A single-node swimming robotic fish

Abstract

The application discloses a single-node motion robotic fish, which comprises a head unit, a fish body unit and a tail unit, the head unit comprises a transparent cover, the fish body unit comprises a fish body shell, a first driver and two pectoral fins, the tail unit comprises a tail shell, a tail fin and a second driver, when the robotic fish moves, the second driver drives the tail fin to swing, so that the robotic fish moves forward, by controlling the swing angle and swing frequency of the pectoral fins, different heading angles and different propulsive forces can be provided for the robotic fish, different attack angles are formed between the pectoral fins and the water flow direction, different pitch angle changes are generated, and thus the motion state of the robotic fish is adjusted, and actions such as floating up, diving down, turning and rolling are realized. The robotic fish has the advantages of simple structure, compact layout, single-node rudder driving, flexible motion, small noise and low energy consumption, and the adaptability of the robotic fish is improved, and the underwater monitoring work efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic mechanical technology, in particular to a single-node motion robotic fish. BACKGROUND

[0002] The ocean has abundant natural energy, mineral resources, marine organisms and other natural resources, and reasonable development and utilization of marine resources is one of the ways to solve the current resource shortage and an important support for the sustainable development of social economy. Due to the complexity of the marine environment, it is difficult for humans to complete various work, and the complex marine environment also has a certain degree of danger, so the demand for underwater equipment robots related to marine exploration is gradually increasing.

[0003] At present, underwater robots can be divided into two types: tethered remote control underwater robots and untethered remote control underwater robots. Among them, the tethered remote control underwater robot needs to be operated by personnel on the shore, and most of them use propeller driven mode, which has the disadvantages of large noise, low propulsion efficiency and poor maneuverability. The bionic robot in the untethered underwater robot obtains thrust by simulating the motion characteristics and swimming mechanism of underwater organisms. Among them, the robotic fish simulates the movement of fish and obtains thrust by using fish fins or body swing. Compared with underwater robots driven by propellers, robotic fish not only realizes the integration of power mechanism and heading mechanism, but also has the advantages of strong maneuverability, small disturbance and high propulsion efficiency, and has a wide application prospect in fish group monitoring, water quality monitoring and popular science education. However, in the prior art, the structure of the robotic fish is complex, and the energy consumption is high, which restricts the improvement of underwater monitoring work efficiency. SUMMARY

[0004] The purpose of the present application is to provide a single-node motion robotic fish to solve the problems existing in the prior art, simplify the structure of the robotic fish, reduce energy consumption, improve the adaptability of the robotic fish, and improve the underwater monitoring work efficiency under the premise of ensuring the flexible movement of the robotic fish.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] The present application provides a single-node motion robotic fish, comprising: a head unit, the head unit comprising a transparent cover, the transparent cover having a spherical structure;

[0007] A fish body unit, the fish body unit comprising a fish body shell, a first driver and two pectoral fins, the two pectoral fins being symmetrically arranged on both sides of the fish body shell, and the connecting line direction of the two pectoral fins being perpendicular to the length direction of the single-node motion robotic fish; the first driver is arranged on the fish body shell, the output end of the first driver is connected with the pectoral fin, and the first driver and the pectoral fin correspond one by one; the fish body shell is a hollow structure;

[0008] A tail unit, comprising a tail shell, a tail fin and a second driver, the second driver being arranged on the tail shell, and an output end of the second driver being connected with the tail fin;

[0009] The transparent cover, the fish body shell and the tail shell are sequentially connected and enclose a sealed cabin, a monitoring element, a control element and a battery are arranged in the sealed cabin, the monitoring element is used for monitoring work, the monitoring element, the first driver and the second driver are in communication connection with the control element, and the monitoring element, the control element, the first driver and the second driver are in electrical connection with the battery.

[0010] Preferably, the fish body unit further comprises a first mounting bracket, the first mounting bracket is sleeved on the outside of the fish body shell, and the first mounting bracket is detachably connected with the first driver.

[0011] Preferably, the first mounting bracket is of a split structure, and a monitoring mounting position for mounting a monitoring sensor is further arranged on the first mounting bracket.

