A biomimetic robotic fish

Abstract

A bionic robotic fish belongs to the technical field of bionic robots. The upper left cover of the fish head is hingedly connected to the main body of the fish head, and the upper right cover of the fish head is hingedly connected to the main body of the fish head. The upper left cover of the fish head and the upper right cover of the fish head are connected by magnetic adsorption. The first upper half and the first lower half are bolted together through four first connectors, second connectors, third connectors, and fourth connectors with different curvatures. The second upper half and the second lower half are bolted together through four fifth connectors, sixth connectors, seventh connectors, and eighth connectors with different curvatures. The main body of the fish head, the first fish body device, the second fish body device, and the fish tail are connected in sequence. The second fish body device is bolted to the fish tail. In the present invention, the steering gear controls the swing of the fish body through the action of the connecting rod, and can realize the movement of controlling the angles of two joints with a single steering gear. The structure of the present invention is simple and has a realistic bionic effect.

Description

Technical Field

[0001] The present invention belongs to the technical field of bionic robots, and particularly relates to a bionic robotic fish. Background Art

[0002] In history, people have never stopped bionics research on fish. In 1994, the Massachusetts Institute of Technology in the United States successfully developed a bionic fish based on tuna, which can be regarded as the world's first truly bionic fish. The bionic fish is about 1.2 meters long and uses a DC servo motor to provide power. Subsequently, people have become more and more interested in bionic fish and have developed various structures of bionic robotic fish. The G9 bionic fish developed by the University of Essex in the UK uses a multi-motor and multi-joint tail structure to achieve driving. The bionic fish developed by the German company Festo relies on ventral fins to move forward. The Beijing University of Aeronautics and Astronautics in China has developed the SPC series of bionic fish, which can monitor the marine water quality for a long time. The Shenyang Institute of Automation of the Chinese Academy of Sciences has developed a bionic robotic fish model with two joints. The Department of Mechanics and Engineering Science of Peking University has developed a bionic dolphin prototype. The research on bionic fish at home and abroad is endless. However, at present, the trunk skeletons and their swinging devices of bionic robotic fish at home and abroad are complex and the manufacturing cost is high. Summary of the Invention

[0003] In order to solve the above problems, the present invention provides a bionic robotic fish, including a fish head main body, an upper left fish head cover, and an upper right fish head cover. The upper left fish head cover is hingedly connected to the fish head main body, and the upper right fish head cover is hingedly connected to the fish head main body. The upper left fish head cover and the upper right fish head cover are connected by magnetic adsorption. The bionic robotic fish further includes a first fish body device and a second fish body device. The first fish body device includes a first upper half body and a first lower half body. The first lower half body is connected to the fish head main body, and the first upper half body is connected to the upper left fish head cover and the upper right fish head cover. The first upper half body and the first lower half body are bolted together by first, second, third, and fourth connectors with different curvatures. The second fish body device includes a second upper half body and a second lower half body. The second upper half body and the second lower half body are bolted together by fifth, sixth, seventh, and eighth connectors with different curvatures. The fish head main body, the first fish body device, the second fish body device, and the fish tail are connected in sequence. The second fish body device is bolted to the fish tail. The first lower half body and the second lower half body are movably connected, and the second upper half body and the first upper half body are movably connected.

[0004] The beneficial effects of the present invention are as follows: The bionic fish of the present invention is secondarily connected through the fixing plate and the notch. Instead of restricting the displacement of each part, on the contrary, each part can perform a cycloid motion with a certain point as the center along the previous part. The servo motor controls the swing of the fish body through the connecting rod. Compared with the current control of a single joint angle movement by a connecting rod and the control of multiple joint angle movements by multiple servo motors, the servo motor controls the swing of the fish body through the connecting rod, which can achieve the control of double joint angle movements by a single servo motor. The structure is simple and has a realistic bionic effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Figure 1 is a schematic diagram showing the overall appearance of the present invention;

[0006] Figure 2 is a schematic diagram showing the structure of the fish head opened of the present invention;

[0007] Figure 3 is a schematic diagram showing the structure of the floating and sinking drive device of the present invention;

[0008] Figure 4 is a schematic diagram showing the structure of the fish body swing device of the present invention;

[0009] Figure 5 is a schematic diagram showing the sealing structure;

[0010] Figure 6 is a schematic diagram showing the floating and sinking gas exchange structure;

[0011] Figure 7 is a schematic diagram showing the left swing structure of the fish body;

[0012] Figure 8 is a schematic diagram showing the right swing structure of the fish body;

[0013] Figure 9 is a schematic diagram showing the structure of the inner fixing member 9;

