Magnetic drive machine fish based on bionic fish gill heat dissipation

Abstract

The application belongs to the technical field of bionic robot, and particularly relates to a magnetic drive robotic fish based on bionic fish gill heat dissipation. The magnetic drive robotic fish comprises a fish head, a transmission mechanism, a power mechanism and a gill cover. The front end of the fish head is provided with a water inlet, and the rear end of the fish head is provided with water outlets on both sides. The water outlets on both sides are communicated with the water inlet through first and second water flow channels respectively. The first and second water flow channels are configured to be isolated from the driving assembly in the fish head. The transmission mechanism is arranged in the fish head and performs driving actions in response to the driving assembly. The power mechanism cooperates with the transmission mechanism and moves under the driving of the transmission mechanism to make the robotic fish move forward. The gill cover is used to close the water outlets and is rotationally connected with the shell of the fish head. The gill cover cooperates with the transmission mechanism to repeatedly close the water outlets under the driving of the transmission mechanism. The application can realize heat dissipation in the robotic fish on the basis of ensuring the balance of the base body during the movement of the robotic fish.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic robots, in particular to a magnetic drive robotic fish based on bionic gill heat dissipation. BACKGROUND

[0002] In recent years, the research on bionic robotic fish has made some breakthroughs at home and abroad, and the bionic robotic fish has wide application prospects in underwater exploration, underwater rescue, aquaculture and other aspects. The bionic robotic fish usually adopts the propelling mode of swinging fish tail, which has many advantages compared with the traditional underwater propeller with propeller: 1) high propelling efficiency; 2) high maneuverability; 3) low noise; 4) various motion forms. However, most of the designed bionic robotic fish currently adopts motor drive, which has unavoidable defects such as high energy consumption, complex structure, serious lag in instantaneous response, and large noise.

[0003] The magnetic driving mode can avoid vibration transmission, the active part and the passive part are not rigidly connected, has overload protection function, and can realize stable work of the machine. However, due to the fact that the existing robotic fish is usually in a closed state, the heat problem of the electromagnetic driving device will cause the problems of short continuous working time of the robotic fish, line damage, poor stable endurance and the like. SUMMARY

[0004] The present application provides a magnetic drive robotic fish based on bionic gill heat dissipation, by setting a water flow channel in the robotic fish and setting a bionic gill structure on the body of the robotic fish, so that when the water flow passes through the robotic fish to take away the heat, the action of the bionic gill structure can be used to maintain the balance of the robotic fish, thereby solving the heat problem inside the robotic fish while maintaining the stable action of the robotic fish.

[0005] The present application is realized by the following technical scheme:

[0006] A magnetic drive robotic fish based on bionic gill heat dissipation, comprising:

[0007] A fish head, a water inlet is arranged at the front end of the fish head, water outlets are arranged at the rear end of the fish head on both sides, and the water outlets on both sides are communicated with the water inlet through first and second water flow channels respectively, wherein the first and second water flow channels are configured to be isolated from a driving assembly in the fish head;

[0008] A transmission mechanism, the transmission mechanism is arranged in the fish head and performs driving action in response to the driving assembly;

[0009] A power mechanism, the power mechanism cooperates with the transmission mechanism and moves under the driving of the transmission mechanism to provide forward power to the robotic fish;

[0010] a gill cover adapted to close the water outlet, the gill cover being rotatably connected to the outer shell of the fish head, the gill cover being cooperated with the transmission mechanism to enable it to repeatedly close the water outlet under the driving of the transmission mechanism.

[0011] In some optional embodiments, the water outlets on both sides are symmetrical about a central section of the fish head.

[0012] In some optional embodiments, the first water passage and the second water passage are of the same shape and size.

[0013] In some optional embodiments, an isolation plate is arranged in the fish head, an inner plate surface of the isolation plate and the outer shell of the fish head together enclose an isolation cavity for mounting the transmission mechanism, a first water passage and a second water passage are formed between an outer plate surface of the isolation plate and the outer shell of the fish head, and the isolation cavity is isolated from the first water passage and the second water passage respectively by the isolation plate.

