A robotic fish with multi-directional servo tail fins

Abstract

The application discloses a robotic fish with a multi-directional follow-up tail fin, which comprises a head module, a tail module and a driving module, the tail module is connected with the head module, the tail module comprises an active section, a follow-up section and a follow-up tail fin part, the driving module is arranged in the head module, the driving module comprises a swing mechanism for driving the active section to move, the swing mechanism drives the active section to move, the follow-up section is connected with the active section, the active section drives the follow-up section to move, the follow-up section swings under the action of inertia and water flow, the follow-up tail fin part is arranged on the follow-up section, the follow-up tail fin part can rotate relative to the follow-up section, the follow-up tail fin part can swing towards any direction in space under the driving of the active section and the follow-up section, the follow-up tail fin part can automatically adjust the swing direction in water, and the robotic fish is provided with power in any direction, so that the robotic fish can swim in any direction in space without speed, and the flexibility and maneuverability of the robotic fish are improved.

Description

Technical Field

[0001] This invention relates to the field of underwater robots, and in particular to a robotic fish with a multi-directional servo tail fin. Background Technology

[0002] The ocean is rich in energy and biological resources, and developing these resources is crucial for sustainable human development. Due to the high risks involved in underwater operations, the development of underwater robots has garnered significant attention. Existing robotic fish often rely on the coordinated use of their tail and pectoral fins, or the tail in conjunction with buoyancy control devices, to achieve three-dimensional movement. This involves complex control algorithms, and current solutions require a certain swimming speed for surfacing and diving using only the pectoral fins, resulting in limited flexibility. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a robotic fish with a multi-directional servo tail fin capable of directly surfacing and diving.

[0004] A robotic fish with a multi-directional follow-up tail fin according to a first aspect embodiment of the present invention includes a head module;

[0005] The tail module is connected to the head module. The tail module includes an active section, a follower section, and a follower tail fin. The follower tail fin is disposed on the follower section and is connected to the active section. The follower tail fin can rotate relative to the follower section to adjust its direction.

[0006] A drive module is disposed within the head module, and the drive module includes a swing mechanism for driving the active segment to move.

[0007] According to a first aspect of the present invention, a robotic fish with a multi-directional follow-up tail fin has at least the following beneficial effects: The robotic fish with a multi-directional follow-up tail fin of the present invention includes a head module, a tail module, and a drive module. The tail module is connected to the head module and includes an active segment, a follower segment, and a follower tail fin. The drive module is disposed within the head module and includes a swing mechanism for driving the active segment to move. The swing mechanism drives the active segment to move. The follower segment is connected to the active segment and the active segment drives the follower segment to move. The follower segment swings under the action of inertia and water flow. The follower tail fin is disposed on the follower segment and can rotate relative to the follower segment. The follower tail fin can swing in any direction in space under the drive of the active segment and the follower segment, automatically adjusting the swing direction in water, providing power in any direction for the robotic fish, enabling the robotic fish to swim in any direction in space without speed, thereby improving the flexibility and maneuverability of the robotic fish.

[0008] According to some embodiments of the present invention, the head module includes a head body and a dorsal fin disposed on the head body, and the dorsal fin is provided with a signal light.

[0009] According to some embodiments of the present invention, a camera and a power supply assembly are further disposed within the head body, and the head body is made of a transparent material.

[0010] According to some embodiments of the present invention, the follower tail fin includes a tail fin, a tail fin retainer, and a tail fin bearing retainer. The tail fin is disposed on the tail fin retainer, and the tail fin retainer is disposed on the follower section via the tail fin bearing retainer. The tail fin retainer is rotatable relative to the follower section.

[0011] According to some embodiments of the present invention, the active segment includes several fish tail joints and a rubber rod disposed in the middle of the fish tail joint. The fish tail joint includes an annular outer frame and a support column disposed in the outer frame. The support column includes a vertical support column and a horizontal support column.

[0012] According to some embodiments of the present invention, the swing mechanism includes a horizontal swing component and a vertical swing component. The horizontal swing component includes a first motor, a first turntable disposed on the first motor, and a first pull wire fixed on the first turntable. The first pull wire passes through the horizontal support column and is connected to the follower section. The vertical swing component includes a second motor, a second turntable disposed on the second motor, and a second pull wire fixed on the second turntable. The second pull wire passes through the vertical support column and is connected to the follower section.

