A rope-driven X-shaped parallel structure tensegrity flexible bionic fish

Abstract

A rope-driven X-shaped parallel structure tensegrity flexible bionic fish, relating to a bionic fish. An MCU controller, a battery and a servo motor are installed in the fish head shell, a waterproof switch is installed on the top to control the MCU controller, a servo motor fixes a swing plate, a first fish body joint, a second fish body joint, a third fish body joint and a fish tail joint are arranged in sequence behind the fish head shell and wrapped with bionic fish skin, the first fish body joint and the fish tail joint are connected by two springs, the first fish body joint and the second fish body joint, the second fish body joint and the third fish body joint, and the third fish body joint and the fish tail joint are respectively hinged by an upper connecting rod and a lower connecting rod, the corresponding upper connecting rod and the lower connecting rod are arranged in an X shape, the swing plate is connected to the fish tail joint by two active drive ropes, and the tail fin is installed at the rear end of the fish tail joint through a tension joint. The shortcomings of the hinge mechanism with low rotational stiffness and inability to absorb lateral impact loads are solved, so that the swimming process of the bionic fish is more realistic and stable.

Description

Technical Field

[0001] The invention relates to a bionic fish, in particular to a rope-driven X-shaped parallel structure tensegrity flexible bionic fish, belonging to the technical field of bionic robot structures. Background Art

[0002] Most of the existing mechanical bionic fish can only rotate the tail fin or fish fin. Some bionic fish with movable bodies basically use traditional hinge mechanisms, which have low rotational stiffness and cannot absorb lateral impact loads. They cannot achieve synchronous movement of the joints of the body and the tail fin. They have low stability when moving in water and it is difficult to maintain high-frequency movement. Moreover, the simple and rigid movement method can hardly meet the needs of underwater reconnaissance and biological detection.

[0003] The invention patent application with application number CN202111502794.8 and titled “A scientific and educational underwater bionic robot fish” controls the movement of the left and right pectoral fins through the left and right pectoral fin motors, and the movement of the main body of the fish is achieved through a submersible pump. The appearance is designed to imitate the killer whale, but the joint movement form is relatively simple and rigid;

[0004] The invention patent application with application number CN202111501196.9 and name “An intelligent bionic robot fish for popular science education for teenagers and children” is easy to install and disassemble, and the mechanical structure inside the fish body can be clearly seen, but the fish body part has only one driving joint, and the movement of the tail fin is completed by only one revolute pair, and the bionic movement process is also relatively rigid.

[0005] In view of the above-mentioned defects of the bionic fish currently using traditional hinge mechanisms, there is an urgent need to optimize and improve the synchronous movement of the joints of the fish body and the tail fin in order to enhance the stability and amplitude of the movement mode and meet the needs of underwater operations and scientific and educational displays. Summary of the invention

[0006] In order to solve the shortcomings of the background technology, the present invention provides a rope-driven X-shaped parallel structure tensegrity flexible bionic fish, which can solve the shortcomings of low rotational stiffness and inability to absorb lateral impact loads of traditional hinge mechanisms, making the swimming process of bionic fish more realistic and stable, and has good application value.

[0007] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a rope-driven X-shaped parallel structure tensegrity integral flexible bionic fish, comprising a fish head shell, a first fish body joint, a second fish body joint, a third fish body joint, a fish tail joint, a tail fin and a bionic fish skin, the rear end of the fish head shell is closed by a bracket plate and an MCU controller, a battery as a power source and a servo motor controlled by the MCU controller to reciprocate and rotate forward and backward are fixedly installed inside the fish head shell, a waterproof switch is installed on the top of the fish head shell to control the opening or closing of the MCU controller, a pendulum plate is fixed on the output shaft of the servo motor and is located in the middle position of the fish head shell and can swing back and forth, the first fish body joint, the second fish body joint, the third fish body joint and the fish tail joint are arranged in sequence at intervals behind the fish head shell and are wrapped with a bionic fish skin. Raw fish skin, the front end of the bionic fish skin is sealed and fixed to the edge of the support plate, the first fish body joint and the left and right sides of the middle of the fish tail joint are connected by two springs arranged horizontally in parallel, the middle sections of the two springs penetrate the second fish body joint and the third fish body joint, the first fish body joint and the second fish body joint, the second fish body joint and the third fish body joint, and the third fish body joint and the fish tail joint are respectively hinged by upper connecting rods and lower connecting rods arranged horizontally and obliquely above and below the two springs, and the upper connecting rods and the lower connecting rods corresponding to each upper and lower part are arranged in an X shape, the two ends of the wobble plate are connected to the left and right sides of the front end of the fish tail joint by two active driving ropes arranged in parallel, a through hole for the active driving rope to extend out is provided at the corresponding position of the support plate, and the tail fin is installed at the rear end of the fish tail joint through a tensioning joint.