[0014] In some optional embodiments, the isolation plate comprises a first plate body, a second plate body and a third plate body.

[0015] The first plate body is configured as an arc-shaped plate and is centrally arranged relative to the water inlet, and an outer convex surface of the first plate body is close to the water inlet.

[0016] One end of the length direction of each of the two second plate bodies is connected to one end of the length direction of the first plate body.

[0017] One end of the length direction of each of the two third plate bodies is connected to the other end of the length direction of each of the two second plate bodies, and the other end of the length direction of each of the two third plate bodies is connected to the outer shell of the fish head.

[0018] Both ends of the width direction of each of the first plate body, the second plate body and the third plate body are connected to the outer shell of the fish head.

[0019] In some optional embodiments, the transmission mechanism comprises:

[0020] a limiting shaft connected to the outer shell of the fish head, and a plate surface of the second plate body is parallel to an axis of the limiting shaft.

[0021] a rotating ring movably sleeved on the limiting shaft.

[0022] a transmission member connected to the rotating ring, the transmission member driving the rotating ring to rotate under the magnetic force of the driving assembly.

[0023] An adapter is connected with the rotating ring and opposite to the transmission part, and cooperates with the power mechanism to drive the power mechanism.

[0024] In some optional embodiments, the operculum is connected with the transmission mechanism through a cord.

[0025] In some optional embodiments, the operculum is elastically connected with the outer shell of the fish head.

[0026] In some optional embodiments, the elastic modulus of the cord is configured to be constant when the cord is stretched by the transmission mechanism.

[0027] In some optional embodiments, the power mechanism is configured as a flexible fish tail with a modulus gradient, and the flexible fish tail is connected with the fish head through a sealing rubber film.

[0028] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0029] The present application provides a magnetic drive machine fish based on bionic gill heat dissipation. Through the arrangement of the first water flow channel and the second water flow channel between the water inlet and the water outlet, the water flow can flow from the water inlet to the water outlet through the first water flow channel and the second water flow channel during the forward movement of the machine fish. The flowing water can carry the heat generated by the magnetic drive device in the machine fish to the outside of the machine fish to achieve the purpose of heat dissipation. Meanwhile, the operculum arranged at the water outlet can be actuated by the transmission mechanism. The flapping operculum can generate a flow rate difference on both sides of the fish head, thereby increasing the flow rate of the water in the first water flow channel and the second water flow channel, ensuring the heat dissipation effect, and the flapping operculum also acts as the fin of the fish, which can improve the body balance performance of the machine fish during movement and reduce the influence of water passing through the inside of the machine fish on the balance performance of the machine fish during movement. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0031] Figure 1 The top view cross-sectional structure schematic diagram of the internal components of the magnetic drive machine fish based on bionic gill heat dissipation provided by the present application is shown in the following figure.

[0032] Figure 2The external overall structure schematic diagram of the magnetic drive machine fish based on the bionic fish gill heat dissipation provided by the embodiment of the present application is shown in the figure.

[0033] Figure 3 The side view structure schematic diagram of the magnetic drive machine fish based on the bionic fish gill heat dissipation provided by the embodiment of the present application is shown in the figure.

[0034] Figure 4 The overall schematic diagram of the fish head of the magnetic drive machine fish based on the bionic fish gill heat dissipation provided by the embodiment of the present application is shown in the figure.

[0035] Figure 5 The sealing adhesive film schematic diagram of the sealing connection between the fish head and the tail of the magnetic drive machine fish based on the bionic fish gill heat dissipation provided by the embodiment of the present application is shown in the figure.

[0036] Figure 6 The modulus gradient type fish tail schematic diagram of the magnetic drive machine fish based on the bionic fish gill heat dissipation provided by the embodiment of the present application is shown in the figure.

[0037] Figure 7 The transmission device in the electromagnetic drive device of the magnetic drive machine fish based on the bionic fish gill heat dissipation provided by the embodiment of the present application is shown in the figure.