[0014] Figure 10 is a schematic diagram showing the structure of the second fixing member 17;

[0015] Figure 11 is a schematic diagram showing the structure of the first lower half body 3;

[0016] Figure 12 is a schematic diagram showing the structure of the second upper half body 6;

[0017] Figure 13 is a schematic diagram showing the connection structure between the first lower half body and the second lower half body;

[0018] Figure 14 is a schematic diagram showing the partial structure of the swing device Figure 1 ;

[0019] Figure 15 is a schematic diagram showing the partial structure of the swing device Figure 2 。

[0020] Among them, the reference numerals are as follows:

[0021] 1. Fish head main body, 2. Upper cover of the left fish head, 3. First lower half body, 4. Second lower half body, 5. Fish tail, 6. Second upper half body, 7. First upper half body, 8. Upper cover of the right fish head, 81. Dial ring, 9. First fixing member, 10. Servo disk, 11. Servo, 12. First spur gear, 13. Syringe, 14. Second spur gear, 15. First connecting member, 16. Middle plate, 17. Second fixing member, 18. End plate, 19. Second connecting member, 20. Fifth connecting member, 21. Sixth connecting member, 22. Seventh connecting member, 23. Link one, 24. Link two, 251. First slide rail, 252. Second slide rail, 26. Link fixing plate, 27. Second servo, 271. Second servo disk, 28. Support member two, 29. Support member, 30. Third connecting member, 31. Sealing cover, 32. Sealing cabin box, 33. Flexible catheter, 34. Airbag, 35. Shaft, 36. Eighth connecting member, 37. Fourth connecting member. Detailed implementation manners

[0022] Embodiment 1

[0023] A bionic robotic fish, as Figures 1 - 15 shown, includes a fish head main body 1, an upper cover of the left fish head 2, and an upper cover of the right fish head 8. The upper cover of the left fish head 2 is hinged to the fish head main body 1, the upper cover of the right fish head 8 is hinged to the fish head main body 1, and the upper cover of the left fish head 2 and the upper cover of the right fish head 8 are connected by magnetic adsorption. It also includes a first fish body device and a second fish body device. The first fish body device includes a first upper half body 7 and a first lower half body 3. The first lower half body 3 is connected to the fish head main body 1, and the first upper half body 7 is connected to the upper cover of the left fish head 2 and the upper cover of the right fish head 8. The first upper half body 7 and the first lower half body 3 are bolted together through first connecting members 15, second connecting members 19, third connecting members 30, and fourth connecting members 37 with different curvatures. The second fish body device includes a second upper half body 6 and a second lower half body 4. The second upper half body 6 and the second lower half body 4 are bolted together through fifth connecting members 20, sixth connecting members 21, seventh connecting members 22, and eighth connecting members 36 with different curvatures. The fish head main body 1, the first fish body device, the second fish body device, and the fish tail 5 are connected in sequence. The second fish body device is bolted to the fish tail 5. The first lower half body 3 and the second lower half body 4 are movably connected, and the second upper half body 6 and the first upper half body 7 are movably connected.

[0024] Among them, a floating and sinking drive device is arranged in the front cavity of the fish head main body 1. The floating and sinking drive device includes a dial ring 81, a first fixing member 9, a steering gear disc 10, a steering gear 11, a first spur gear 12, a syringe 13, a second spur gear 14, and a shaft 35. One end of the first fixing member 9 is connected to the fish head main body 1 by bolts. The steering gear 11 for controlling floating and sinking is fixed in the front notch at one end of the first fixing member 9. The steering gear disc 10 is connected to the steering gear 11. The first spur gear 12 is fixed on the steering gear disc 10. The first spur gear 12 meshes with the second spur gear 14. The second spur gear 14 is fixedly sleeved on the shaft 35. Two dial rings 81 are fixedly sleeved on the shaft 35. The two dial rings 81 are fixedly connected to the piston of the syringe 13.

[0025] Among them, the syringe 13 is connected to an airbag 34 placed in the second fish body device through a flexible conduit 33.

