; one end of the connecting rod is connected to the second gear structure, and the other end is connected to the second mounting seat.

[0023] According to a suction-type bionic robotic fish provided by the present invention, the bionic fish tail includes a plurality of driving joints, and the plurality of driving joints are connected in series in sequence along the extension direction of the bionic fish tail, one of the plurality of driving joints close to the main cabin body is connected to the main cabin body, and one of the plurality of driving joints far from the main cabin body is connected to the tail fin.

[0024] According to a suction-type bionic robotic fish provided by the present invention, the bionic robotic fish also includes a ventral fin assembly; the ventral fin assembly includes a first ventral fin, a second ventral fin, and a second drive assembly; the second drive assembly is arranged in the main cabin, the first ventral fin and the second ventral fin are relatively arranged on the left and right sides of the main cabin, and the second drive assembly is respectively connected to the first ventral fin and the second ventral fin to drive the first ventral fin and the second ventral fin to rotate relative to the main cabin.

[0025] According to the adsorption-type bionic robotic fish provided by the present invention, the second driving assembly includes a fourth steering gear and a fifth steering gear;

[0026] An output end of the fourth steering gear is connected to the first ventral fin, the fifth steering gear is connected to the second ventral fin, and a rotation axis of the fourth steering gear and a rotation axis of the fifth steering gear intersect in the main cabin.

[0027] According to the adsorption-type bionic robotic fish provided by the present invention, the bionic robotic fish further includes a sensor component, a control component and a wireless communication module;

[0028] The sensor component and the wireless communication module are respectively connected to the control component, and the control component is respectively connected to the adsorption component, the pectoral fin component and the bionic fish tail;

[0029] Among them, the sensing component includes a visual module, a depth sensor and an inertial measurement unit, and the wireless communication module is used to communicate with a host computer.

[0030] According to the adsorption-type bionic robotic fish provided by the present invention, the bionic robotic fish further includes a battery assembly;

[0031] The battery assembly is disposed in the main cabin, the main cabin is provided with a charging port, at least a portion of the charging port is exposed on the surface of the main cabin, and the charging port is electrically connected to the battery assembly.

[0032] The present invention provides an adsorption-type bionic robot fish, which is based on The bionic robot fish is based on the biological morphology of fish, and an adsorption component, a pectoral fin component and a bionic fish tail are set based on the main cabin. Not only can the bionic fish tail drive the tail fin to swing left and right relative to the main cabin to provide a driving force for the forward movement of the bionic robot fish, but also the suction cup of the adsorption component can be used to realize the adsorption and desorption process between the bionic robot fish and the target object, so that the bionic robot fish can use the adsorption function to reduce the motion loss during navigation. It can also provide a pitch moment for the snorkeling of the bionic robot fish by changing the frontal area of ​​the first pectoral fin and the second pectoral fin of the pectoral fin component relative to the water surface, and can provide instantaneous driving force for the movement of the bionic robot fish by means of the up and down flapping of the first pectoral fin and the second pectoral fin, which provides the possibility for the bionic robot fish's emergency stop, acceleration and other motion modes.

[0033] As can be seen from the above, the bionic robot fish of the present invention can truly imitate biological The movement modes and biological characteristics of fish have rich movement modes and good movement performance, can achieve high movement flexibility, can realize underwater adsorption tasks, and provide new ideas for complex underwater exploration tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1It is a schematic diagram of the structure of the adsorption-type bionic robotic fish provided by the present invention;

[0036] Figure 2 This is one of the schematic diagrams of the installation structure of the adsorption assembly, the pectoral fin assembly and the pelvic fin assembly provided by the present invention;

[0037] Figure 3 This is the second schematic diagram of the installation structure of the adsorption assembly, the pectoral fin assembly and the pelvic fin assembly provided by the present invention;

[0038] Figure 4 This is the third schematic diagram of the installation structure of the adsorption assembly, the pectoral fin assembly and the pelvic fin assembly provided by the present invention;

[0039] Figure 5 is a schematic structural diagram of a pectoral fin assembly provided by the present invention;

[0040] Figure 6 is a schematic structural diagram of a ventral fin assembly provided by the present invention;

[0041] Figure 7 This is a control structure block diagram of the adsorption-type bionic robotic fish provided by the present invention.