[0038] Figure 8 The four pull wires schematic diagram of the magnetic drive machine fish based on the bionic fish gill heat dissipation provided by the embodiment of the present application is shown in the figure.

[0039] Figure 9 The change situation schematic diagram of the gill cover and the pull wire in the movement process of the magnetic drive machine fish based on the bionic fish gill heat dissipation provided by the embodiment of the present application is shown in the figure.

[0040] Figure 10 The cross-sectional structure schematic diagram of the magnetic drive machine fish based on the bionic fish gill heat dissipation provided by the embodiment of the present application is shown in the figure.

[0041] Figure 11 The preparation flow schematic diagram of the modulus gradient type fish tail of the magnetic drive machine fish based on the bionic fish gill heat dissipation provided by the embodiment of the present application is shown in the figure.

[0042] The marks in the figure and the corresponding names of the parts are as follows:

[0043] 1 - shell; 2 - first water flow channel; 3 - drive assembly; 4 - second water flow channel; 5 - sealing adhesive film; 6 - water inlet; 7 - isolation plate; 8 - transmission mechanism; 9 - cable body; 10 - power mechanism; 11 - gill cover; 12 - water outlet; 13 - gill cover cable hole; 14 - partition plate cable hole; 15 - limiting shaft; 16 - adapter installation groove; 17 - rotating ring cable hole; 18 - transmission part; 19 - adapter; 20 - rotating ring; 21 - pull wire one; 22 - pull wire two; 23 - pull wire three; 24 - pull wire four. DETAILED DESCRIPTION

[0044] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with embodiments and drawings. The schematic embodiments of the present application and their descriptions are only used to explain the present application and not as a limitation to the present application.

[0045] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one of ordinary skill in the art that the present application can be practiced without these specific details. In other instances, well-known structures, circuits, materials or processes have not been described in detail in order to avoid obscuring the present application.

[0046] Throughout this specification, the use of "one embodiment," "an embodiment," "one example," or "an example" means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. Therefore, appearances of the phrases "one embodiment," "an embodiment," "one example," or "an example" in various places throughout this specification are not necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics can be combined in any suitable

[0047] In the description of the present application, the terms "front," "back," "left," "right," "up," "down," "vertical," "horizontal," "high," "low," "inner," "outer," and the like, indicate the orientation or position of the apparatus or element as shown in the drawings, and are used only for convenience and brevity in order to facilitate the description of the present application and simplify the description, and do not indicate or imply that the apparatus or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of protection of the present application.

[0048] As shown in Figures 1-10 The embodiment of the present application provides a magnetic drive machine fish based on bionic gill heat dissipation, which comprises a fish head, a transmission mechanism 8, a power mechanism 10 and a gill cover 11.

[0049] The overall shape of the fish head is similar to the body shape of the fish to make the overall bionic effect of the robotic fish better. The fish head is processed or injection molded, so the shape of the fish head is more regular. The transverse cross-sectional shape of the fish head can be oval. In the direction from the front end to the rear end of the fish head, the transverse cross-sectional area of the fish head increases in turn. The fish head can include a shell 1, a driving assembly 3 arranged in the shell 1, and other sensors, etc. The front end of the fish head is provided with a water inlet 6. The rear end of the fish head is provided with a water outlet 12 on each side. The water outlet 12 on each side is in communication with the water inlet 6 through a first water flow channel 2 and a second water flow channel 4, respectively. Thus, water can enter the fish head through the first water flow channel 2 and the second water flow channel 4 from the water inlet 6 and flow out of the fish head through the water outlet 12 on each side. The water can carry away part of the heat generated by the driving of the robotic fish during the process in the fish head, thereby achieving the purpose of cooling in the fish head, avoiding problems such as short continuous working time, line damage, poor stable endurance, etc. of the robotic fish. The first water flow channel 2 and the second water flow channel 4 are configured to be isolated from the driving assembly 3 in the fish head, so as to avoid problems such as rust, line short circuit, additional resistance caused by water flow, etc. caused by the mutual contact of the driving assembly 3 and water. Since the robotic fish in the embodiment of the present application is a magnetic driving robotic fish, the driving assembly 3 can be set as an electromagnet. Specifically, the electromagnet can be arranged symmetrically in the shell 1. The two electromagnets can be arranged in the first water flow channel 2 and the second water flow channel 4, respectively, and a waterproof shell is arranged outside the electromagnet. The electromagnet as the main heating component in the driving assembly 3 can be in full contact with the water in the first water flow channel 2 and the second water flow channel 4, thereby achieving timely heat dissipation of the electromagnet.