[0012] Preferably, the fish body shell is of a hollow cylindrical structure, and the fish body shell is coaxially arranged with the spherical structure of the transparent cover; the spherical structure of the transparent cover is arranged in a direction away from the fish body shell, one side of the transparent cover close to the fish body shell has a head connecting disc, and the transparent cover is connected with the fish body shell by means of the head connecting disc.

[0013] Preferably, the pectoral fin is of a plate structure, and a plate surface of the pectoral fin is parallel to an axis of rotation of the output end of the first driver.

[0014] The pectoral fin has a first side surface, a second side surface, a third side surface and a fourth side surface, the first side surface is connected with the output end of the first driver, the second side surface and the third side surface are respectively located on two sides of the first side surface, the second side surface and the third side surface are both arc surfaces, the second side surface is arranged close to the head unit, the third side surface is arranged close to the tail unit, the fourth side surface is parallel to the first side surface, and an end of the second side surface away from the first side surface extends towards the direction of the tail unit and intersects with the fourth side surface.

[0015] Preferably, the tail shell comprises a tail connecting disc and a second mounting bracket, the second mounting bracket is connected with the fish body shell by means of the tail connecting disc, and the second driver is arranged on the second mounting bracket; the second mounting bracket is of a frame structure.

[0016] Preferably, the tail fin comprises a first fish tail plate and a second fish tail plate, the first fish tail plate connects the tail shell and the second fish tail plate, the first fish tail plate is made of rigid material, and the second fish tail plate is made of flexible material.

[0017] Preferably, the first fish tail plate and the second fish tail plate are both V-shaped, and the opening directions of the first fish tail plate and the second fish tail plate are away from the fish body unit.

[0018] Preferably, the second fish tail plate is made of TPU material.

[0019] Preferably, a wireless charging transmitting end is arranged on the fish body shell, the battery is connected with a wireless charging receiving end, the wireless charging transmitting end can be electrically connected with an external power supply, and energy is transmitted to the wireless charging receiving end to charge the battery.

[0020] The single-node motion robotic fish of the present application comprises a head unit, a fish body unit and a tail unit, the head unit comprises a transparent cover with a spherical structure, the fish body unit comprises a fish body shell, a first driver and two pectoral fins, the two pectoral fins are symmetrically arranged on both sides of the fish body shell, and the connecting line direction of the two pectoral fins is perpendicular to the length direction of the single-node motion robotic fish, the first driver is arranged on the fish body shell, the output end of the first driver is connected with the pectoral fin, and the first driver and the pectoral fin are one-to-one corresponding, the fish body shell is a hollow structure, the tail unit comprises a tail shell, a tail fin and a second driver, the second driver is arranged on the tail shell, and the output end of the second driver is connected with the tail fin, the transparent cover, the fish body shell and the tail shell are sequentially connected and enclose a sealed cabin, the sealed cabin is provided with a monitoring element, a control element and a battery, the monitoring element is used for monitoring work, the monitoring element, the first driver and the second driver are all in communication connection with the control element, and the monitoring element, the control element, the first driver and the second driver are all in electrical connection with the battery.

[0021] The single-node motion robotic fish of the present application, the first driver can drive the pectoral fin to swing, the second driver can drive the caudal fin to swing, the first driver and the second driver can adopt single-node rudder. When the single-node motion robotic fish moves, the second driver drives the caudal fin to swing, so that the single-node motion robotic fish moves forward, by controlling the swing angle of the pectoral fin at the swing frequency, different heading angles and different force propulsive forces can be provided for the single-node motion robotic fish, different angles of attack are formed between the pectoral fin and the water flow direction, different pitch angle changes are generated, so that the motion state of the single-node motion robotic fish is adjusted, and actions such as floating up, diving down, turning, and rolling are realized. The transparent cover, the fish body shell and the tail shell are connected in sequence and enclose a sealed cabin, the sealed cabin is provided with monitoring elements, control elements and batteries, the monitoring elements are used for underwater monitoring work, the transparent cover facilitates the work of the monitoring elements, the control elements are used for controlling the motion state of the single-node motion robotic fish, and the batteries provide a power source for the single-node motion robotic fish. The single-node motion robotic fish of the present application has simple structure, compact layout, adopts single-node rudder drive, is flexible in motion, has low noise and low energy consumption, improves the adaptability of the single-node motion robotic fish, and is beneficial to improving the efficiency of underwater monitoring work. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 The single-node motion robotic fish disclosed in the embodiments of the present application is shown in the axonometric view.