[0042] Reference numerals:

[0043] 1. Main cabin;

[0044] 2. Adsorption component; 21. Suction cup; 211. Adsorption port; 22. Negative pressure pump; 23. Three-way valve; 24. Pressure sensor;

[0045] 3. Pectoral fin assembly; 31. First drive assembly; 32. First pectoral fin; 33. Second pectoral fin; 311. First servo; 312. Second servo; 313. Third servo; 314. First mounting seat; 315. Second mounting seat; 316. Gear assembly; 317. Connecting rod; 3121. First deflector pin; 3131. Second deflector pin; 321. First guide port; 331. Second guide port;

[0046] 4. ventral fin assembly; 41. second drive assembly; 42. first ventral fin; 43. second ventral fin; 411. fourth steering gear; 412. fifth steering gear;

[0047] 5. Bionic fish tail; 6. Tail fin;

[0048] 101. Battery assembly; 102. Visual module; 103. Charging port. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Combine the following Figure 1-Figure 7 , the adsorption-type bionic robotic fish provided by the embodiment of the present invention is described in detail through specific embodiments and application scenarios.

[0051] like Figures 1 to 4 As shown, this embodiment provides an adsorption-type bionic robotic fish, comprising: a main cabin 1, an adsorption component 2, a pectoral fin component 3, a bionic fish tail 5 and a caudal fin 6.

[0052] Along the moving direction of the bionic robotic fish, the main cabin 1, the bionic fish tail 5 and the tail fin 6 are connected in sequence, and the bionic fish tail 5 can swing left and right relative to the main cabin 1. Among them, the main cabin 1 serves as the main trunk of the bionic robotic fish. The main cabin 1 is a closed cabin, which can provide installation support for the adsorption component 2, the pectoral fin component 3, the bionic fish tail 5 and the ventral fin component 4 of the following embodiment.

[0053] The adsorption assembly 2 includes a suction cup 21 , which is disposed on the top of the main cabin 1 . The suction cup 21 can be adsorbed on the surface of the target object or detached from the surface of the target object.

[0054] The pectoral fin assembly 3 includes a first drive assembly 31, a first pectoral fin 32 and a second pectoral fin 33. The first drive assembly 31 is arranged in the main cabin 1, and the first pectoral fin 32 and the second pectoral fin 33 are relatively arranged on the left and right sides of the main cabin 1. The first drive assembly 31 is connected to the first pectoral fin 32 and the second pectoral fin 33 respectively.

[0055] The first driving assembly 31 is used to adjust the inclination angles of the first pectoral fin 32 and the second pectoral fin 33 relative to the horizontal plane, and to drive the first pectoral fin 32 and the second pectoral fin 33 to swing up and down relative to the main cabin 1 .

[0056] It is understandable that, along the moving direction of the bionic robotic fish, the rear end of the main cabin 1 is connected to the front end of the bionic fish tail 5 , and the rear end of the bionic fish tail 5 is connected to the root of the tail fin 6 .

[0057] The bionic fish tail 5 of this embodiment has a built-in driving structure. Under the action of the driving structure, along the moving direction of the bionic robotic fish, the bionic fish tail 5 can not only drive the tail fin 6 to swing toward the left side of the main cabin body 1, but also drive the tail fin 6 to swing toward the right side of the main cabin body 1.

[0058] Among them, the tail fin 6 has a similar The tail fin 6 of a fish can be made of a flexible material, which makes the tail fin 6 a passive flexible structure. It can not only swing under the drive of the bionic fish tail 5, but also adaptably change its own shape.

[0059] At the same time, the adsorption component 2 of this embodiment is configured with a negative pressure mechanism corresponding to the suction cup 21. Under the negative pressure provided by the negative pressure mechanism, the suction cup 21 can be stably adsorbed on the surface of the target object without being pressed by external force.