[0050] The transmission mechanism 8 is arranged in the fish head and responds to the driving assembly 3 to perform a driving action. Thus, the transmission mechanism 8 can convert the magnetic attraction applied by the driving assembly 3 into driving actions such as rotary motion, linear motion, swing motion, etc. The transmission mechanism 8 is also isolated from the first water flow channel 2 and the second water flow channel 4, so as to avoid the direct contact of the transmission mechanism 8 with water, which can cause the transmission mechanism 8 to be rusted or its motion to be affected.

[0051] The power mechanism 10 cooperates with the transmission mechanism 8 and is driven by the transmission mechanism 8 to provide forward power to the robotic fish. The power mechanism 10 can be directly connected to the transmission mechanism 8, so that the power mechanism 10 and the transmission mechanism 8 move in unison, which can reduce energy loss during transmission and save energy consumption. The power mechanism 10 and the transmission mechanism 8 can also be indirectly connected, for example, the power mechanism 10 and the transmission mechanism 8 can be connected through a motion conversion assembly such as a worm gear, a crank linkage, a crank rocker, a cam mechanism, a gear rack, etc., so that the motion mode of the transmission mechanism 8 is not too limited, which is conducive to selecting a suitable type of transmission mechanism 8 according to the installation space and internal shape of the fish head.

[0052] The gill cover 11 is shaped to fit the water outlet 12, and the shape of the gill cover 11 can be consistent with the shape of the water outlet 12, so that the gill cover 11 can have a good sealing effect while adapting to the external shape of the fish head, that is, the gill cover 11 is embedded in the water outlet 12 to seal the water outlet 12, and the gill cover 11 is rotatably connected to the outer shell 1 of the fish head, wherein the gill cover 11 can be rotatably connected to the outer wall of the fish head, and the gill cover 11 and the outer wall of the fish head can be rotatably connected through a ball hinge, a hole shaft structure, etc., or the gill cover 11 can be rotatably connected to the inner wall of the water outlet 12, and the gill cover 11 and the inner wall of the water outlet 12 can be rotatably connected through a ball hinge, a hole shaft structure, etc., wherein the rotatable connection structures of the two gill covers 11 can be the same or different, and the gill cover 11 cooperates with the transmission mechanism 8 to enable it to repeatedly seal the water outlet 12 under the drive of the transmission mechanism 8, so that the gill cover 11 can rotate under the drive of the transmission mechanism 8 to seal the water outlet 12, and the gill cover 11 can generate a flow rate difference on the side of the fish head during rotation, so as to facilitate the rapid flow of water in the first water flow channel and the second water flow channel with the change in hydraulic pressure around the gill cover 11, thereby improving the heat dissipation efficiency; at the same time, the rotation of the gill cover 11 simulates the movement of the fins of fish, so that the gill cover 11 is also conducive to promoting the robotic fish to maintain the balance of the body during movement, reducing the impact of the first water flow channel 2 and the second water flow channel 4 on the balance of the robotic fish body, and ensuring the movement accuracy of the whole robotic fish. Since the gill cover 11 needs to repeatedly seal the water outlet 12 under the drive of the transmission mechanism 8, that is, the gill cover 11 needs to rotate forward and reverse at a certain frequency, therefore, in actual implementation, the transmission mechanism 8 can adopt a reciprocating motion mechanism, for example, the transmission mechanism 8 can be a swing motion type, so that the transmission mechanism 8 can be directly connected to the gill cover 11 without the need for additional motion conversion assemblies to occupy the installation space of the fish head, thereby avoiding the robotic fish being too large in size and weight.