[0013] According to some embodiments of the present invention, the head module is provided with a mounting plate and a base plate, the base plate is provided with a mounting groove, the horizontal swinging component is provided on the base plate, and the vertical swinging component is provided in the mounting groove.

[0014] According to some embodiments of the present invention, the fish tail joint includes a first fish tail joint, a second fish tail joint and a third fish tail joint arranged in sequence, and the first fish tail joint, the second fish tail joint and the third fish tail joint are covered with a soft shell.

[0015] According to some embodiments of the present invention, the follower segment includes a soft follower fish tail and a fish tail seat, the soft follower fish tail being disposed on the fish tail seat, and the fish tail seat being connected to the active segment.

[0016] According to some embodiments of the present invention, a bottom module is also provided, the bottom module being provided with a counterweight and a depth sensor for sensing depth.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0019] Figure 1 This is a schematic diagram of the structure of a robotic fish with a multi-directional follow-up tail fin according to an embodiment of the present invention;

[0020] Figure 2 yes Figure 1 The diagram shows the internal structure of a robotic fish with a multi-directional tail fin.

[0021] Figure 3 yes Figure 2 The diagram shows another angle of the structure of a robotic fish with a multi-directional homing tail fin. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, inside, outside, etc., are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0024] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0025] In the description of this invention, unless otherwise explicitly defined, terms such as setting, installing, connecting, assembling, and cooperating should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0026] The following reference Figures 1 to 3 This invention describes a robotic fish with a multi-directional servo tail fin, according to an embodiment of the present invention.

[0027] An embodiment of the present invention provides a robotic fish with a multi-directional servo tail fin 230, such as... Figures 1 to 3 As shown, the device includes a head module 100, a tail module, and a drive module. The tail module is connected to the head module 100. The tail module includes an active section 210, a follower section 220, and a follower tail fin 230. The follower tail fin 230 is disposed on the follower section 220 and is connected to the active section 210. The follower tail fin 230 can rotate relative to the follower section 220 to adjust its direction. The drive module is disposed within the head module 100 and includes a swing mechanism for driving the active section 210. Specifically, the tail module is connected to the head module 100. The tail module includes an active section 210, a follower section 220, and a follower tail fin 230. The drive module is located inside the head module 100. The drive module includes a swing mechanism for driving the active section 210. The swing mechanism drives the active section 210 to move. The follower section 220 is connected to the active section 210. The active section 210 drives the follower section 220 to move. The follower section 220 swings under the action of inertia and water flow. The follower tail fin 230 is located on the follower section 220. The follower tail fin 230 can rotate relative to the follower section 220. The follower tail fin 230 can swing in any direction in space under the drive of the active section 210 and the follower section 220. It automatically adjusts the swing direction in the water, providing power in any direction for the robotic fish. This allows the robotic fish to swim in any direction in space without speed, improving the flexibility and maneuverability of the robotic fish.

[0028] According to some embodiments of the present invention, the head module 100 includes a head body and a dorsal fin 110 disposed on the head body, the dorsal fin 110 being equipped with a signal light. The dorsal fin 110 is disposed above the head body and is integrally formed with the head body; specifically, the dorsal fin 110 and the head body are made of resin. The signal light on the dorsal fin 110 is used to illuminate the environment in front. The dorsal fin 110 also includes an electromagnet, a power switch, an M8 wire guide bolt, and a rubber plug. The electromagnet is used to attract external objects, the power switch is used to control the overall power supply of the robotic fish, the M8 wire guide bolt leads the wires of the signal light and electromagnet into the head body, and the rubber plug is used to lead out the charging cable of the battery inside the head body for charging. According to some embodiments of the present invention, a camera and a power supply assembly are also disposed within the head body, and the head body is made of transparent material. The camera enables ground operators to observe underwater conditions and complete the observation and recording of underwater conditions.

[0029] According to some embodiments of the present invention, the follower tail fin portion 230 includes a tail fin 231, a tail fin retainer 232, and a tail fin bearing retainer 233. The tail fin 231 is disposed on the tail fin retainer 232, and the tail fin retainer 232 is disposed on the follower section 220 via the tail fin bearing retainer 233. The tail fin retainer 232 is rotatable relative to the follower section 220. The follower tail fin portion 230 includes a tail fin, a tail fin retainer 232, and a tail fin bearing retainer 233. The tail fin 231 is connected to the tail fin retainer 232 by screws, and the tail fin 231 can provide power to the robotic fish when the tail swings. The caudal fin retainer 232 is equipped with a caudal fin bearing. The caudal fin retainer 232 is connected to the caudal fin bearing by an interference fit. The inner ring of the caudal fin bearing retainer 233 is fixed to the outer ring of the caudal fin bearing by an interference fit. The caudal fin bearing retainer 233 is fixed to the follower section 220 by a fastening connection. The follower caudal fin part 230 can be installed on the follower section 220, so that the caudal fin can rotate relative to the follower section 220.