[0060] Among them, the suction cup 21 has a similar The suction cup 21 is a flexible suction cup. For example, the suction cup 21 can be a silicone suction cup. In this way, the suction cup 21 of this embodiment has strong adaptability, and the suction cup 21 can complete adsorption on surfaces of different angles, curvatures, and materials. Moreover, the suction cup 21 can achieve greater adsorption force and anti-shear force under the action of the negative pressure mechanism to ensure its adsorption reliability.

[0061] Furthermore, the first drive assembly 31 of the present embodiment can be understood as comprising a decoupled rotation drive part and a swing drive part, the rotation drive part being used to adjust the inclination angle of the first pectoral fin 32 and the second pectoral fin 33 relative to the horizontal plane, and the swing drive part being used to drive the first pectoral fin 32 and the second pectoral fin 33 to swing up and down relative to the main cabin 1.

[0062] Thus, based on the driving effect of the first driving component 31 on the first pectoral fin 32 and the second pectoral fin 33, the present embodiment can control the motion state of the first pectoral fin 32 and the second pectoral fin 33 to simulate the biological The movement pattern of the pectoral fins of fish.

[0063] Specifically, the bionic robot fish of the present invention is The bionic fish is a fish in the form of a fish. The adsorption component 2, the pectoral fin component 3 and the bionic fish tail 5 are arranged based on the main cabin 1. Not only can the bionic fish tail 5 drive the tail fin 6 to swing left and right relative to the main cabin 1 to provide a driving force for the forward movement of the bionic robot fish, but also the suction cup 21 of the adsorption component 2 can be used to realize the adsorption and desorption process between the bionic robot fish and the target object, so that the bionic robot fish can use the adsorption function to reduce the motion loss during navigation. The first pectoral fin 32 and the second pectoral fin 33 of the pectoral fin component 3 can be changed relative to the water surface. The water-facing area to provide a pitch moment for the snorkeling of the bionic robot fish, and the up and down flapping of the first pectoral fin 32 and the second pectoral fin 33 can provide an instantaneous driving force for the movement of the bionic robot fish, which provides the possibility for the bionic robot fish to perform emergency stop, acceleration and other motion modes.

[0064] As can be seen from the above, the bionic robot fish of the present invention can truly imitate biological The movement modes and biological characteristics of fish have rich movement modes and good movement performance, can achieve high movement flexibility, can realize underwater adsorption tasks, and provide new ideas for complex underwater exploration tasks.

[0065] In some embodiments, Figure 2 As shown, the adsorption assembly 2 of this embodiment further includes a negative pressure pump 22 and a three-way valve 23. The adsorption surface of the suction cup 21 is provided with an adsorption port 211; the three-way valve 23 includes a first port, a second port and a third port, one end of the negative pressure pump 22 is connected to the first port, the second port is connected to the adsorption port 211, and the other end of the negative pressure pump 22 extends to the outside of the main cabin 1.

[0066] Specifically, the three-way valve 23 has a first state and a second state; when the three-way valve 23 is in the first state, the first port and the second port of the three-way valve 23 are connected, so that a liquid passage is formed between the suction port 211 on the suction cup 21 and the negative pressure pump 22. In this way, when the suction surface of the suction cup 21 contacts the surface of the target object, the suction space formed between the suction cup 21 and the target object can reach a negative pressure state by starting the negative pressure pump 22 to pump water, and the suction cup 21 can be adsorbed on the surface of the target object under the action of the internal and external pressure difference.

[0067] Correspondingly, when the three-way valve 23 is in the second state, the third port and the second port of the three-way valve 23 are connected, which makes the adsorption space between the suction cup 21 and the target object reach the same pressure as the external water environment, so that the suction cup 21 automatically detaches from the surface of the target object.

[0068] It should be pointed out here that the negative pressure pump 22 of this embodiment can be a diaphragm pump known in the art. This embodiment can control the rotation speed of the diaphragm pump by controlling the power supply voltage of the diaphragm pump, thereby controlling the adsorption state between the bionic robot fish and the target object.