[0053] In some optional embodiments, the two water outlets 12 are symmetric about the central section of the fish head.

[0054] In the embodiments of the present application, the center section can be understood as follows: when the robotic fish is cut by the center section, a first part and a second part are formed, and the first part and the second part can be symmetrical about the center section. That is, the flow directions of the water flows of the two water outlets 12 are also symmetrical about the center section, so that the influence of the water flow passing through the inside of the fish head on the balance of the body of the robotic fish can be reduced.

[0055] In some optional embodiments, the first water flow channel 2 and the second water flow channel 4 have the same shape and size. In this way, the influence of the water flow passing through the first water flow channel 2 and the second water flow channel 4 on the balance of the body of the robotic fish can be made as consistent as possible. When the two water outlets 12 are symmetrical about the center section of the fish head, the first water flow channel and the second water flow channel are also symmetrical about the center section, so that the influence of the water flow passing through the inside of the fish head on the balance of the body of the robotic fish can be further reduced.

[0056] In some optional embodiments, referring to Figure 1 , the first water flow channel 2 and the second water flow channel 4 can be formed by arranging a partition plate 7 in the fish head. The inner side surface of the partition plate 7 and the outer shell 1 of the fish head jointly enclose a partition cavity for mounting the transmission mechanism 8, and the outer side surface of the partition plate 7 and the outer shell 1 of the fish head form the first water flow channel 2 and the second water flow channel 4. The partition cavity is isolated from the first water flow channel 2 and the second water flow channel 4 by the partition plate 7. The partition plate 7 and the inner wall of the outer shell 1 jointly enclose a relatively closed partition cavity, and the transmission mechanism 8 can be mounted in the partition cavity, so that the transmission mechanism 8 can be isolated from the first water flow channel 2 and the second water flow channel 4 by the partition plate 7. The first water flow channel 2 and the second water flow channel 4 can be formed by arranging the partition plate 7 and the outer shell 1, so that pipes do not need to be arranged as the first water flow channel 2 and the second water flow channel 4, and the partition plate 7 has a simple structure and does not greatly affect the weight and size of the robotic fish. Specifically, the partition plate 7 can include a first plate body, a second plate body, and a third plate body. The first plate body is configured as an arc-shaped plate and is arranged in the center of the water inlet 6, and the outer convex surface of the first plate body is close to the water inlet 6. One end of each of the two second plate bodies in the length direction is connected to one end of the first plate body in the length direction. One end of each of the two third plate bodies in the length direction is connected to the other end of each of the two second plate bodies in the length direction, and the other end of each of the two third plate bodies in the length direction is connected to the outer shell 1 of the fish head. The two ends of each of the first plate body, the second plate body, and the third plate body in the width direction are connected to the outer shell 1 of the fish head. The arrangement of the first plate body can on the one hand divide the water entering the water inlet 6, so as to ensure that the flow rates of the water in the first water flow channel 2 and the second water flow channel 4 are as consistent as possible, and on the other hand, the first plate body has a small blocking effect on the water entering the water inlet 6, so that the overall resistance of the robotic fish to the water entering the water inlet 6 is small, the power consumption required for the robotic fish to overcome the resistance to move forward is low, and energy can be further saved.