[0008] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention connects the fish body joints through two springs combined with an upper connecting rod and a lower connecting rod arranged in an X shape, and the servo motor drives the swing plate to swing, and realizes the swing of the fish body and the fish tail through two active drive ropes. The left and right of the fish body joints are equivalent to a revolute pair, and each joint can rotate with the previous section as the base point, which solves the shortcomings of the traditional hinge mechanism with low rotational stiffness and inability to absorb lateral impact loads, making the swimming process of the bionic fish more realistic and stable, and the locking sleeves are arranged between the first fish body joint, the second fish body joint and the third fish body joint to lock and fix the corresponding positions of the active drive ropes, thereby adjusting the swing position of the bionic fish and simulating the swimming forms of more fish. In addition, the swing frequency of the pendulum plate and the swimming speed of the bionic fish can be controlled. The product is stable and reliable as a whole, and can not only be equipped with a camera to perform underwater survey tasks, but also can be used as a teaching aid to simulate the mechanism of fish swimming for various forms of scientific and educational demonstrations, and has good application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is an axonometric diagram of the overall structure of the rope-driven X-shaped parallel structure tensegrity flexible bionic fish of the present invention;

[0010] Figure 2It is a schematic diagram of the internal structure of the rope-driven X-shaped parallel structure tensegrity flexible bionic fish of the present invention;

[0011] Figure 3 yes Figure 1 A sectional view in the main viewing direction;

[0012] Figure 4 yes Figure 1 A cross-sectional view in the top direction;

[0013] Figure 5 It is a connection structure diagram of the caudal fin and the fish tail joint of the present invention;

[0014] Figure 6 It is a spatial arrangement diagram of eight elastic connecting ropes of the tension joint of the present invention;

[0015] Figure 7 yes Figure 6 Schematic diagram of the limiting direction of the elastic connecting rope. DETAILED DESCRIPTION

[0016] The technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0017] like Figure 1 to Figure 4 As shown, a rope-driven X-shaped parallel structure tensegrity integral flexible bionic fish comprises a fish head shell 1, a first fish body joint 4, a second fish body joint 6, a third fish body joint 7, a fish tail joint 8, a tail fin 9 and a bionic fish skin 17.

[0018] Combination Figure 2 to Figure 4 As shown, the rear end of the fish head shell 1 is closed by a bracket plate 3 and an MCU controller 14, a battery 15 and a servo motor 16 are fixedly installed inside the fish head shell 1. The battery 15 is used as a power source to power the MCU controller 14 and the servo motor 16. A waterproof switch 2 is installed on the top of the fish head shell 1 to control the opening or closing of the MCU controller 14, and the servo motor 16 is controlled by the MCU controller 14 to reciprocate forward and reverse, and a wobble plate is fixed on the output shaft of the servo motor 16 to achieve the left and right reciprocating swing of the wobble plate, and the wobble plate is located in the middle position inside the fish head shell 1. Preferably, the swing angle of the wobble plate is ±30°. In addition, in order to further control the swimming speed of the bionic fish, an electric regulator is preferably added between the MCU controller 14 and the servo motor 16, and the MCU controller 14 is equipped with a remote controller. When the MCU controller 14 is turned on, the remote controller can change the current of the servo motor 16 through the electric regulator to achieve the change of the swing frequency of the wobble plate.

