Butt-joint recovery mechanism of robotic fish

Abstract

The invention discloses a docking recovery mechanism of a robotic fish. The docking recovery mechanism comprises an unmanned ship; the at least one switching assembly is arranged on the outer side wall of the unmanned ship; the positioning assembly is arranged at the end, away from the unmanned ship, of the switching assembly; and the electromagnetic adsorption assembly is arranged on the positioning assembly and is used for adsorbing a metal piece mounted on the robotic fish. When the electromagnetic adsorption assembly is powered on, the electromagnetic adsorption assembly can generate strong magnetic force through underwater cruising of the unmanned ship, it is ensured that even if a certain deviation range exists between the robotic fish and the electromagnetic adsorption assembly, effective grabbing of the robotic fish can be achieved, and good tolerance is achieved; meanwhile, due to the electromagnetic adsorption property between the electromagnetic adsorption assembly and the metal piece, the butt joint recycling mechanism of the robotic fish can provide stable grabbing force in complex environments such as water flow and sediment, accurate grabbing and releasing of the robotic fish are achieved, and the recycling efficiency of the robotic fish is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot fish recovery equipment, and in particular to a docking recovery mechanism for a robot fish. Background Art

[0002] In underwater environments, robotic fish, as an autonomous underwater vehicle (AUV), are widely used in underwater exploration, environmental monitoring, data collection and other tasks. Due to the complexity and challenges of the underwater environment, existing underwater recovery solutions mainly include underwater grabbers and net capture systems, which may face problems such as positioning difficulties, environmental interference and mechanical damage.

[0003] For underwater grippers, in environments with strong water currents or rich sediments, the mechanical claws may not be able to stably clamp the target object, resulting in loose clamping or the object falling off, thus affecting the recovery effect and reducing the recovery efficiency.

[0004] For the net capture system, in a strong current or sediment-filled underwater environment, the net is easily entangled by the current or sediment, reducing the recovery efficiency and possibly causing damage to the net. The large-scale unfolded net structure is difficult to accurately locate the target object, which may cause the target to be partially captured or completely missed, reducing the recovery efficiency.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a docking and recovery mechanism for a robot fish in view of the above-mentioned defects of the prior art, aiming to solve the problem of low recovery efficiency of the robot fish in the prior art.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0008] A docking and recovery mechanism for a robotic fish, comprising:

[0009] Unmanned boats;

[0010] At least one adapter assembly is disposed on the outer side wall of the unmanned boat;

[0011] A positioning assembly, arranged at an end of the adapter assembly away from the unmanned boat;

[0012] The electromagnetic adsorption component is arranged on the positioning component and is used to adsorb the metal parts installed on the robot fish.

[0013] The docking and recovery mechanism of the robotic fish, wherein the electromagnetic adsorption component comprises:

[0014] A plurality of electromagnets; the plurality of electromagnets are arranged at intervals.

[0015] The docking and recovery mechanism of the robot fish comprises four electromagnets, and the four electromagnets are arranged in a diamond shape.

[0016] The docking and recovery mechanism of the robotic fish, wherein the adapter assembly comprises:

[0017] A telescopic rod unit; one end of the telescopic rod unit is connected to the positioning assembly and can be telescoped along the length direction;

[0018] The first rotation pair is arranged between the telescopic rod unit and the unmanned boat, so that the telescopic rod unit can rotate relative to the unmanned boat along a horizontal plane and a vertical plane.

[0019] The docking and recovery mechanism of the robotic fish, wherein the telescopic rod unit comprises:

[0020] Sleeve;

[0021] A base, disposed at one end of the sleeve;

[0022] A driving member, disposed on the base;

[0023] A transmission rod, located in the sleeve and connected to the driving member, so as to rotate under the driving of the driving member;

[0024] The telescopic rod has one end located in the sleeve and threadedly connected to the transmission rod; and the other end extends out of the sleeve in a direction away from the base and connected to the positioning assembly.

[0025] The docking and recovery mechanism of the robotic fish, wherein the telescopic rod unit further comprises:

[0026] A fixing rod, located in the sleeve and having one end connected to the base;

[0027] The telescopic rod is provided with a slot, and a part of the fixing rod is located in the slot.

[0028] The docking and recovery mechanism of the robotic fish, wherein the first rotation pair comprises:

[0029] A mounting portion connected to the unmanned boat and capable of rotating along a horizontal plane relative to the unmanned boat; the mounting portion is provided with a slot;

[0030] The first rotating shaft is located in the slot and connected to the mounting portion; a portion of the telescopic rod unit is located in the slot and sleeved on the first rotating shaft; the telescopic rod unit can rotate along a vertical plane relative to the first rotating shaft.

[0031] The docking and recovery mechanism of the robotic fish, wherein the positioning component comprises:

[0032] Positioning block; the electromagnetic adsorption component is arranged on one side of the positioning block;

[0033] The second rotating pair is arranged on a side of the positioning block away from the electromagnetic adsorption component and is hinged to the adapter component.