[0057] In some alternative embodiments, referring to Figure 4 and Figure 7 , the transmission mechanism 8 can include a limiting shaft 15, a rotating ring 20, a transmission member 18 and a connecting member 19; the limiting shaft 15 is connected to the shell 1 of the fish head, and the two ends of the limiting shaft 15 are respectively connected to the inner wall of the shell 1 of the fish head. The limiting shaft 15 and the inner wall of the shell 1 can be fixedly connected or rotatably connected, as long as the axis of the limiting shaft 15 is fixed. The surface of the second plate body is parallel to the axis of the limiting shaft 15, and an electromagnet is arranged between the other surface of the first plate body and the inner wall of the shell 1. The rotating ring 20 is movably sleeved on the limiting shaft 15, so that the rotating ring 20 can freely rotate on the limiting shaft 15. The limiting shaft 15 can be provided with a shoulder on both sides of the rotating ring 20 to move the rotating ring 20 in the axial direction of the limiting shaft 15. The transmission member 18 is connected to the rotating ring 20. The transmission member 18 is driven to rotate by the magnetic force of the driving assembly 3. The transmission member 18 is arranged as a component that can be attracted by magnetic force, so that the transmission member 18 can be attached to the surface of the second plate body under the magnetic attraction of the electromagnet. The transmission member 18 can be further configured as a square neodymium iron boron magnetic reed, so that the action response of the transmission member 18 is more timely under the conduction of the electromagnet, thereby ensuring the smoothness of the action of the robotic fish. When one of the electromagnets attracts the transmission member 18, the other electromagnet can repel the transmission member 18, so that the timeliness of the action response of the transmission member 18 can be further improved. The connecting member 19 is connected to the rotating ring 20 and opposite to the transmission member 18. The connecting member 19 cooperates with the power mechanism 10 to drive the power mechanism 10 to act.

[0058] In some alternative embodiments, referring to Figure 8 The gill cover 11 is connected to the transmission mechanism 8 through the cord 9. The gill cover 11 can be connected to the rotating ring 20 in the transmission mechanism 8. The number of the cord 9 can be four, which are the first pull wire 21, the second pull wire 22, the third pull wire 23 and the fourth pull wire 24. One gill cover 11 is connected to the rotating ring 20 through the first pull wire 21 and the second pull wire 22, and the positions of the first pull wire 21 and the second pull wire 22 on the rotating ring 20 are opposite. The first pull wire 21 is located at the connection between the transmission member 18 and the rotating ring 20, and the second pull wire 22 is located at the connection between the connecting member 19 and the rotating ring 20. The other gill cover 11 is connected to the rotating ring 20 through the third pull wire 23 and the fourth pull wire 24, and the positions of the third pull wire 23 and the fourth pull wire 24 on the rotating ring 20 are opposite. The third pull wire 23 is located at the connection between the transmission member 18 and the rotating ring 20, and the fourth pull wire 24 is located at the connection between the connecting member 19 and the rotating ring 20. The rotating ring 20 can be provided with a rotating ring wire hole 17 to connect the cord 9. The gill cover 11 can be provided with a gill cover wire hole 13 to fix the cord 9. The third plate body can be provided with a partition wire hole 14 for the cord 9 to pass through.

[0059] In some alternative embodiments, the gill cover 11 is elastically connected to the outer shell 1 of the fish head. In this way, when the transmission mechanism 8 swings in one direction to drive the gill cover 11 to close the water outlet 12, when the transmission mechanism 8 swings in the other direction, the gill cover 11 can be opened in time under the driving of the transmission mechanism 8 and the elastic effect of the elastic rotation structure.

[0060] In some alternative embodiments, the elastic modulus of the cable body 9 is configured to remain unchanged when the cable body 9 is stretched by the transmission mechanism 8. That is, the cable body 9 is a cable body without elasticity, so that the gill cover 11 can respond in time to the action of the transmission mechanism 8.

[0061] In some alternative embodiments, the power mechanism 10 is configured as a modulus-gradually-changing flexible fish tail, the flexible fish tail is connected to the fish head through the sealing rubber film 5, the flexible fish tail is provided with a connection piece mounting groove 16 suitable for inserting the connection piece 19, and when the flexible fish tail is connected to the fish head through the sealing rubber film 5, the connection piece 19 is matched with the connection piece mounting groove 16.