[0030] According to some embodiments of the present invention, the active segment 210 includes several fishtail joints and a rubber rod 214 disposed in the middle of the fishtail joint. The fishtail joint includes an annular outer frame 211 and a support column disposed within the outer frame 211. The support column includes a vertical support column 212 and a horizontal support column 213. The active segment 210 includes the fishtail joint and the rubber rod 214. The fishtail joint includes the outer frame 211 and the support column. The outer frame 211 is annular. The support column includes a cross-shaped arrangement of vertical support column 212 and horizontal support column 213, which support the outer frame 211. The driving component includes a swing mechanism connected to the vertical support column 212 and the horizontal support column 213. The swing mechanism drives the vertical support column 212 and the horizontal support column 213 to swing the outer frame 211, thereby realizing the movement of the active segment 210. A rubber rod 214 is provided in the middle of the fish tail joint. The rubber rod 214 can connect multiple segments of the fish tail joint. The rubber rod 214 has good elasticity, which allows the active segment 210 to return to its initial state after movement, realizing the reciprocating oscillation of the active segment 210. The oscillation mechanism can realize biomimetic oscillating forward movement, with good flexibility and high agility. It can fit the body curve of the fish swimming to the greatest extent, with high propulsion efficiency and low noise.

[0031] According to some embodiments of the present invention, the swing mechanism includes a horizontal swing component and a vertical swing component. The horizontal swing component includes a first motor 311, a first turntable 312 disposed on the first motor 311, and a first pull wire 313 fixed on the first turntable 312. The first pull wire 313 passes through the horizontal support column 213 and is connected to the follower section 220. The vertical swing component includes a second motor 321, a second turntable 322 disposed on the second motor 321, and a second pull wire 323 fixed on the second turntable 322. The second pull wire 323 passes through the vertical support column 212 and is connected to the follower section 220.

[0032] One end of the first pull wire 313 is fixed to the first turntable 312, and the other end passes through the fishtail joint and is fixed to the follower section 220. When the horizontal swinging component swings horizontally against the active section 210, the first motor 311 drives the first turntable 312 to rotate. The first turntable 312 causes one side of the first pull wire 313 to extend and the other side to contract. The rubber rod 214 is bent by the action of the first pull wire 313, and the fishtail joint fixed to the rubber rod 214 swings to various angles to complete the horizontal swing. It can be understood that the rotation speed of the first turntable 312 corresponds to the horizontal swing speed of the joint module, and the rotation angle of the first turntable 312 corresponds to the amplitude of the horizontal swing of the joint module.

[0033] One end of the second pull wire 323 is fixed to the second turntable 322, and the other end passes through the fishtail joint and is fixed to the follower section 220. When the vertical swing component swings vertically against the active section 210, the second motor 321 drives the second turntable 322 to rotate. The second turntable 322 causes one side of the second pull wire 323 to extend and the other side to contract. The rubber rod 214 is bent by the action of the second pull wire 323, and the fishtail joint fixed to the rubber rod 214 swings to various angles to complete the vertical swing. It can be understood that the rotation speed of the second turntable 322 corresponds to the vertical swing speed of the joint module, and the rotation angle of the second turntable 322 corresponds to the amplitude of the vertical swing of the joint module.

[0034] According to some embodiments of the present invention, a mounting plate 120 and a base plate 130 are provided within the head module 100. The base plate 130 is provided with a mounting groove 131. A horizontal swing component is disposed on the base plate 130, and a vertical swing component is disposed within the mounting groove 131. The head module 100 is provided with a mounting plate 120 and a base plate 130. The mounting plate 120 is vertically disposed within the head module 100, and the base plate 130 is horizontally disposed on the mounting plate 120. The base plate 130 is provided with a mounting groove 131. The horizontal swing component is horizontally disposed on the base plate 130, and the vertical swing component is vertically disposed within the mounting groove 131, thus completing the placement of the horizontal and vertical swing components. The arrangement of the base plate 130 and the mounting groove 131 can reduce the space occupied by the horizontal and vertical swing components, improving space utilization.