[0069] At the same time, the three-way valve 23 of this embodiment can be a two-position three-way solenoid valve known in the art. By controlling the power-on state of the three-way valve 23, this embodiment can switch the three-way valve 23 between the first state and the second state, so as to conveniently control the adsorption and desorption process of the bionic robot fish and the target object.

[0070] In some embodiments, Figure 1 As shown, the adsorption assembly 2 of this embodiment further includes a pressure sensor 24 ; the pressure sensor 24 is disposed on the adsorption surface of the suction cup 21 , and the pressure sensor 24 is electrically connected to the negative pressure pump 22 .

[0071] Since the pressure sensor 24 is disposed on the adsorption surface of the suction cup 21, when the suction cup 21 is adsorbed on the surface of the target object, a closed adsorption space is formed between the suction cup 21 and the target object. The pressure sensor 24 is located in the adsorption space and can detect the pressure in the adsorption space.

[0072] In this way, this embodiment can control the working state of the negative pressure pump 22 according to the information detected by the pressure sensor 24, and can control the negative pressure pump 22 to stop running when the pressure in the adsorption space reaches a preset value, thereby realizing the control of the adsorption process between the bionic robot fish and the target object, and ensuring the adsorption effect of the bionic robot fish relative to the target object.

[0073] In some embodiments, Figure 3 , Figure 4 and Figure 5 As shown, in order to facilitate the control of the motion state of the first pectoral fin 32 and the second pectoral fin 33 , the first driving assembly 31 of this embodiment includes a first steering gear 311 , a second steering gear 312 , a third steering gear 313 , a first mounting seat 314 and a second mounting seat 315 .

[0074] The first servo engine 311 is connected to the first mounting seat 314 and the second mounting seat 315 respectively to drive the first mounting seat 314 and the second mounting seat 315 to rotate synchronously along the first axis; the second servo engine 312 and the third servo engine 313 are coaxially arranged along the first axis; the first mounting seat 314 is rotatably arranged at the output end of the second servo engine 312, and the second mounting seat 315 is rotatably arranged at the output end of the third servo engine 313.

[0075] The first mounting seat 314 and the first pectoral fin 32 are rotationally connected along the second axis, and a first detent pin 3121 is provided at the output end of the second servo 312, and the first detent pin 3121 is movably inserted into the first guide opening 321 on the first pectoral fin 32; when the second servo 312 rotates, the first detent pin 3121 can drive the first pectoral fin 32 to swing back and forth relative to the first mounting seat 314.

[0076] The second mounting seat 315 and the second pectoral fin 33 are rotationally connected along a third axis. A second detent pin 3131 is provided at the output end of the third servo 313. The second detent pin 3131 is movably inserted into a second guide opening 331 on the second pectoral fin 33. When the third servo 313 rotates, the second detent pin 3131 can drive the second pectoral fin 33 to swing back and forth relative to the second mounting seat 315.

[0077] The first axis of the embodiment is perpendicular to the second axis and the third axis respectively, and the second axis and the third axis are arranged in parallel. At the same time, the first deflector pin 3121 of the embodiment is arranged at an angle relative to the central axis of the second steering gear 312, and the second deflector pin 3131 is arranged at an angle relative to the central axis of the third steering gear 313.

[0078] In actual applications, since the first pectoral fin 32 is rotatably provided on the first mounting seat 314 and the second pectoral fin 33 is rotatably provided on the second mounting seat 315, the present embodiment can drive the first mounting seat 314 and the second mounting seat 315 to rotate synchronously along the first axis through the first servo 311 to achieve synchronous adjustment of the inclination angles of the first pectoral fin 32 and the second pectoral fin 33 relative to the horizontal plane, thereby synchronously adjusting the postures of the first pectoral fin 32 and the second pectoral fin 33 to change the frontal area of ​​the first pectoral fin 32 and the second pectoral fin 33 relative to the water surface.