[0062] The flexible fish tail is shaped similarly to the tail of a fish, and is a symmetrical positive tail with two leaf fins. The flexible fish tail is made of a magneto-rheological elastomer (MRE). Figure 11 As shown in the figure, the modulus-gradually-changing flexible fish tail gradually changes the proportion of each component of the MRE and gradually increases the elasticity from the head end to the tail end. The MRE is obtained by coupling reaction of macromolecular polydimethylsiloxane active end groups, curing agent and ferromagnetic particles, and then completing the curing process to form a kind of magneto-rheological elastomer material. The mass ratio of macromolecular polydimethylsiloxane active end groups to curing agent is 10:1. By changing the proportion of ferromagnetic particles used in different parts of the fish tail, the proportion of ferromagnetic particles added in the modulus-gradually-changing flexible fish tail gradually decreases and the elasticity gradually increases from the head end to the tail end. The modulus-gradually-changing structure is referenced from the flexible characteristics of the real fish tail in nature, which can increase the swing amplitude and power generated by the fish tail during the movement of the robotic fish. The modulus-gradually-changing flexible fish tail is periodically swung under the driving of the square neodymium iron boron magnetic pendulum piece, so as to realize the forward movement and turning under water. The flexible fish tail is a passive fish tail referenced from the flexible characteristics of the real fish tail in nature. The elasticity of the fish tail gradually increases from the head end to the tail end, and the fish tail is designed as a positive tail, which is more easily curved under the resistance of water flow and fully contacts with the water flow. The passive curved modulus-gradually-changing flexible fish tail can increase the swing amplitude and power generated by the fish tail during the movement of the robotic fish, so as to more effectively make the tail separate from the vortex and improve the swimming efficiency.

[0063] In operation, the periodic positive and negative square wave variable current generated by the driving circuit makes the magnetic field directions of the two electromagnets at any time about the center section of the fish head symmetric, and the opposite attracting surfaces form a certain inclination (in actual implementation, the inclination angle is usually set to 15°) with the center section of the fish head, so as to improve the attracting force between the electromagnets and the square neodymium-iron-boron magnetic pendulum plate. The magnetic field directions of the two electromagnets at any time are about the center section of the machine body symmetric, one of the electromagnets generates attracting force to the opposite magnetic pole surface of the square neodymium-iron-boron magnetic pendulum plate, and the other generates repelling force to the opposite magnetic pole surface of the square neodymium-iron-boron magnetic pendulum plate, so that the left and right swing amplitude and swing sensitivity of the square neodymium-iron-boron magnetic pendulum plate are increased.

[0064] As shown in Figure 9 , when the square neodymium-iron-boron magnetic pendulum plate swings to one side, the driving engaging member 19 and the modulus gradually changing fish tail swing reversely. The square neodymium-iron-boron magnetic pendulum plate swings from the middle position to one side, then swings to the other side, and finally swings back to the middle position, which is one movement cycle of the robotic fish. Repeating the movement of the robotic fish in one cycle can realize the forward movement of the robotic fish under water, and repeating the movement of the robotic fish in half a cycle can realize the turning movement of the robotic fish under water. The pull wires are used to pull the gill cover 11 to control the opening and closing of the gill cover 11.

[0065] As shown in Figure 9 (a), when the fish tail is at the middle position at the beginning of each half movement cycle, the four pull wires are in a tight state, and the gill cover 11 is opened to the maximum extent. As shown in Figure 9 (b), during the rightward swing of the fish tail, the pull wire one 21 and the pull wire four 24 are gradually loosened, and the pull wire two 22 and the pull wire three 23 are still in a tight state. With the rotation of the rotating ring 20, the gill cover 11 is pulled to flap inward, until the gill cover 11 is completely closed, as shown in Figure 9 (c). When the gill cover 11 is completely closed, the robotic fish is in a quarter of a movement cycle. Due to the pressure of the water flowing into the first water flow channel and the second water flow channel from the water inlet 6 and the traction of the pull wire when the fish tail swings to the middle, the gill cover 11 is gradually opened again. The same situation occurs during the leftward swing of the fish tail. While the gill part of the robotic fish swings periodically and regularly, the water flowing into the first water flow channel and the second water flow channel from the water inlet 6 flows around the electromagnets and flows out from the water outlet 12.