[0019] Combination Figure 1-2 As shown, the first fish body joint 4, the second fish body joint 6, the third fish body joint 7 and the fish tail joint 8 are arranged in sequence and spaced apart behind the fish head shell 1 and wrapped with bionic fish skin 17, and the front end of the bionic fish skin 17 is sealed and fixed to the edge of the bracket plate 3.

[0020] Combination Figure 2 , Figure 4 As shown, the first fish body joint 4 and the left and right sides of the middle of the fish tail joint 8 are connected by two springs 12 arranged horizontally in parallel, and the middle sections of the two springs 12 penetrate the second fish body joint 6 and the third fish body joint 7. The upper and lower parts of the two springs 12 are respectively hinged by the upper connecting rod 5 and the lower connecting rod 11 arranged horizontally and tilted between the first fish body joint 4 and the second fish body joint 6, between the second fish body joint 6 and the third fish body joint 7, and between the third fish body joint 7 and the fish tail joint 8, and the upper and lower parts of the two springs 12 are respectively hinged by the upper connecting rod 5 and the lower connecting rod 11 arranged horizontally and tilted, and the upper connecting rod 5 and the lower connecting rod 11 corresponding to each other are arranged in an X shape. The two ends of the wobble plate are connected to the left and right sides of the front end of the fish tail joint 8 by two active driving ropes 18 arranged in parallel, and the corresponding positions of the bracket plate 3 are provided with through holes for the active driving ropes 18 to extend out.

[0021] Furthermore, locking sleeves 13 are integrally provided inwardly at the middle positions on the left and right sides of the first fish body joint 4, the second fish body joint 6 and the third fish body joint 7, and the locking sleeves 13 are respectively penetrated in the front-back direction to allow the corresponding active drive ropes 18 to pass through through holes, and the outer ends of the locking sleeves 13 are threadedly connected with fastening bolts to lock and fix the corresponding active drive ropes 18. This structural form can selectively fix the active drive ropes 18 to the first fish body joints 4, the second fish body joints 6 and the third fish body joints 7, thereby adjusting the swinging position of the bionic fish and simulating the swimming forms of more fish.

[0022] Combination Figure 5-6 As shown, the tail fin 9 is installed at the rear end of the fishtail joint 8 through a tensioning joint 19. Specifically, the tensioning joint 19 includes two U-shaped connectors fixed at the rear end of the fishtail joint 8 and the front end of the tail fin 9 respectively. The two U-shaped connectors are arranged vertically and cross-arranged oppositely. The two ends of the openings of the two U-shaped connectors and the two ends of the opening of each U-shaped connector and the middle section of the other U-shaped connector are connected respectively by a total of 8 elastic connecting ropes 20, and the design of the elastic connecting ropes 20 can avoid the problem of rust caused by long-term contact with water of traditional hinges.

[0023] Detailed combination Figure 6 As shown, the tension joint 19 has a total of 6 holes at both ends and the middle section of the two U-shaped connecting pieces (which can also be moved outward to the fishtail joint 8 and the tail fin 9 accordingly). Figure 6The three dotted line arrangements are inserted into and fixed with a total of 8 elastic connecting ropes 20 to form a complete tensioning mechanism. Figure 7 As shown, it can be seen Figure 6 The eight elastic connecting ropes 20 have corresponding limiting functions.

[0024] In order to realize the connection of the upper connecting rod 5 and the lower connecting rod 11 to the first fish body joint 4, the second fish body joint 6, the third fish body joint 7 and the tail joint 8, the pins are pre-installed at the corresponding hinge points. The positions of the first fish body joint 4, the second fish body joint 6, the third fish body joint 7 and the tail joint 8 for installing the pins are respectively integrated with limiting sleeves that cooperate with the upper and lower ends of the pins. It is advisable to install a waterproof plug 10 at the outer end of the limiting sleeve to prevent the pin from rusting.

[0025] The bionic fish of the present invention is designed with bluefin tuna as a sample. The overall size of the fish body is small, with a total length of about 35 cm. The bionic effect is better among 0.5 m-level fish. The bionic fish skin adopts transparent TPU fish skin to show the movement principle of the internal mechanism in detail. The driving form adopts single servo motor drive, and the driving circuit is more concise and convenient. The camera can be accommodated inside the fish head to facilitate underwater survey tasks. The movement form is more flexible and changeable, and the performance is excellent. Not only can the swing frequency of the fish tail be controlled to improve the swimming efficiency, but also the swing position can be adjusted by fixing different joints and driving ropes, so that it is convenient to use it as a teaching tool to simulate the mechanism of fish swimming for various forms of scientific and educational demonstrations.

