A kajikid-like tensile machine fish

Abstract

The application relates to a kind of mimic scombroid tensile bionic machine fish, including fish head assembly, flexible fish body assembly and tail fin assembly, fish head assembly includes fish head base frame, fish head shell and three steering gears respectively installed on fish head base frame;Flexible fish body assembly includes tensile whole structure, flexible fish skin and multiple steering gears, the tensile whole structure includes multiple joint members arranged in front and back, the first joint member is fixedly connected with the fish head base frame, adjacent joint members are elastically connected, each joint member except the first one is provided with a steering gear support, the front part of the steering gear support is elastically connected with the previous joint member, each steering gear support except the last one is provided with a steering gear;Tail fin assembly includes tail fin joint and flexible tail fin fixedly connected therewith, the tail fin joint is elastically connected with the last joint member;Each steering gear is connected with different joint members or tail fin joint through elastic rope.The structure can improve the flexibility and simulation degree of the mimic scombroid tensile machine fish.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, specifically to a tuna-like tensioning robotic fish. Background Technology

[0002] Robotic fish, as a novel type of biomimetic underwater vehicle, achieve underwater tasks by mimicking the movements of fish, combining multiple disciplines such as mechanics, electronics, materials science, computer science, and bionics. Among these, research on the fish-like body structure of biomimetic robotic fish is one of the hot research topics in the development of underwater robotics technology. Tuna-inspired robotic fish are an important biomimetic subject, and many scholars both domestically and internationally have conducted related research on them. In 1994, MIT successfully developed the first tuna-based biomimetic fish, which was about 1.2 meters long and powered by a DC servo motor. However, most current tuna-inspired robotic fish adopt a multi-joint rigid series structure, with each joint driven by a single motor. This approach suffers from load imbalance problems, and the structural and control complexity increases with the number of joints. Summary of the Invention

[0003] The purpose of this invention is to provide a tuna-like tensioning robotic fish, which can improve the flexibility and realism of the tuna-like tensioning robotic fish.

[0004] To achieve the above objectives, the technical solution adopted by this invention is: a tuna-inspired, tension-type biomimetic robotic fish, comprising a head assembly, a flexible body assembly, and a tail fin assembly. The head assembly includes a head frame, a head shell, and three servo motors mounted on the head frame. The flexible body assembly includes a tension-type integral structure, flexible fish skin, and n-2 servo motors. The tension-type integral structure includes n joint components arranged sequentially. The first joint component is fixedly connected to the rear of the head frame. Adjacent joint components are connected by a set of elastic elements. A servo motor bracket is fixedly mounted on the front of each joint component except the first one. The front of the servo motor bracket is elastically connected to the preceding joint component. A servo motor is mounted on each servo motor bracket except the last one. The tail fin assembly includes a tail fin joint and a flexible tail fin fixedly connected thereto. The tail fin joint is connected to the last joint component. Elastic connections: The left and right sides of the first servo blade on the fish head base are respectively connected to the first elastic rope. The two first elastic ropes pass through the fish head base and the first joint component and are connected to the left and right sides of the second joint component. The second and third servo blades arranged side by side on the fish head base are respectively connected to the second elastic rope. The two second elastic ropes pass through the fish head base and several joint components and are connected to the left and right sides of the (n-1)th joint component. The left and right sides of the servo blade on the ith joint component are respectively connected to the third elastic rope. The two third elastic ropes pass through several joint components and are connected to the left and right sides of the servo bracket on the (i+2)th joint component. The left and right sides of the servo blade on the (n-1)th joint component are respectively connected to the third elastic rope. The two third elastic ropes pass through several joint components and are connected to the left and right sides of the caudal fin joint.

[0005] Furthermore, the joint component includes an elliptical ring and a connecting plate located in the middle of the elliptical ring. The elliptical ring has multiple through holes for each elastic rope to pass through. The connecting plate is connected to the elliptical ring on its outer side by multiple elastic elements. The rear of the servo bracket is fixedly installed on the elliptical ring, and the front of the servo bracket is fixedly connected to the connecting plate of the previous joint component. The elliptical rings of adjacent joint components are connected by a set of elastic elements.

[0006] Furthermore, the connecting plate is connected to the outer elliptical ring via four fourth elastic ropes; the elliptical rings of adjacent joint components are connected to each other via four fifth elastic ropes.

[0007] Furthermore, the tensioned integral structure includes five joint components.

[0008] Furthermore, the fish head shell is a rigid structure, and the fish head shell is fixedly connected to the fish head base frame.

[0009] Furthermore, the fish head shell is provided with an openable fish head cover.