[0026] Among them, a swinging device is arranged in the first fish body device. The swinging device includes a middle plate 16, a second fixing member 17, an end plate 18, a connecting rod one 23, a connecting rod two 24, a connecting rod fixing plate 26, a second steering gear 27, a support member two 28, and a support member 29. The second fixing member 17 for fixing the second steering gear 27 is connected to the other end of the first fixing member 9 by bolts. One end of the middle plate 16 is connected to the first lower half body 3 by bolts. The other end of the middle plate 16 is movably connected to the fish head main body 1. The second fixing member 17 is fixed on the middle plate 16. The second fixing member 17 is bolted to the connecting rod fixing plate 26 through three support members 29. A through hole through which the second steering gear disc 271 passes is arranged on the connecting rod fixing plate 26. The connecting rod fixing plate 26 is fixedly provided with a support member two 28. The support member two 28 is movably connected to one end of the connecting rod two 24. The second steering gear 27 is fixedly connected to one end of the connecting rod one 23 through the second steering gear disc 271. A first slide rail 251 is arranged on the connecting rod one 23. The first slide rail 251 is movably connected to a cylindrical rod fixedly provided at the other end of the connecting rod two 24. A second slide rail 252 is arranged inside the upper part above the second upper half body 6. The cylindrical rod fixedly provided at the other end of the connecting rod one 23 is connected to the second slide rail 252. One end of the end plate 18 is movably connected to the first lower half body 3. The other end of the end plate 18 is fixedly connected to the second lower half body 4.

[0027] Among them, a sealed cabin box 32 is arranged in the cavities of the fish head main body 1, the left upper cover 2 of the fish head, and the right upper cover 8 of the fish head. The sealed cabin box 32 is connected to a sealing cover 31. The sealed cabin box 32 is fixedly connected to the groove on the first fixing member 9. A circuit board and a battery are arranged on the first fixing member 9.

[0028] Such as Figure 1, the overall shape of the fish head consists of three parts: the fish head main body 1, the left upper cover 2 of the fish head, and the right upper cover 8 of the fish head. The fish head main body 1, the left upper cover 2 of the fish head, and the right upper cover 8 of the fish head are connected by hinges added at the square positions in the figure. The left upper cover 2 of the fish head and the right upper cover 8 of the fish head are then adsorbed together by magnets glued in the middle. The first fish body device is composed of the first upper half 7 and the first lower half 3, and is connected by bolts Figure 4 in 15, 19, 30, 37 of the connecting pieces. The second fish body device is composed of the second upper half 6 and the second lower half 4, and is connected by bolts Figure 4 in 20, 21, 22, 36 of the connecting pieces. The tail is then fixed to the second fish body device with bolts.

[0029] In Figure 3 , the first fixing piece 9 in the fish head is connected to the fish head main body by bolts. The servo 11 that controls the sinking and floating drive is fixed in the front notch of the first fixing piece 9. The servo disc 10 is connected to the servo. The first spur gear 12 is fixed on the servo disc and then meshes with the second spur gear 14. The second spur gear 14 is sleeved on the shaft 35 and abuts against it. Two retaining rings 81 are sleeved on the shaft 35 and are facing the syringe 13. One end of the syringe piston is fixed to the retaining ring. The servo 11 drives the first spur gear 12 and the second spur gear 14 to rotate, thereby driving the retaining ring 81 to rotate, realizing the telescopic movement of the syringe piston. The syringe passes through Figure 6 the flexible catheter 33 to exchange gas with the airbag 34 placed in the second fish body device, thereby changing the center of gravity, and achieving the purpose of sinking and floating under the action of the tail swing propulsion. When the airbag 34 is large, it sinks. The tail is light and the head is heavy, so it swims obliquely downward. To swim upstream, the head is light and the tail is heavy, and the volume of the airbag 34 becomes smaller.

[0030] In Figure 4In it, the second fixing member 17 for fixing the second servo 27 is bolted to the first fixing member 9. A hole is left at the middle position near the front of the second fixing member 17 and bolted to the middle hole of the middle plate 16. The holes around the U-shaped part of the middle plate 16 correspond to the holes of the first lower half body 3 of the first fish body device one by one and are then bolted. The second fixing member is bolted to the link fixing plate 26 through three support members 29. The second servo 27 is connected to the link one 23 through a servo disc. One end of the link two 24 is connected by adding a support member two 28 bolt and a self-locking nut in the middle of the link fixing plate 26. When fixing, a small distance is given so that it is not fixed rigidly, allowing the link two 24 to rotate freely. The other end hole of the link two 24 cooperates with the notch of the link one 23. A bolt passes through the notch of the link two 24 and the link one 23 downward from the guide rail provided in the first upper half body 7 and is fixed with a self-locking nut. When cooperating, it is not necessary to top it dead and a small distance is given so that it can rotate freely. The other end of the link one 23 is fixed to the guide rail provided in the second upper half body 6 through a bolt and fixed with a self-locking nut. When cooperating, it is not necessary to top it dead and a small distance is given so that it can rotate freely. One end of the end plate 18 is bolted to the lower part of the first fish body device 3 through a hole. Instead of limiting the displacement of each part, on the contrary, each part can perform a cycloid motion around a certain point along the previous part. Figure 5 The sealed cabin box 32 is connected to the sealed cover 31. The protruding part of the lower part of the sealed cabin box 32 is fixed to the upper groove of the main part of the first fixing member 9 to achieve the connection.