[0066] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A magnetic drive machine fish based on biomimetic gill heat dissipation, characterized in that, The utility model relates to a fish head part, the front end of fish head part is equipped with water inlet (6), the rear end of fish head part both sides are equipped with water outlet (12) respectively, and the both sides water outlet (12) with water inlet (6) between respectively through first water channel (2), second water channel (4) intercommunication, wherein, first water channel (2) and second water channel (4) are configured to be isolated with the drive assembly (3) in fish head part each other, Transmission mechanism (8) is arranged in the fish head part and executes drive action in response to the drive assembly (3), Power mechanism (10) cooperates with the transmission mechanism (8) and acts under the driving of the transmission mechanism (8) to provide forward power for the robotic fish, The gill cover (11) is rotatably connected to the shell (1) of the fish head part, and the gill cover (11) cooperates with the transmission mechanism (8) to enable the gill cover (11) to repeatedly close the water outlet (12) under the driving of the transmission mechanism (8). The two water outlets (12) are symmetric about the center section of the fish head part. 2.The magnetic-driven robotic fish based on biomimetic gill heat dissipation according to claim 1, wherein, The first water channel (2) and the second water channel (4) are the same in shape and size. 3.The magnetic-driven robotic fish based on biomimetic gill heat dissipation according to claim 2, characterized in that, An isolation plate (7) is arranged in the fish head part, an inner side plate surface of the isolation plate (7) and the shell (1) of the fish head part jointly enclose an isolation cavity for mounting the transmission mechanism (8), and a first water channel (2) and a second water channel (4) are formed between an outer side plate surface of the isolation plate (7) and the shell (1) of the fish head part, wherein the isolation cavity is isolated from the first water channel (2) and the second water channel (4) by the isolation plate (7).

4. The magnetic-driven robotic fish based on biomimetic gill heat dissipation according to claim 1, characterized in that, The isolation plate (7) includes a first plate body, a second plate body, and a third plate body.

5. The magnetic-driven robotic fish based on biomimetic gill heat dissipation according to claim 4, characterized in that, The first plate body is configured as an arc-shaped plate and is centrally arranged relative to the water inlet (6), and an outer convex surface of the first plate body is close to the water inlet (6). One end of each of the two second plate bodies in the length direction is connected to two ends of the first plate body in the length direction. One end of each of the two third plate bodies in the length direction is connected to the other end of each of the two second plate bodies in the length direction, and the other end of each of the two third plate bodies in the length direction is connected to the shell (1) of the fish head part. Both ends of each of the first plate body, the second plate body, and the third plate body in the width direction are connected to the shell (1) of the fish head part. The transmission mechanism (8) includes: 6.The magnetic-driven robotic fish based on biomimetic gill heat dissipation according to claim 5, wherein, A limiting shaft (15) connected to the shell (1) of the fish head part, a plate surface of the second plate body is parallel to an axis of the limiting shaft (15), A rotating ring (20) movably sleeved on the limiting shaft (15), A transmission member (18) connected to the rotating ring (20), the transmission member (18) drives the rotating ring (20) to rotate under the magnetic force of the drive assembly (3). ​ An adapter (19) is connected with the rotating ring (20) and opposite to the transmission member (18), and cooperates with the power mechanism (10) to drive the power mechanism (10) to act.

7. The biomimetic bionic-tentacle-based heat-dissipation magnetic-driven robotic fish according to claim 1, characterized in that, The gill cover (11) is connected with the transmission mechanism (8) through a cable body (9). 8.The magnetic-driven robotic fish based on biomimetic gill heat dissipation according to claim 7, wherein, The gill cover (11) is elastically connected with the outer shell (1) of the fish head. 9.The magnetic-driven robotic fish based on biomimetic gill heat dissipation according to claim 7, wherein, The elastic modulus of the cable body (9) is configured to be constant when the cable body (9) is stretched by the transmission mechanism (8).

10. The biomimetic bionic-tentacle-based heat-dissipation magnetic-driven robotic fish according to claim 1, characterized in that, The power mechanism (10) is configured as a modulus-graded flexible fish tail, and the flexible fish tail is connected with the fish head through a sealing rubber film (5).

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