An electromagnetically driven fully flexible robotic fish

Abstract

The application discloses a full-flexibility machine fish driven by electromagnetism, which comprises a fish head, a fish body and a fish tail; the fish head, the fish body and the fish tail are made of flexible materials and are connected in sequence; the fish body is used for generating a periodically changed magnetic field; the fish tail swings left and right under the action of the magnetic field, and electromagnetic driving is realized; the full-flexibility machine fish driven by electromagnetism is driven by the left and right swinging of the fish tail through the generation of magnetism by the electrification of a coil, low-noise driving can be realized, the output frequency is higher than that of a motor, and the response speed is fast; the full-flexibility structure is adopted, the mass is smaller than that of other rigid or partially rigid bionic machine fish, the bionics degree is higher, the full-flexibility machine fish is suitable for deep water operation, and has a great application prospect.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to an electromagnetic driving full-flexible robot fish. BACKGROUND

[0002] In recent years, researchers have begun to focus on bionics, which can provide new ideas for researchers, and bionic fish is one of the popular research directions in this field. Real fish usually uses the propulsion method of swinging the fish tail, which has many advantages compared to the traditional underwater propeller with a propeller: 1) high propulsion efficiency; 2) high maneuverability; 3) low noise; 4) various motion forms. For this reason, researchers have researched and produced many bionic robot fish, which are usually similar in shape to real fish. These bionic robot fish can play an important role in observing marine fish resources, detecting marine resources, etc.

[0003] Most of the currently designed bionic robot fish are driven by motors, which have unavoidable defects such as large size and weight, complex structure, serious hysteresis in instantaneous response, and large noise. In addition, most of the existing research on bionic robot fish uses full-rigid or partially rigid structures, which are difficult to withstand high pressure under deep water. SUMMARY

[0004] In view of the defects of the prior art, the present application proposes the following technical solutions:

[0005] An electromagnetic driving full-flexible robot fish, comprising a fish head, a fish body and a fish tail;

[0006] The fish head, the fish body and the fish tail are all made of flexible materials and are connected in sequence.

[0007] The fish body is used to generate a periodically changing magnetic field, and the fish tail swings left and right under the action of the magnetic field to realize electromagnetic driving.

[0008] Further, the fish body comprises a fish body shell, a battery, a flexible driving circuit board and a flexible coil.

[0009] The fish body shell is a cylindrical structure with a slot on the side, a circular through hole is arranged at the plane where the fish body shell is connected with the fish tail, and the circular through hole is in communication with the cavity structure formed by the slot on the side of the fish body shell.

[0010] The flexible coil is a hollow cylindrical structure fixed inside the fish body shell, the flexible coil is coaxially arranged with the circular through hole, and the inner diameter of the flexible coil is not less than the diameter of the circular through hole.

[0011] The flexible driving circuit board and the battery are fixed inside the fish body shell, and the battery is used to supply power to the flexible driving circuit board; the flexible driving circuit board is used to convert the voltage provided by the battery into a fixed frequency positive and negative variable voltage, and then a positive and negative variable current is obtained, which is input into the flexible coil to generate a periodically changing magnetic field.

[0012] Further, the fish tail part includes a fish tail body and a flexible magnetic aggregation structure; one side of the fish tail body facing the fish body has a protruding cylindrical connector, and the flexible magnetic aggregation structure is fixed on the cylindrical connector; the flexible magnetic aggregation structure is a columnar structure with magnetism; the diameter of the flexible magnetic aggregation structure is smaller than the diameter of the circular through hole, the flexible magnetic aggregation structure extends into the interior of the flexible coil and can move axially in the flexible coil; the other side of the fish tail body facing the fish body is fixed with the fish body.

[0013] Further, the flexible driving circuit board includes a wireless control module and a positive and negative square wave generating circuit; the positive and negative square wave generating circuit is used to convert the voltage into a fixed frequency and duty cycle positive and negative square wave, and the wireless control module is used to receive the wireless signal sent by the control end and change the frequency and duty cycle of the positive and negative square wave generated by the positive and negative square wave generating circuit.

[0014] Further, the fish head part, the fish body shell and the fish tail body are flexible bodies directly printed by thermoplastic polyurethane elastomer (TPU) or thermoplastic elastomer (TPE), or cast by silicone rubber.

[0015] Further, the flexible magnetic aggregation structure is made of silicone rubber mixed with magnetic powder.

[0016] Further, the flexible coil is made of silicone rubber mixed with metal powder.

[0017] The beneficial effects of the present application are:

[0018] (1) The present application adopts electromagnetic drive, and drives the fish tail to swing left and right through the coil power generation, which can realize low noise drive, and the output frequency can be higher than that of the motor, and the response speed is fast.