[0031] As mentioned above, only the preferred specific embodiments of the present invention are described, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and its concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A bionic robotic fish, characterized in that, It includes a fish head main body (1), a left upper cover of the fish head (2), and a right upper cover of the fish head (8). The left upper cover of the fish head (2) is connected to the fish head main body (1) by a hinge, and the right upper cover of the fish head (8) is connected to the fish head main body (1) by a hinge. The left upper cover of the fish head (2) and the right upper cover of the fish head (8) are connected by magnetic adsorption. It also includes a first fish body device and a second fish body device. The first fish body device includes a first upper half body (7) and a first lower half body (3). The first lower half body (3) is connected to the fish head main body (1), and the first upper half body (7) is connected to the left upper cover of the fish head (2) and the right upper cover of the fish head (8). The first upper half body (7) and the first lower half body (3) are bolted together by first connectors (15), second connectors (19), third connectors (30), and fourth connectors (37) with different curvatures. The second fish body device includes a second upper half body (6) and a second lower half body (4). The second upper half body (6) and the second lower half body (4) are bolted together by fifth connectors (20), sixth connectors (21), seventh connectors (22), and eighth connectors (36) with different curvatures. The fish head main body (1), the first fish body device, the second fish body device, and the fish tail (5) are connected in sequence. The second fish body device is bolted to the fish tail (5). The first lower half body (3) and the second lower half body (4) are movably connected, and the second upper half body (6) and the first upper half body (7) are movably connected. A swing device is provided in the first fish body device. The swing device includes a middle plate (16), a second fixing member (17), an end plate (18), a first connecting rod (23), a second connecting rod (24), a connecting rod fixing plate (26), a second servo motor (27), a second support member (28), and a support member (29). The second fixing member (17) for fixing the second servo motor (27) is bolted to the other end of the first fixing member (9). One end of the middle plate (16) is bolted to the first lower half body (3), and the other end of the middle plate (16) is movably connected to the fish head main body (1). The second fixing member (17) is fixed on the middle plate (16). The second fixing member (17) is bolted to the connecting rod fixing plate (26) through three support members (29). A through hole through which the second servo motor disk (271) passes is provided on the connecting rod fixing plate (26). The connecting rod fixing plate (26) is fixedly provided with a second support member (28). The second support member (28) is movably connected to one end of the second connecting rod (24). The second servo motor (27) is fixedly connected to one end of the first connecting rod (23) through the second servo motor disk (271). A first slide rail (251) is provided on the first connecting rod (23). The first slide rail (251) is movably connected to a cylindrical rod fixedly provided at the other end of the second connecting rod (24). A second slide rail (252) is provided inside the upper part of the second upper half body (6). The cylindrical rod fixedly provided at the other end of the first connecting rod (23) is connected to the second slide rail (252). One end of the end plate (18) is movably connected to the first lower half body (3), and the other end of the end plate (18) is fixedly connected to the second lower half body (4).

2. The bionic robotic fish according to claim 1, characterized in that, A sinking and floating driving device is arranged in the front cavity of the fish head main body (1). The sinking and floating driving device comprises a dial ring (81), a first fixing member (9), a steering gear disc (10), a steering gear (11), a first spur gear (12), a syringe (13), a second spur gear (14), and a shaft (35). One end of the first fixing member (9) is connected to the fish head main body (1) by bolts. The steering gear (11) for controlling sinking and floating is fixed in the front notch at one end of the first fixing member (9). The steering gear disc (10) is connected to the steering gear (11). The first spur gear (12) is fixed on the steering gear disc (10). The first spur gear (12) is meshed and connected with the second spur gear (14). The second spur gear (14) is fixedly sleeved on the shaft (35). Two dial rings (81) are fixedly sleeved on the shaft (35). Both of the two dial rings (81) are fixedly connected to the piston of the syringe (13).

3. The bionic robotic fish according to claim 2, characterized in that, The syringe (13) is connected to an airbag (34) placed in the second fish body device through a flexible conduit (33).

4. The bionic robotic fish according to claim 1, characterized in that, A sealed cabin box (32) is arranged in the cavities of the fish head main body (1), the upper left fish head cover (2), and the upper right fish head cover (8). The sealed cabin box (32) is connected to a sealed cover (31). The sealed cabin box (32) is fixedly connected to a groove on the first fixing member (9). A circuit board and a battery are arranged on the first fixing member (9).

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