[0024] Figure 2 The partial structure diagram of the fish body unit of the single-node motion robotic fish disclosed in the embodiments of the present application is shown.

[0025] Figure 3 The partial structure diagram of the tail unit of the single-node motion robotic fish disclosed in the embodiments of the present application is shown.

[0026] Figure 4 The front view of the single-node motion robotic fish disclosed in the embodiments of the present application is shown.

[0027] Figure 5 The side view of the single-node motion robotic fish disclosed in the embodiments of the present application is shown.

[0028] Figure 6 The top view of the single-node motion robotic fish disclosed in the embodiments of the present application is shown.

[0029] Figure 7 A schematic diagram of horizontal movement of a single-node motion robotic fish disclosed in an embodiment of the present application;

[0030] Figure 8 A schematic diagram of diving movement of a single-node motion robotic fish disclosed in an embodiment of the present application;

[0031] Figure 9 A schematic diagram of floating movement of a single-node motion robotic fish disclosed in an embodiment of the present application;

[0032] Figure 10 A schematic diagram of rolling movement of a single-node motion robotic fish disclosed in an embodiment of the present application.

[0033] In the figure: 1, transparent cover; 2, fish body shell; 3, first driver; 4, pectoral fin; 5, tail shell; 6, tail fin; 7, second driver; 8, first mounting bracket; 9, branch bracket; 10, monitoring mounting position; 11, head connecting disc; 12, tail connecting disc; 13, second mounting bracket; 14, first fish tail plate; 15, second fish tail plate; 16, wireless charging transmitting end. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0035] The purpose of the present application is to provide a single-node motion robotic fish to solve the problems existing in the prior art, simplify the structure of the robotic fish, reduce energy consumption, improve the adaptability of the robotic fish, and improve the efficiency of underwater monitoring work under the premise of ensuring the flexible movement of the robotic fish.

[0036] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] The single-node motion robotic fish provided by the application comprises a head unit, a fish body unit and a tail unit, the head unit comprises a transparent cover 1, the transparent cover 1 has a spherical structure; the fish body unit comprises a fish body shell 2, a first driver 3 and two pectoral fins 4, the two pectoral fins 4 are symmetrically arranged on the two sides of the fish body shell 2, and the connecting line direction of the two pectoral fins 4 is perpendicular to the length direction of the single-node motion robotic fish; the first driver 3 is arranged on the fish body shell 2, the output end of the first driver 3 is connected with the pectoral fin 4, and the first driver 3 and the pectoral fin 4 correspond to each other; the fish body shell 2 has a hollow structure; the tail unit comprises a tail shell 5, a tail fin 6 and a second driver 7, the second driver 7 is arranged on the tail shell 5, and the output end of the second driver 7 is connected with the tail fin 6; the transparent cover 1, the fish body shell 2 and the tail shell 5 are sequentially connected and enclose a sealed cabin, monitoring elements, control elements and a battery are arranged in the sealed cabin, the monitoring elements are used for monitoring work, the monitoring elements, the first driver 3 and the second driver 7 are in communication connection with the control elements, and the monitoring elements, the control elements, the first driver 3 and the second driver 7 are in electrical connection with the battery.