[0026] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other forms of assembly without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0027] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A rope-driven X-shaped parallel structure tensegrity flexible bionic fish, characterized by: The fish head shell (1) comprises a fish head shell (1), a first fish body joint (4), a second fish body joint (6), a third fish body joint (7), a fish tail joint (8), a tail fin (9) and a bionic fish skin (17). The rear end of the fish head shell (1) is closed by a bracket plate (3) and an MCU controller (14), a battery (15) as a power source and a servo motor (16) controlled by the MCU controller (14) to reciprocate and rotate forward and backward are fixedly installed inside the fish head shell (1). A waterproof switch (2) is installed on the top of the fish head shell (1) to control the opening or closing of the MCU controller (14). The output shaft of the servo motor (16) is fixed with a swing plate located in the middle position of the fish head shell (1) and can swing back and forth. The first fish body joint (4), the second fish body joint (6), the third fish body joint (7) and the fish tail joint (8) are arranged in sequence at intervals behind the fish head shell (1) and are wrapped with the bionic fish skin (17). The front end of the bionic fish skin (17) is connected to the bracket plate (3). The edges are sealed and fixed, and the left and right sides of the middle of the first fish body joint (4) and the fish tail joint (8) are connected by two springs (12) arranged horizontally in parallel, and the middle sections of the two springs (12) penetrate the second fish body joint (6) and the third fish body joint (7), and the upper and lower parts of the two springs (12) are located between the first fish body joint (4) and the second fish body joint (6), between the second fish body joint (6) and the third fish body joint (7), and between the third fish body joint (7) and the fish tail joint (8). The two sides are respectively hinged by an upper connecting rod (5) and a lower connecting rod (11) which are arranged horizontally and tilted, and the upper connecting rod (5) and the lower connecting rod (11) corresponding to each other are arranged in an X shape, and the two ends of the swing plate are connected to the left and right sides of the front end of the fishtail joint (8) through two active driving ropes (18) arranged in parallel, and a through hole for the active driving rope (18) to extend out is provided at a corresponding position of the bracket plate (3), and the tail fin (9) is installed at the rear end of the fishtail joint (8) through a tension joint (19).

2. The rope-driven X-shaped parallel structure tensegrity flexible bionic fish according to claim 1, characterized in that: An electric regulator is provided between the MCU controller (14) and the servo motor (16), and the MCU controller (14) is equipped with a remote controller. When the MCU controller (14) is turned on, the remote controller can be used to change the current of the servo motor (16) through the electric regulator, thereby achieving a change in the swing frequency of the wobble plate.

3. A rope-driven X-shaped parallel structure tensegrity flexible bionic fish according to claim 1 or 2, characterized in that: The first fish body joint (4), the second fish body joint (6) and the third fish body joint (7) are respectively provided with locking sleeves (13) inwardly and integrally in the middle positions on the left and right sides. The locking sleeves (13) are respectively provided with through holes penetrating in the front-to-back direction for the corresponding active driving ropes (18) to pass through. The outer ends of the locking sleeves (13) are threadedly connected with fastening bolts to lock and fix the corresponding active driving ropes (18).

4. The rope-driven X-shaped parallel structure tensegrity flexible bionic fish according to claim 1, characterized in that: The tension joint (19) comprises two U-shaped connectors respectively fixed to the rear end of the fishtail joint (8) and the front end of the tail fin (9), the two U-shaped connectors being arranged in a vertically cross-arranged relationship, and the two ends of the openings of the two U-shaped connectors and the two ends of the openings of each U-shaped connector and the middle section of another U-shaped connector being connected by a total of 8 elastic connecting ropes (20).

5. The rope-driven X-shaped parallel structure tensegrity flexible bionic fish according to claim 1, characterized in that: The swing angle of the swing plate is ±30°.

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