[0019] (2) The present application adopts a full flexible structure, which has smaller mass and higher bionics degree compared with other rigid or partially rigid bionic robotic fish, and is suitable for deep water operation. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the full flexible robotic fish driven by electromagnetic drive of the present application.

[0021] Figure 2is a schematic diagram of a fish head structure of the electromagnetic driven full-flexible robot fish of the present application.

[0022] Figure 3 is a schematic diagram of a fish body structure of the electromagnetic driven full-flexible robot fish of the present application.

[0023] Figure 4 is a schematic diagram of a fish body shell of the present application.

[0024] Figure 5 is a circuit block diagram of the electromagnetic driven full-flexible robot fish of the present application.

[0025] Figure 6 is a schematic diagram of a fish tail structure of the electromagnetic driven full-flexible robot fish of the present application.

[0026] Figure 7 is a top view of the electromagnetic driven full-flexible robot fish of the present application when the fish tail swings right.

[0027] Figure 8 is a top view of the electromagnetic driven full-flexible robot fish of the present application when the fish tail swings left.

[0028] In the figure, fish head 1, fish body 2, fish body shell 21, battery 22, flexible driving circuit board 23, flexible coil 24, fish tail 3, fish tail body 31, flexible magnetic aggregation structure 32. DETAILED DESCRIPTION

[0029] The present application will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present application will become more apparent. The following further describes the present application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present application and are not intended to limit the present application.

[0030] As shown in Figure 1 , the electromagnetic driven full-flexible robot fish of the present application comprises fish head 1, fish body 2, and fish tail 3. Fish body 2 generates a magnetic field, and fish tail 3 swings left and right under the action of the magnetic field, thereby achieving electromagnetic driving.

[0031] As shown in Figure 2 , fish head 1 is a conical structure, and the plane where it is connected to fish body 2 has a protrusion.

[0032] As shown in Figure 3 , Figure 4As shown, the fish body 2 includes a fish body shell 21, a battery 22, a flexible driving circuit board 23, and a flexible coil 24. The fish body shell 21 is slotted on the side surface to form a cavity inside the fish body shell 21; a recess is arranged at the plane where the fish body shell 21 is connected with the fish head 1, which is used to cooperate with the protrusion of the fish head 1 to realize the connection of the fish head 1 and the fish body 2. A square recess and a circular through hole are arranged at the plane where the fish body shell 21 is connected with the fish tail 3, and the circular through hole is communicated with the cavity inside the fish body shell 21; the flexible coil 24 is a hollow cylinder, which is fixed inside the fish body shell 21 and is made of a mixture of silicone rubber and metal powder, the metal powder provides the function of electrical conductivity, and the silicone rubber provides the function of flexibility; the flexible coil 24 is coaxially arranged with the circular through hole, and the cross-sectional diameter of the circular through hole is the same as the internal cross-sectional diameter of the flexible coil 24.

[0033] The battery 22 and the flexible driving circuit board 23 are fixedly arranged at the cavity inside the fish body shell 21; the battery 22 is used to provide voltage to the flexible driving circuit board 23, and the flexible driving circuit board 23 is used to convert the voltage into positive and negative variable voltage of a certain frequency, which generates positive and negative variable current and is input into the flexible coil 24 to generate a magnetic field.

[0034] As shown in Figure 5 , the flexible driving circuit board 23 includes a wireless control module and a positive and negative square wave generating circuit, the positive and negative square wave generating circuit is used to convert the voltage into positive and negative square waves of a certain frequency and duty cycle; the wireless control module is used to receive wireless signals, and the frequency and duty cycle of the positive and negative square waves generated by the positive and negative square wave generating circuit can be changed by controlling the wireless signals emitted by the control end, so as to realize the real-time control of the running speed and direction of the fully flexible robotic fish. In this embodiment, the wireless control module is specifically selected as a Bluetooth control module.

[0035] As shown in Figure 6 , the fish tail 3 includes a fish tail body 31 and a flexible magnetic aggregation structure 32. One side of the fish tail body 31 facing the fish body 2 has a protruding cylindrical connecting head and a square protrusion.

[0036] The flexible magnetic aggregation structure 32 made of a mixture of silicone rubber and magnetic powder is fixed on the cylindrical connecting head at the front end of the right side of the fish tail body 31, the flexible magnetic aggregation structure 32 is a columnar structure with magnetism, and its diameter is slightly smaller than the diameter of the circular through hole on the fish body shell 21, the flexible magnetic aggregation structure 32 deeply enters the inside of the flexible coil 24 and can move axially (i.e. forward and backward) in the flexible coil 24. The square protrusion is located at the front end of the left side of the fish tail body 31, which cooperates with the square recess of the fish body shell 21 to realize the connection of the fish body 2 and the fish tail 3.