[0038] The single-node motion robotic fish provided by the application, the first driver 3 can drive the pectoral fin 4 to swing, the second driver 7 can drive the tail fin 6 to swing, and the first driver 3 and the second driver 7 can adopt a single-node steering gear. When the single-node motion robotic fish moves, the second driver 7 drives the tail fin 6 to swing, so that the single-node motion robotic fish moves forward, by controlling the swing angle and swing frequency of the pectoral fin 4, different heading angles and different force propelling forces can be provided for the single-node motion robotic fish, different attack angles are formed between the pectoral fin 4 and the water flow direction, different pitch angle changes are generated, and thus the motion state of the single-node motion robotic fish is adjusted, and actions such as floating up, diving down, turning and rolling are realized. The transparent cover 1, the fish body shell 2 and the tail shell 5 are sequentially connected and enclose a sealed cabin, monitoring elements, control elements and a battery are arranged in the sealed cabin, the monitoring elements are used for underwater monitoring work, in addition, a camera element can be arranged, the transparent cover 1 facilitates the work of the monitoring elements, and the camera element can also be used to collect image information in front of the single-node motion robotic fish, the control elements are used for controlling the motion state of the single-node motion robotic fish, and the battery provides a power source for the single-node motion robotic fish. The single-node motion robotic fish provided by the application has simple structure, compact layout, adopts a single-node steering gear for driving, is flexible in movement, small in noise and low in energy consumption, improves the adaptability of the single-node motion robotic fish, and is beneficial to improving the efficiency of underwater monitoring work.

[0039] The fish body unit further comprises a first mounting bracket 8, the first mounting bracket 8 is sleeved on the outside of the fish body shell 2, and the first mounting bracket 8 is detachably connected with the first driver 3. The first mounting bracket 8 facilitates the installation of the first driver 3, avoids the influence of the sealing performance of the sealed cabin caused by the direct connection between the first driver 3 and the fish body shell 2, and ensures the axial symmetry of the fish body unit by adopting the mounting mode of sleeving on the fish body shell 2, thereby improving the stress uniformity of the fish body unit and ensuring the movement flexibility of the single-node movement robot fish.

[0040] In order to facilitate installation, the first mounting bracket 8 can be provided in a split structure, the first mounting bracket 8 comprises two split brackets 9, the split bracket 9 is omega-shaped, the two split brackets 9 are matched to tighten the fish body shell 2, the end portions of the two split brackets 9 are connected, and the first driver 3 is provided with a mounting and fixing position. The two split brackets 9, the split bracket 9 and the first driver 3 can be connected by bolts, which is fast and convenient to disassemble and assemble. It should be noted that the first mounting bracket 8 is further provided with a monitoring mounting position 10 for installing monitoring sensors. A plurality of monitoring sensors can be installed according to monitoring needs to meet different working conditions and adapt to various scene requirements. Similarly, the monitoring elements installed in the sealed cabin can be adjusted according to different monitoring requirements, and the monitoring sensors installed outside the sealed cabin are waterproof sensors to ensure the smooth progress of the monitoring work.

[0041] Specifically, the fish body shell 2 is a hollow cylindrical structure, which provides installation space for monitoring elements, control elements and batteries, and is coaxially arranged with the spherical surface structure of the transparent cover 1, which is beneficial to improve the mechanical properties of the single-node movement robot fish. The spherical surface structure of the transparent cover 1 can also reduce the forward resistance of the single-node movement robot fish. The spherical surface structure of the transparent cover 1 is arranged away from the fish body shell 2, the side of the transparent cover 1 close to the fish body shell 2 has a head connecting disc 11, the transparent cover 1 is connected with the fish body shell 2 by the head connecting disc 11, which facilitates the connection of the head unit and the fish body unit, and a sealing element is arranged between the head connecting disc 11 and the fish body shell 2 to ensure the sealing performance of the sealed cabin.

[0042] In the specific embodiment, the pectoral fin 4 is a plate-shaped structure, and the plate surface of the pectoral fin 4 is parallel to the rotation axis of the output end of the first driver 3. The pectoral fin 4 is arranged in a plate-shaped or sheet-shaped structure, which is more consistent with the shape of the real fish fin, reduces the movement resistance of the single-node movement robot fish, and improves the movement flexibility of the single-node movement robot fish.