[0035] According to some embodiments of the present invention, the tail joint includes a first tail joint, a second tail joint, and a third tail joint arranged sequentially, all covered by a soft outer shell. The tail joint has several segments. Specifically, in some embodiments, the tail joint includes a first tail joint, a second tail joint, and a third tail joint, arranged sequentially, and the first tail joint, the second tail joint, and the third tail joint cooperate to form an active segment 210. The first tail joint, the second tail joint, and the third tail joint are also covered by a soft outer shell, which seals the active segment 210 and protects the internal structure of the robotic fish.

[0036] According to some embodiments of the present invention, the follower section 220 includes a soft follower fish tail and a fish tail seat. The soft follower fish tail is disposed on the fish tail seat, and the fish tail seat is connected to the active section 210. The soft follower fish tail is fixed to the active section 210 by the fish tail seat. The swinging mechanism swings to drive the soft follower fish tail to move. The soft follower fish tail provides swinging force for the fish tail due to the inertia of the swing and the force of the water flow. The follower tail fin 230 can rotate relative to the follower section 220. The follower tail fin 230 can swing in any direction in space under the drive of the active section 210 and the follower section 220, automatically adjusting the swinging direction in water to provide power in any direction for the robotic fish.

[0037] According to some embodiments of the present invention, a bottom module 400 is also provided, which includes a counterweight and a depth sensor for sensing depth. The bottom module 400 is located below the head module 100. The counterweight helps the robotic fish maintain its center of gravity, making its movement more stable. The bottom module 400 also includes a depth sensor to sense the snorkeling depth of the robotic fish, facilitating its position determination.

[0038] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A robotic fish with a multi-directional servo tail fin, characterized in that, include: Header module; The tail module is connected to the head module. The tail module includes an active section, a follower section, and a follower tail fin. The follower tail fin is disposed on the follower section and is connected to the active section. The follower tail fin can rotate relative to the follower section to adjust its direction. A drive module is disposed within the head module, and the drive module includes a swing mechanism for driving the active segment to move. The follower tail fin includes a tail fin, a tail fin retainer, and a tail fin bearing retainer. The tail fin is mounted on the tail fin retainer, and the tail fin retainer is mounted on the follower section via the tail fin bearing retainer. The tail fin retainer can rotate relative to the follower section.

2. The robotic fish with a multi-directional follow-up tail fin according to claim 1, characterized in that, The head module includes a head body and a dorsal fin disposed on the head body, and the dorsal fin is provided with a signal light.

3. A robotic fish with a multi-directional follow-up tail fin according to claim 2, characterized in that, The head body also contains a camera and a power supply assembly, and the head body is made of transparent material.

4. The robotic fish with a multi-directional follow-up tail fin according to claim 1, characterized in that, The active section includes several fish tail joints and a rubber rod disposed in the middle of the fish tail joint. The fish tail joint includes a circular outer frame and a support column disposed in the outer frame. The support column includes a vertical support column and a horizontal support column.

5. A robotic fish with a multi-directional follow-up tail fin according to claim 4, characterized in that, The swing mechanism includes a horizontal swing component and a vertical swing component. The horizontal swing component includes a first motor, a first turntable mounted on the first motor, and a first pull wire fixed on the first turntable. The first pull wire passes through the horizontal support column and is connected to the follower section. The vertical swing component includes a second motor, a second turntable mounted on the second motor, and a second pull wire fixed on the second turntable. The second pull wire passes through the vertical support column and is connected to the follower section.

6. A robotic fish with a multi-directional follow-up tail fin according to claim 5, characterized in that, The head module is provided with a mounting plate and a base plate. The base plate is provided with a mounting groove. The horizontal swinging component is provided on the base plate, and the vertical swinging component is provided in the mounting groove.

7. A robotic fish with a multi-directional follow-up tail fin according to claim 5, characterized in that, The fish tail joint includes a first fish tail joint, a second fish tail joint, and a third fish tail joint arranged in sequence, and the first fish tail joint, the second fish tail joint, and the third fish tail joint are covered with a soft shell.

8. A robotic fish with a multi-directional follow-up tail fin according to claim 1, characterized in that, The follower segment includes a soft follower fish tail and a fish tail seat. The soft follower fish tail is disposed on the fish tail seat, and the fish tail seat is connected to the active segment.

9. A robotic fish with a multi-directional follow-up tail fin according to claim 1, characterized in that, It also includes a bottom module, which is equipped with a counterweight and a depth sensor for sensing depth.

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