[0010] Furthermore, the flexible fish skin is silicone fish skin, which covers the tensioned overall structure and the outer side of the tail fin joint. Its front end is connected to the fish head shell, its middle part is connected to each joint component, and its rear end is connected to the flexible tail fin.

[0011] Furthermore, the lower side of the fish head shell has a pelvic fin structure, and the upper and lower sides of the flexible fish skin have dorsal and anal fin structures, respectively.

[0012] Furthermore, the periphery of the caudal fin joint is connected to the last joint component through a set of elastic elements, the middle part of the caudal fin joint is connected to a screw, the front part of the screw is elastically connected to the last joint component, and the rear part of the screw is fixedly connected to the flexible caudal fin.

[0013] Furthermore, the flexible tail fin includes a front half of the tail fin and a crescent-shaped rear half of the tail fin. The rear half of the crescent-shaped tail fin is cast with silicone and connected to the rear end of the screw. The front half of the tail fin is located in front of the rear half of the crescent-shaped tail fin and is fixedly connected to the rear section of the screw.

[0014] Compared with existing technologies, this invention has the following beneficial effects: This invention provides a tuna-inspired tensioned robotic fish, featuring an innovative design of a flexible fish body structure. The movement and propulsion of the robotic fish are controlled by a combination of servo motors and elastic ropes. This not only results in a novel structure, high simulation accuracy, and strong controllability, improving the flexibility and realism of the tuna-inspired tensioned robotic fish, but also allows the overall tensioned structure of the robotic fish to effectively resist external pressure and better adapt to complex underwater working environments. Furthermore, based on the fish body wave curve obtained from biological data, the rotation angle of each servo motor can be calculated to achieve overall oscillation, thus effectively simulating the contraction of biomimetic muscles and the rotation of the spine. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall external structure of an embodiment of the present invention; Figure 2 This is a side view of the overall internal structure of an embodiment of the present invention; Figure 3 This is a top view of the overall internal structure of an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of the fish head component in an embodiment of the present invention; Figure 5 This is a schematic diagram of the connection structure between adjacent joint components in an embodiment of the present invention; Figure 6 This is a schematic diagram of the tail fin assembly in an embodiment of the present invention.

[0016] In the diagram: 1. First servo motor; 2. Second servo motor; 3. Third servo motor; 4. Fourth servo motor; 5. Fifth servo motor; 6. Sixth servo motor; 7. First joint component; 8. Second joint component; 9. Third joint component; 10. Fourth joint component; 11. Fifth joint component; 12. Fish head base frame; 13. Caudal fin joint; 14. Servo motor bracket; 15. Fish head shell; 16. Fish head cover; 17. Silicone fish skin; 18. Rear half of crescent-shaped caudal fin; 19. Front half of caudal fin; 20. Dorsal fin; 21. Anal fin; 22. Pelvic fin; 23. Bolt with hole; 24. Ordinary bolt; 25. Screw; 26. Servo motor blade; 27. First elastic rope; 28. Second elastic rope; 29. ​​Fifth elastic rope; 30. Fourth elastic rope; 31. Third elastic rope; 32. Oval ring; 33. Connecting plate. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0020] like Figure 1As shown, this embodiment provides a tuna-inspired, tensioned biomimetic robotic fish, including a head assembly, a flexible body assembly, and a tail fin assembly. The head assembly includes a head frame 12, a head shell 15, and three servo motors 1-3 respectively mounted on the head frame. The flexible body assembly includes a tensioned overall structure, flexible fish skin, and n-2 servo motors. The tensioned overall structure includes n joint components arranged sequentially front to back. The first joint component is fixedly connected to the rear of the head frame 12. Adjacent joint components are connected by a set of elastic elements. Each joint component except the first one has a servo motor bracket 14 fixedly mounted on its front. The front of the servo motor bracket 14 is elastically connected to the previous joint component. Each servo motor bracket except the last one has a servo motor mounted on it. The tail fin assembly includes a tail fin joint 13 and a flexible tail fin fixedly connected to it. The tail fin joint 13 is elastically connected to the last joint component. The head frame... The left and right sides of the first servo 1 blade on the fish head base 12 are respectively connected to the first elastic rope 27. The two first elastic ropes 27 pass through the fish head base and the first joint component and are connected to the left and right sides of the second joint component. The second servo 2 and the third servo 3 blades arranged side by side on the fish head base 12 are respectively connected to the second elastic rope 28. The two second elastic ropes 28 pass through the fish head base and several joint components and are connected to the left and right sides of the (n-1)th joint component. The left and right sides of the servo blade on the ith joint component are respectively connected to the third elastic rope 31. The two third elastic ropes 31 pass through several joint components and are connected to the left and right sides of the servo bracket on the (i+2)th joint component. The left and right sides of the servo blade on the (n-1)th joint component are respectively connected to the third elastic rope 31. The two third elastic ropes 31 pass through several joint components and are connected to the left and right sides of the caudal fin joint 13.