[0079] In some examples, when the bionic robotic fish performs conventional swimming, the present embodiment can set the first pectoral fin 32 and the second pectoral fin 33 to be in a middle position, that is, the surface of the first pectoral fin 32 and the surface of the second pectoral fin 33 are both parallel to the bottom wall of the main cabin 1. This setting can reduce the water-facing area of ​​the first pectoral fin 32 and the second pectoral fin 33, thereby enabling the bionic robotic fish to obtain a higher swimming speed.

[0080] When the bionic robotic fish swims at a low speed, this embodiment can control the surface of the first pectoral fin 32 and the surface of the second pectoral fin 33 to deflect at a preset angle relative to the bottom wall of the main cabin 1. For example, the preset angle can be ±60°. This setting can increase the lateral resistance of the bionic robotic fish when swimming, making the movement of the bionic robotic fish more stable.

[0081] At the same time, the second servo 312 of the present embodiment can drive the first push pin 3121 to rotate around its rotation axis, and based on the movement of the first push pin 3121 relative to the first guide port 321, it can drive the first pectoral fin 32 to swing back and forth relative to the first mounting seat 314; accordingly, the third servo 313 of the present embodiment can drive the second push pin 3131 to rotate around its rotation axis, and based on the movement of the second push pin 3131 relative to the second guide port 331, it can drive the second pectoral fin 33 to swing back and forth relative to the second mounting seat 315.

[0082] The first guide opening 321 is disposed at the root of the first pectoral fin 32 and is extended along the chord direction of the first pectoral fin 32 ; the second guide opening 331 is disposed at the root of the second pectoral fin 33 and is extended along the chord direction of the second pectoral fin 33 .

[0083] As can be seen from the above, the above-mentioned setting method of the present application can change the frontal area of ​​the first pectoral fin 32 and the second pectoral fin 33 relative to the water surface, provide a pitch moment for the snorkeling of the bionic robot fish, and can greatly increase the maneuverability of the bionic robot fish in the startup phase by means of the up and down flapping of the first pectoral fin 32 and the second pectoral fin 33. Based on the instantaneous driving force provided by the flapping mode of the pectoral fin assembly 3, not only can the instantaneous propulsion speed of the bionic robot fish be increased and its turning radius be reduced, but also the movement modes of the bionic robot fish such as emergency stop and reverse swimming can be realized, so that the bionic robot fish has a highly maneuverable three-dimensional movement ability. Obviously, whether it is a flapping mode or a deflection mode, the pectoral fin assembly 3 of this embodiment gives the bionic robot fish a new movement mode.

[0084] In some embodiments, in order to facilitate the first servo 311 to drive the first mounting seat 314 and the second mounting seat 315 to rotate synchronously along the first axis, the first driving assembly 31 of this embodiment is further provided with a gear assembly 316 and a connecting rod 317 .

[0085] Specifically, the gear assembly 316 of this embodiment includes a first gear structure and a second gear structure; the output end of the first servo 311 is connected to the first gear structure, the first gear structure and the second gear structure are meshed, and the second gear structure is coaxially connected to the first mounting seat 314.

[0086] At the same time, the extending direction of the connecting rod 317 is parallel to the first axis, so that the connecting rod 317 is eccentrically arranged relative to the first axis; one end of the connecting rod 317 is connected to the second gear structure, and the other end is connected to the second mounting seat 315.

[0087] In this way, the first servo 311 of the present embodiment can drive the first gear structure to rotate around its central axis, so that the first gear structure drives the second gear structure to rotate. Under the transmission of the second gear structure, the connecting rod 317 can drive the first mounting seat 314 and the second mounting seat 315 to rotate synchronously along the first axis, thereby realizing synchronous adjustment of the inclination angle of the first pectoral fin 32 and the second pectoral fin 33 relative to the horizontal plane.

[0088] In some embodiments, Figure 3 , Figure 4 and Figure 6 As shown, the bionic robotic fish of this embodiment further includes a ventral fin assembly 4 .