[0043] The chest fin 4 has a first side surface, a second side surface, a third side surface and a fourth side surface, the first side surface is connected with the output end of the first driver 3, the second side surface and the third side surface are respectively located on both sides of the first side surface, and the second side surface and the third side surface are both arc surfaces, the second side surface is close to the head unit, the third side surface is close to the tail unit, the fourth side surface is parallel to the first side surface, one end of the second side surface away from the first side surface extends towards the direction of the tail unit and intersects with the fourth side surface, a circular arc transition surface is arranged at the intersection of adjacent side surfaces, the chest fin 4 is arranged as a plate-shaped structure with an arc-shaped contour, and the resistance suffered by the chest fin 4 and the single-node motion machine fish is reduced as much as possible.

[0044] More specifically, the tail shell 5 includes a tail connecting disc 12 and a second mounting bracket 13, the second mounting bracket 13 is connected with the fish body shell 2 by the tail connecting disc 12, a sealing element is also arranged between the tail connecting disc 12 and the fish body shell 2 to ensure the sealing property of the sealed cabin, and the second driver 7 is arranged on the second mounting bracket 13. It should be noted that the second mounting bracket 13 is a frame structure, which is conducive to reducing the mass of the single-node motion machine fish and reducing energy consumption. In actual application, the second mounting bracket 13 is an arched frame structure towards the direction of the tail fin 6, which is conducive to the axial symmetry of the single-node motion machine fish and improves the mechanical properties of the single-node motion machine fish.

[0045] It should be emphasized that the tail fin 6 includes a first fish tail plate 14 and a second fish tail plate 15, the first fish tail plate 14 connects the tail shell 5 and the second fish tail plate 15, the first fish tail plate 14 is made of a rigid material, and the second fish tail plate 15 is made of a flexible material. The tail fin 6 is made of double materials, the first fish tail plate 14 ensures the structural strength of the tail fin 6 and the connection strength between the tail fin 6 and the tail shell 5, and the second fish tail plate 15 made of a flexible material improves the bionic performance and mechanical properties of the tail fin 6.

[0046] Further, the first fish tail plate 14 and the second fish tail plate 15 are both V-shaped, and the opening direction of the first fish tail plate 14 and the second fish tail plate 15 is towards the direction away from the fish body unit, which is conducive to reducing the swing resistance of the tail fin 6.

[0047] In the specific embodiment, the second fish tail plate 15 is made of TPU (thermoplastic polyurethane elastomer) material, which has outstanding mechanical properties and good elasticity, and can prolong the service life of the tail fin 6; in other specific embodiments of the application, the material of the tail fin 6 can also be adjusted according to the actual working environment of the single-node motion machine fish.

[0048] Further, the fish body shell 2 is provided with a wireless charging transmitting end 16, the battery is connected with a wireless charging receiving end, the wireless charging transmitting end 16 can be electrically connected with an external power supply, and energy is transmitted to the wireless charging receiving end, so that the battery is charged, thereby realizing the purpose that the fish body shell 2 can charge the battery in the sealed cabin without opening holes, and improving the working reliability of the single-node motion robotic fish.

[0049] The single-node motion robotic fish of the present application, when moving forward (the direction of the fish tail pointing to the fish head is the front direction), please refer to Figure 7 , the left and right pectoral fins 4 are in a horizontal state, and the water flow has almost no impact on the pectoral fins 4. The single-node motion robotic fish stably advances on the horizontal plane, and can also control the robotic fish to realize turning by changing the angle of oscillation of the tail fin 6.

[0050] When the single-node motion robotic fish is ready to perform a diving action, please refer to Figure 8 , the left pectoral fin 4 is deflected clockwise by a corresponding angle, and the right pectoral fin 4 is deflected counterclockwise by a corresponding angle, under the impact of the front water flow, a downward force is formed, and the single-node motion robotic fish dives. The same principle is shown in Figure 9 , by adjusting the angle of the pectoral fin 4, the single-node motion robotic fish can also realize the function of floating up.