[0021] It should be noted that the size of the biomimetic tuna-like tensioning robotic fish provided in this embodiment is based on the actual size of tuna, and the shape fitting curve conforms to biological data.

[0022] In this embodiment, the tensioned integral structure includes five joint components 7-11.

[0023] The first servo motor 1, the second servo motor 2, and the third servo motor 3 are all fixed to the fish head base frame 12 via servo motor brackets and ordinary bolts, forming a triangular symmetrical arrangement. The fourth servo motor 4 is fixed to the second joint component 8 via servo motor bracket 14 and ordinary bolts 24, the fifth servo motor 5 is fixed to the third joint component 9 via servo motor bracket 14 and ordinary bolts 24, and the sixth servo motor 6 is fixed to the fourth joint component 10 via servo motor bracket 14 and ordinary bolts 24. Each servo motor is connected to a different joint component via elastic ropes. Through multi-point excitation, the body waves of a real fish can be well simulated to complete the specified movements.

[0024] The first servo motor 1 is connected to one end of each of the two first elastic ropes 27 via perforated bolts mounted on the servo blade 26. The other end passes through the first joint component 7 and is connected to the left and right ends of the second joint component 8 via perforated bolts, thus transmitting the power of the first servo motor 1 to the second joint component 8. The second servo motor 2 and the third servo motor 3 are connected to one end of each of the two second elastic ropes 28 via perforated bolts mounted on the servo blades. The other end passes through the first joint component 7, the second joint component 8, and the third joint component 9 and is connected to the left and right ends of the fourth joint component 10 via perforated bolts, thus transmitting the power of the second servo motor 2 and the third servo motor 3 to the fourth joint component 10. The fourth servo motor 4 is connected to one end of each of the two third elastic ropes 31 via perforated bolts mounted on the servo blades. The other end passes through the second joint component 8 and the third joint component 9 and is connected to the left and right ends of the servo bracket 14 mounted on the fourth joint component 10 via perforated bolts. The fifth servo 5 is connected to one end of each of the two third elastic ropes 31 via perforated bolts mounted on the servo blades. The other end passes through the third joint component 9 and the fourth joint component 10 and is connected to the left and right ends of the servo bracket 14 mounted on the fifth joint component 11 via perforated bolts. The sixth servo 6 is connected to one end of each of the two third elastic ropes 31 via perforated bolts mounted on the servo blades. The other end passes through the fourth joint component 10 and the fifth joint component 11 and is connected to the left and right ends of the tail fin joint 13 via perforated bolts.

[0025] The joint component includes an elliptical ring 32 and a connecting plate 33 located in the middle of the elliptical ring. The elliptical ring 32 has multiple through holes for passing through various elastic ropes. The connecting plate 33 is connected to the outer elliptical ring 32 via multiple elastic elements. The rear of the servo bracket 14 is fixedly mounted to the elliptical ring 32, and the front of the servo bracket 14 is fixedly connected to the connecting plate 33 of the preceding joint component. Adjacent joint components' elliptical rings are connected by a set of elastic elements. Preferably, the perforated bolts around the connecting plate 33 are connected to the perforated bolts 23 on the outer elliptical ring via four fourth elastic ropes 30. Adjacent joint components' elliptical rings are connected by four fifth elastic ropes 29, which are also connected via perforated bolts on the elliptical rings.

[0026] In this embodiment, the joint components are formed by connecting two aluminum alloy plates with perforated bolts 23 using four symmetrically distributed fourth elastic ropes 30. Furthermore, the aluminum alloy plates are connected to the servo bracket 14 using ordinary bolts. Adjacent joint components are connected to each other by four symmetrically distributed fifth elastic ropes 29 and perforated bolts 23 on the joint. The robotic fish body has an offline variable stiffness structure; by adjusting the length of the elastic ropes, the stiffness of the overall tensioned structure can be changed, thereby altering the natural frequency of the robotic fish and improving its motion performance.

[0027] The caudal fin joint 13 is connected to the last joint member 11 via a set of elastic elements (i.e., the fifth elastic rope 29). The middle part of the caudal fin joint 13 is connected to the screw 25, the front part of the screw 25 is elastically connected to the last joint member 11, and the rear part of the screw 25 is fixedly connected to the flexible caudal fin. In this embodiment, the flexible caudal fin includes a front half 19 and a crescent-shaped rear half 18. The crescent-shaped rear half 18 is cast with silicone and connected to the rear end of the screw 25. The front half 19 is located in front of the crescent-shaped rear half 18 and is fixedly connected to the rear section of the screw 25.