[0089] Specifically, the ventral fin assembly 4 of the present embodiment includes a first ventral fin 42, a second ventral fin 43 and a second drive assembly 41; the second drive assembly 41 is arranged in the main cabin body 1, and the first ventral fin 42 and the second ventral fin 43 are relatively arranged on the left and right sides of the main cabin body 1, and the second drive assembly 41 is respectively connected to the first ventral fin 42 and the second ventral fin 43 to drive the first ventral fin 42 and the second ventral fin 43 to rotate relative to the main cabin body 1.

[0090] Among them, the second drive component 41 of this embodiment includes a fourth servo 411 and a fifth servo 412; the output end of the fourth servo 411 is connected to the first ventral fin 42, the fifth servo 412 is connected to the second ventral fin 43, and the rotation axis of the fourth servo 411 and the rotation axis of the fifth servo 412 intersect in the main cabin 1.

[0091] It is understandable that, along the height direction of the bionic robotic fish, the first ventral fin 42 is located on the lower side of the first pectoral fin 32, and the second ventral fin 43 is located on the lower side of the second pectoral fin 33. This makes the first ventral fin 42 and the second ventral fin 43 closer to the center of gravity of the bionic robotic fish than the first pectoral fin 32 and the second pectoral fin 33. The first ventral fin 42 and the second ventral fin 43 can be used to balance the pitch moment generated by the first pectoral fin 32 and the second pectoral fin 33 when flapping, thereby achieving adjustment of the motion mode of the bionic robotic fish.

[0092] In this way, during the swimming of the bionic robotic fish, the ventral fin assembly 4 can assist the motion form of the pectoral fin assembly 3, and the ventral fin assembly 4 can balance the unnecessary output torque generated by the pectoral fin assembly 3 during the motion process. With the assistance of the ventral fin assembly 4, the motion mode of the pectoral fin assembly 3 is more flexible and stable.

[0093] In addition, this embodiment can not only provide different degrees of pitch torque for the bionic robotic fish by matching the pectoral fin assembly 3 and the pelvic fin assembly 4, but also enrich the movement mode of the bionic robotic fish through the instantaneous driving force provided by the flapping of the pectoral fin assembly 3.

[0094] In some embodiments, Figure 1 As shown, the bionic fish tail 5 of this embodiment includes multiple driving joints, and the multiple driving joints are connected in series in sequence along the extension direction of the bionic fish tail 5, one of the multiple driving joints close to the main cabin body 1 is connected to the main cabin body 1, and one of the multiple driving joints far from the main cabin body 1 is connected to the tail fin 6.

[0095] Specifically, the driving joint of the embodiment can adopt a simulated servo, and two adjacent simulated servos are connected by an adapter. In practical applications, the embodiment can realize active bending deformation of the bionic fish tail 5 in form by controlling the rotation angle of each driving joint along the extension direction of the bionic fish tail 5. The bionic fish tail 5 can drive the tail fin 6 to swing toward the left side of the main cabin 1, and can also drive the tail fin 6 to swing toward the right side of the main cabin 1, so as to have higher maneuverability.

[0096] The bionic fish tail 5 of the present embodiment may specifically be provided with two driving joints, and the two driving joints are connected in series along the extension direction of the bionic fish tail 5 .

[0097] Based on the solution of the above embodiment, Figure 7As shown, the bionic robotic fish of this embodiment further includes a sensor component, a control component and a wireless communication module.

[0098] The sensing component and the wireless communication module are respectively connected to the control component, and the control component is respectively connected to the adsorption component 2, the pectoral fin component 3 and the bionic fish tail 5.

[0099] The sensing component includes a visual module 102, a depth sensor and an inertial measurement unit, and the wireless communication module is used for communication with a host computer.

[0100] Specifically, the control component of this embodiment includes a first circuit board and a second circuit board. The first circuit board can be equipped with a chip of model STM32F407. The depth sensor and the inertial measurement unit are respectively connected to the first circuit board. The first circuit board can control the working states of the first drive component 31 corresponding to the pectoral fin component 3, the second drive component 41 corresponding to the ventral fin component 4, and the drive joint corresponding to the bionic fish tail 5 according to the depth information collected by the depth sensor and the navigation information provided by the inertial measurement unit.