[0037] The fish head 1, the fish body shell 21 and the fish tail body 31 are directly printed by a flexible material such as a thermoplastic polyurethane elastomer (TPU) and a thermoplastic elastomer (TPE), or are flexible bodies poured by silicone rubber, simple to manufacture and convenient for mass production.

[0038] As shown in Figure 7 When the magnetic field generated by the current in the flexible coil 24 attracts the flexible magnetic aggregation structure 32, the flexible magnetic aggregation structure 32 moves towards the fish head 1, and since the square protrusions on the fish tail body 31 cannot move forward and backward, and the fish tail body 31 is a flexible structure, the fish tail body 31 will swing to the right.

[0039] As shown in Figure 8 When the magnetic field generated by the current in the flexible coil 24 repels the flexible magnetic aggregation structure 32, the flexible magnetic aggregation structure 32 moves towards the fish tail 3, and since the square protrusions on the fish tail body 31 cannot move forward and backward, and the fish tail body 31 is a flexible structure, the fish tail body 31 will swing to the left.

[0040] Since the flexible drive circuit board 23 generates a square wave with a certain frequency and duty cycle, the direction of the magnetic field generated in the flexible coil 24 changes periodically, so that the fish tail body 31 swings left and right periodically, realizing that the fully flexible electromagnetically driven robotic fish swims in water.

[0041] The present application drives the fish tail to swing left and right by generating a magnetic field through the coil, can realize low noise driving, and the output frequency can be higher than that of a motor, and the response speed is fast. The present application adopts a fully flexible structure, compared with the rest of the fully rigid or partially rigid biomimetic robotic fish, the mass is smaller, the degree of bionics is higher, and it is suitable for deep water operation.

[0042] Those skilled in the art can understand that the above description is only a preferred example of the application and is not intended to limit the application, although the application has been described in detail with reference to the foregoing examples, those skilled in the art can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features. Any modification, equivalent replacement, etc. within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. An electromagnetically driven, fully flexible robotic fish, characterized in that, Including the fish head, body, and tail; The fish head, body, and tail are all made of flexible material and are connected in sequence. The fish's body is used to generate a periodically changing magnetic field, and the fish's tail swings left and right under the action of the magnetic field to achieve electromagnetic drive. The fish body includes: a fish body shell, a battery, a flexible drive circuit board, and a flexible coil; The fish body shell is a cylindrical structure with grooves on the side. A circular through hole is provided at the plane where the fish body shell connects to the fish tail. The circular through hole communicates with the cavity structure formed by the grooves on the side of the fish body shell. The flexible coil is a hollow cylindrical structure that is fixed inside the fish's body shell. The flexible coil is arranged coaxially with the circular through hole, and the inner diameter of the flexible coil is not less than the diameter of the circular through hole. The flexible drive circuit board and battery are fixed inside the fish's body shell. The battery is used to supply power to the flexible drive circuit board. The flexible drive circuit board is used to convert the voltage provided by the battery into a fixed frequency positive and negative variable voltage, thereby obtaining a positive and negative variable current, which is input into the flexible coil to generate a periodically changing magnetic field.

2. The electromagnetically driven, fully flexible robotic fish according to claim 1, characterized in that, The fish tail includes a fish tail body and a flexible magnetic polymer structure; the side of the fish tail body facing the fish body has a protruding cylindrical connector, and the flexible magnetic polymer structure is fixed to the cylindrical connector. The flexible magnetic polymer structure is a magnetic columnar structure; the diameter of the flexible magnetic polymer structure is smaller than the diameter of the circular through hole, and the flexible magnetic polymer structure extends into the interior of the flexible coil and can move axially within the flexible coil; the other side of the fish tail body facing the fish body is fixed to the fish body.

3. The electromagnetically driven, fully flexible robotic fish according to claim 1, characterized in that, The flexible drive circuit board includes a wireless control module and a positive and negative square wave generation circuit. The positive and negative square wave generation circuit is used to convert voltage into positive and negative square waves with fixed frequency and duty cycle. The wireless control module is used to receive wireless signals sent by the control terminal and change the frequency and duty cycle of the positive and negative square waves generated by the positive and negative square wave generation circuit.

4. The electromagnetically driven, fully flexible robotic fish according to claim 2, characterized in that, The fish head, fish body shell, and fish tail are made by direct printing from thermoplastic polyurethane elastomer (TPU) or thermoplastic elastomer (TPE), or by casting from silicone rubber.

5. The electromagnetically driven, fully flexible robotic fish according to claim 2, characterized in that, The flexible magnetic polymer structure is made of a mixture of silicone rubber and magnetic powder.

6. The electromagnetically driven, fully flexible robotic fish according to claim 1, characterized in that, The flexible coil is made of a mixture of silicone rubber and metal powder.

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