[0028] In this embodiment, the fish head shell 15 is a rigid structure and is fixedly connected to the fish head frame 12. The fish head shell 15 is provided with an openable fish head cover 16. The flexible fish skin 17 is made of silicone and covers the tensioned overall structure and the outer side of the caudal fin joint. Its front end is connected to the fish head shell 15, its middle part is connected to each joint component, and its rear end is connected to the flexible caudal fin.

[0029] In this embodiment, the lower side of the fish head shell 15 has a pelvic fin 22 structure, and the upper and lower sides of the flexible fish skin 17 have a dorsal fin 20 and anal fin 21 structure, respectively.

[0030] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A biomimetic robotic fish modeled after a tuna, characterized in that, The system includes a fish head assembly, a flexible fish body assembly, and a tail fin assembly. The fish head assembly comprises a fish head base frame, a fish head shell, and three servo motors mounted on the fish head base frame. The flexible fish body assembly comprises a tensioned integral structure, flexible fish skin, and n-2 servo motors. The tensioned integral structure includes n joint components arranged sequentially front to back. The first joint component is fixedly connected to the rear of the fish head base frame. Adjacent joint components are connected by a set of elastic elements. Each joint component except the first one has a servo motor bracket fixedly mounted on its front. The front of each servo motor bracket is elastically connected to the preceding joint component. Each servo motor bracket except the last one has a servo motor mounted on it. The tail fin assembly includes a tail fin joint and a flexible tail fin fixedly connected to it. The tail fin joint is elastically connected to the last joint component. The first servo motor on the fish head base frame... The left and right sides of the blade are respectively connected to the first elastic rope. The two first elastic ropes pass through the fish head base and the first joint component and are connected to the left and right sides of the second joint component. The second and third servo blades arranged side by side on the fish head base are respectively connected to the second elastic rope. The two second elastic ropes pass through the fish head base and several joint components and are connected to the left and right sides of the (n-1)th joint component. The left and right sides of the servo blade on the ith joint component are respectively connected to the third elastic rope. The two third elastic ropes pass through several joint components and are connected to the left and right sides of the servo bracket on the (i+2)th joint component. The left and right sides of the servo blade on the (n-1)th joint component are respectively connected to the third elastic rope. The two third elastic ropes pass through several joint components and are connected to the left and right sides of the caudal fin joint. The joint component includes an elliptical ring and a connecting plate located in the middle of the elliptical ring. The elliptical ring has multiple through holes for passing through elastic ropes. The connecting plate is connected to the outer elliptical ring via multiple elastic elements. The rear of the servo bracket is fixedly mounted to the elliptical ring, and the front of the servo bracket is fixedly connected to the connecting plate of the previous joint component. The elliptical rings of adjacent joint components are connected by a set of elastic elements. The connecting plate is connected to the outer elliptical ring via four fourth elastic ropes. The elliptical rings of adjacent joint components are connected by four fifth elastic ropes. The caudal fin joint is connected to the last joint component via a set of elastic elements. The middle part of the caudal fin joint is connected to a screw. The front part of the screw is elastically connected to the last joint component, and the rear part of the screw is fixedly connected to the flexible caudal fin.

2. The biomimetic robotic fish mimicking the tensioning mechanism of a tuna family according to claim 1, characterized in that, The tensioned integral structure includes five joint components.

3. The biomimetic robotic fish mimicking the tensioning mechanism of a tuna family according to claim 1, characterized in that, The fish head shell is a rigid structure and is fixedly connected to the fish head base frame.

4. The biomimetic robotic fish mimicking the tuna family as described in claim 1, characterized in that, The fish head shell is equipped with an openable fish head cover.

5. The biomimetic robotic fish mimicking the tensioning mechanism of a tuna family according to claim 1, characterized in that, The flexible fish skin is made of silicone. The flexible fish skin covers the entire tension structure and the outer side of the tail fin joint. Its front end is connected to the outer shell of the fish head, its middle part is connected to each joint component, and its rear end is connected to the flexible tail fin.

6. The biomimetic robotic fish mimicking the tensioning mechanism of a tuna family according to claim 1, characterized in that, The lower side of the fish head shell has a pelvic fin structure, and the upper and lower sides of the flexible fish skin have dorsal and anal fin structures, respectively.

7. The biomimetic robotic fish mimicking the tensioning mechanism of a tuna family according to claim 1, characterized in that, The flexible tail fin includes a front half and a crescent-shaped rear half. The rear half of the crescent-shaped tail fin is cast with silicone and connected to the rear end of the screw. The front half of the tail fin is located in front of the rear half of the crescent-shaped tail fin and is fixedly connected to the rear section of the screw.

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