[0101] At the same time, the second circuit board of this embodiment can be equipped with a Raspberry Pi 4B processor, the visual module 102 is connected to the second circuit board, and the second circuit board and the first circuit board are connected via serial port communication.

[0102] The visual module 102 of this embodiment can be set at the top or front end of the main cabin 1. The visual module 102 can adopt an industrial camera known in the art. The second circuit board can process and identify the features of the image information collected by the visual module 102. The first circuit board can control the working states of the above-mentioned adsorption component 2, the first driving component 31 corresponding to the pectoral fin component 3, the second driving component 41 corresponding to the ventral fin component 4, and the driving joint corresponding to the bionic fish tail 5 according to the information processed by the second circuit board.

[0103] Based on the above configuration, the bionic robotic fish of this embodiment can have better perception ability and superior maneuverability underwater.

[0104] In addition, the wireless communication module of this embodiment can adopt a radio frequency communication module of model RF200, and the control component can establish a communication connection with the host computer through the wireless communication module.

[0105] In this way, when the bionic robot fish performs underwater operations, the relevant information collected by the bionic robot fish can be uploaded to the host computer through the wireless communication module; accordingly, the staff can also issue operation instructions to the bionic robot fish through the host computer to remotely control the bionic robot fish to reach the designated waters for underwater operations.

[0106] In some embodiments, Figure 1 , Figure 5 and Figure 7 As shown, the bionic robot fish of this embodiment also includes a battery assembly 101; the battery assembly 101 is arranged in the main cabin 1, and the main cabin 1 is provided with a charging port 103, at least part of the charging port 103 is exposed on the surface of the main cabin 1, and the charging port 103 and the battery assembly 101 are electrically connected.

[0107] Specifically, the battery assembly 101 of this embodiment includes multiple lithium batteries. The battery assembly 101 can provide working power for various devices built into the bionic robotic fish, and provide support for the bionic robotic fish to independently complete underwater operation tasks.

[0108] At the same time, the present embodiment can also charge the battery assembly 101 regularly through the charging port 103 to ensure that the bionic robotic fish can be reused after the power is exhausted.

[0109] Among them, the charging port 103 of this embodiment can be set at the front end of the main cabin 1. When setting the charging port 103, it is necessary to ensure the waterproof sealing between the charging port 103 and the main cabin 1.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adsorption-type bionic robotic fish, characterized in that: include: Main cabin, adsorption assembly, pectoral fin assembly, bionic fish tail and caudal fin; The main cabin, the bionic fish tail and the tail fin are connected in sequence, and the bionic fish tail can swing left and right relative to the main cabin; The adsorption assembly includes a suction cup, which is arranged on the top of the main cabin, and the suction cup can be adsorbed on the surface of the target object or detached from the surface of the target object; The pectoral fin assembly comprises a first drive assembly, a first pectoral fin and a second pectoral fin, wherein the first drive assembly is disposed in the main cabin, the first pectoral fin and the second pectoral fin are disposed on the left and right sides of the main cabin respectively, and the first drive assembly is connected to the first pectoral fin and the second pectoral fin respectively; Wherein, the first driving assembly is used to adjust the inclination angles of the first pectoral fin and the second pectoral fin relative to the horizontal plane, and to drive the first pectoral fin and the second pectoral fin to swing up and down relative to the main cabin; The first driving assembly includes a first steering gear, a second steering gear, a third steering gear, a first mounting seat and a second mounting seat; The first steering gear is connected to the first mounting seat and the second mounting seat respectively to drive the first mounting seat and the second mounting seat to rotate synchronously along the first axis; the second steering gear and the third steering gear are coaxially arranged along the first axis; the first mounting seat is rotatably arranged at the output end of the second steering gear, and the second mounting seat is rotatably arranged at the output end of the third steering gear; The first mounting seat and the first pectoral fin are rotatably connected along a second axis, and a first detent pin is provided at an output end of the second steering gear, and the first detent pin is movably inserted into a first guide opening on the first pectoral fin; when the second steering gear rotates, the first detent pin can drive the first pectoral fin to swing back and forth relative to the first mounting seat; The second mounting seat and the second pectoral fin are rotatably connected along a third axis, and a second detent pin is provided at an output end of the third steering gear, and the second detent pin is movably inserted into a second guide opening on the second pectoral fin; when the third steering gear rotates, the second detent pin can drive the second pectoral fin to swing back and forth relative to the second mounting seat; Wherein, the first axis is perpendicular to the second axis and the third axis respectively, and the second axis and the third axis are arranged in parallel; The bionic robotic fish also includes a ventral fin assembly; the ventral fin assembly includes a first ventral fin, a second ventral fin, and a second drive assembly; the second drive assembly is disposed in the main cabin, the first ventral fin and the second ventral fin are relatively disposed on the left and right sides of the main cabin, and the second drive assembly is respectively connected to the first ventral fin and the second ventral fin to drive the first ventral fin and the second ventral fin to rotate relative to the main cabin.