[0051] When the fish is ready to perform a somersault action, please refer to Figure 10 , the left pectoral fin 4 is deflected counterclockwise by a corresponding angle, and the right pectoral fin 4 is also deflected counterclockwise by a corresponding angle, under the impact of the front water flow, the left pectoral fin 4 will generate an upward force, and the right pectoral fin 4 generates a downward force, and the single-node motion robotic fish realizes a clockwise somersault action (the front view in Figure 10 is clockwise). In addition to realizing the somersault action of the single-node motion robotic fish, it is also suitable for realizing the posture adjustment of the single-node motion robotic fish in the somersault plane.

[0052] The principles and implementation modes of the present application are described by applying specific examples in the present application, and the above embodiment is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In view of the above, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A single-node robotic fish, characterized by, The utility model relates to a kind of single-node motion machine fish, including: Head unit, the head unit includes transparent cover, the transparent cover has spherical structure; Fish body unit, the fish body unit includes fish body shell, first driver and two pectoral fins, two the pectoral fins are symmetrically arranged in the two sides of the fish body shell, and the line direction of two the pectoral fins is perpendicular to the length direction of the single-node motion machine fish;The first driver is arranged on the fish body shell, the output end of the first driver is connected with the pectoral fin, and the first driver and the pectoral fin one to one correspond;The fish body shell is hollow structure; Tail unit, the tail unit includes tail shell, tail fin and second driver, the second driver is arranged on the tail shell, and the output end of the second driver is connected with the tail fin; The transparent cover, the fish body shell and the tail shell are sequentially connected and enclose sealed cabin, monitoring element, control element and battery are arranged in the sealed cabin, the monitoring element is used for monitoring work, the monitoring element, the first driver and the second driver are all connected with the control element, and the monitoring element, the control element, the first driver and the second driver are all electrically connected with the battery; The pectoral fin is plate structure, and the plate surface of the pectoral fin is parallel to the rotation axis of the output end of the first driver; The pectoral fin has first side elevation, second side elevation, third side elevation and fourth side elevation, the first side elevation is connected with the output end of the first driver, the second side elevation and the third side elevation are located at the two sides of the first side elevation respectively, and the second side elevation and the third side elevation are both arc surface, the second side elevation is close to the head unit and is set, the third side elevation is close to the tail unit and is set, the fourth side elevation is parallel to the first side elevation, and the end of the second side elevation away from the first side elevation extends towards the direction of the tail unit and intersects with the fourth side elevation.

2. The single-node robotic fish of claim 1, wherein: The fish body unit further includes first mounting bracket, the first mounting bracket is sleeved on the outside of the fish body shell, and the first mounting bracket is detachably connected with the first driver.

3. The single-node robotic fish of claim 2, wherein: The first mounting bracket is split structure, and monitoring mounting position for installing monitoring sensor is further arranged on the first mounting bracket.

4. The single-node robotic fish of claim 1, wherein: The fish body shell is hollow cylindrical structure, and the fish body shell is coaxially arranged with the spherical structure of the transparent cover;The spherical structure of the transparent cover is arranged towards the direction away from the fish body shell, and the side of the transparent cover close to the fish body shell has head connecting disc, and the transparent cover is connected with the fish body shell using the head connecting disc.

5. The single-node robotic fish of claim 1, wherein: The tail shell includes tail connecting disc and second mounting bracket, the second mounting bracket is connected with the fish body shell using the tail connecting disc, and the second driver is arranged on the second mounting bracket;The second mounting bracket is frame structure.

6. The single-node robotic fish of any one of claims 1-5, wherein: The tail fin includes first fish tail plate and second fish tail plate, the first fish tail plate connects the tail shell and the second fish tail plate, the first fish tail plate is made of rigid material, and the second fish tail plate is made of flexible material.

7. The single-node robotic fish of claim 6, wherein: The first fish tail plate and the second fish tail plate are V-shaped, and the opening directions of the first fish tail plate and the second fish tail plate are away from the fish body unit.

8. The single-node robotic fish of claim 6, wherein: The second fish tail plate is made of TPU material.

9. The single-node robotic fish of any one of claims 1-5, wherein: A wireless charging transmitting end is arranged on the fish body shell, a wireless charging receiving end is connected to the battery, the wireless charging transmitting end can be electrically connected with an external power supply, and energy is transmitted to the wireless charging receiving end to charge the battery.

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