2. The adsorption-type bionic robotic fish according to claim 1, characterized in that: The adsorption assembly also includes a negative pressure pump and a three-way valve; The suction surface of the suction cup is provided with a suction port; the three-way valve comprises a first port, a second port and a third port, the negative pressure pump is connected to the first port, and the second port is connected to the suction port; The three-way valve has a first state and a second state; When the three-way valve is in the first state, the first port is communicated with the second port; when the three-way valve is in the second state, the third port is communicated with the second port.

3. The adsorption-type bionic robotic fish according to claim 2, characterized in that: The adsorption assembly also includes a pressure sensor; The pressure sensor is arranged on the adsorption surface of the suction cup, and the pressure sensor is electrically connected to the negative pressure pump.

4. The adsorption-type bionic robotic fish according to claim 1, characterized in that: The first drive assembly also includes a gear assembly and a connecting rod; The gear assembly comprises a first gear structure and a second gear structure; the output end of the first steering gear is connected to the first gear structure, the first gear structure and the second gear structure are meshed, and the second gear structure is coaxially connected to the first mounting seat; The extending direction of the connecting rod is parallel to the first axis, so that the connecting rod is eccentrically arranged relative to the first axis; one end of the connecting rod is connected to the second gear structure, and the other end is connected to the second mounting seat.

5. The adsorption-type bionic robotic fish according to claim 1, characterized in that: The bionic fish tail includes multiple driving joints, which are connected in series in sequence along the extension direction of the bionic fish tail. One of the multiple driving joints close to the main cabin body is connected to the main cabin body, and one of the multiple driving joints far from the main cabin body is connected to the tail fin.

6. The adsorption-type bionic robotic fish according to claim 1, characterized in that: The second driving assembly includes a fourth steering gear and a fifth steering gear; An output end of the fourth steering gear is connected to the first ventral fin, the fifth steering gear is connected to the second ventral fin, and a rotation axis of the fourth steering gear and a rotation axis of the fifth steering gear intersect in the main cabin.

7. The adsorption-type bionic robotic fish according to any one of claims 1 to 6, characterized in that: The bionic robotic fish also includes a control component, a sensor component and a wireless communication module; The sensor component and the wireless communication module are respectively connected to the control component, and the control component is respectively connected to the adsorption component, the pectoral fin component and the bionic fish tail; Among them, the sensing component includes a visual module, a depth sensor and an inertial measurement unit, and the wireless communication module is used to communicate with a host computer.

8. The adsorption-type bionic robotic fish according to any one of claims 1 to 6, characterized in that: The bionic robotic fish also includes a battery assembly; The battery assembly is disposed in the main cabin, the main cabin is provided with a charging port, at least a portion of the charging port is exposed on the surface of the main cabin, and the charging port is electrically connected to the battery assembly.

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