[0034] The docking and recovery mechanism of the robotic fish, wherein the second rotation pair comprises:

[0035] Two fixing blocks are arranged on a side of the positioning block away from the electromagnetic adsorption component;

[0036] A second rotating shaft is disposed at an end of the adapter assembly away from the unmanned boat and can rotate relative to the adapter assembly; a rotation plane of the second rotating shaft is perpendicular to a central axis of the adapter assembly;

[0037] The second rotating shaft is located between the two fixed blocks and is respectively connected to the two fixed blocks; the second rotating shaft is rotatably sleeved on the second rotating shaft; and the rotation plane of the second rotating shaft is parallel to the central axis of the adapter assembly.

[0038] Beneficial effects: In the present application, when the electromagnetic adsorption component is powered on, the electromagnetic adsorption component can generate a strong magnetic force through the underwater cruising of the unmanned boat, ensuring that even if there is a certain deviation range between the robot fish and the electromagnetic adsorption component during the contact process, the robot fish can be effectively grasped, with better tolerance. At the same time, the electromagnetic adsorption properties between the electromagnetic adsorption component and the metal parts enable the docking recovery mechanism of the robot fish to provide a stable grasping force in complex environments such as water flow and sediment, thereby achieving accurate grasping and release of the robot fish, effectively improving the recovery efficiency of the robot fish. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a reference diagram of the use state of the docking recovery mechanism of the robotic fish in the present invention when recovering the robotic fish;

[0040] Figure 2 It is a schematic diagram of the assembly structure of the electromagnetic adsorption component and the positioning component in the present invention;

[0041] Figure 3 It is a schematic diagram of the structure of assembling the metal parts on the robot fish in the present invention;

[0042] Figure 4 is a structural schematic diagram of the telescopic rod unit of the present invention;

[0043] Figure 5 is a cross-sectional view of the telescopic rod unit of the present invention;

[0044] Figure 6It is a structural schematic diagram of the telescopic rod member described in the present invention;

[0045] Figure 7 is a schematic structural diagram of the first rotating pair in the present invention;

[0046] Figure 8 It is a schematic structural diagram of the second rotating pair in the present invention. DETAILED DESCRIPTION

[0047] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0048] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0049] The inventors have found through research that existing underwater recovery solutions mainly include underwater grippers, net capture systems, and negative pressure adsorption recovery devices. For underwater grippers, in environments with strong water flow or rich sediments, the mechanical claws may not be able to stably clamp the target object, resulting in loose clamping or object falling off, thus affecting the recovery effect. The multiple moving parts of the gripper will also wear out during long-term use, and these wears directly affect the performance of the gripper, further reducing the recovery efficiency of the gripper. In addition, precise control of the gripper's movements requires a complex operating system, which increases the difficulty of operation and the possibility of errors.

[0050] For the net capture system, in a strong current or sediment-filled underwater environment, the net is easily entangled by the current or sediment, reducing the recovery efficiency and possibly causing damage to the net. The large-scale unfolded net structure is difficult to accurately locate the target object, which may cause the target to be partially captured or completely missed, reducing the success rate of recovery. At the same time, the net capture system needs to be cleaned and inspected regularly, which increases the complexity and cost of maintenance.

[0051] For negative pressure adsorption devices, this type of underwater recovery device that generates instantaneous adsorption force through hydraulic or similar mechanisms has several significant disadvantages. First, it is highly dependent on environmental conditions. In underwater environments with strong currents, waves or a lot of sediment, the adsorption force is easily disturbed, resulting in a significant decrease in recovery efficiency; second, although the instantaneous adsorption force of negative pressure adsorption is strong, it lasts for a short time. If the target object (such as a robot fish) fails to accurately enter the capture range, the adsorption force will quickly weaken or disappear, increasing the risk of recovery failure; and the capture range of this type of device is limited, and the target needs to be accurately positioned. A slight deviation may lead to missing the target, especially in complex underwater environments, and the recovery success rate is low.

[0052] Based on the above technical problems, the present invention provides a docking and recovery mechanism for a robot fish, such as Figure 1 and Figure 2 As shown, the docking and recovery mechanism of the robot fish includes an unmanned boat 1, at least one adapter component 2, a positioning component 3 and an electromagnetic adsorption component 4; the adapter component 2 is arranged on the outer wall of the unmanned boat 1; the positioning component 3 is arranged at one end of the adapter component 2 away from the unmanned boat 1; the electromagnetic adsorption component 4 is arranged on the positioning component 3, and is used to adsorb the metal part 101 (such as Figure 3 shown).

[0053] Specifically, the positioning component 3 is used to install and position the electromagnetic adsorption component 4 , and the adapter component 2 is used to connect the positioning component 3 with the unmanned boat 1 , so that the electromagnetic adsorption component 4 can be positioned on the unmanned boat 1 .

[0054] Correspondingly, a metal part 101 is installed on the robot fish 100, and the metal part 101 can be mutually attracted with the electromagnetic adsorption component 4; then, when the electromagnetic adsorption component 4 is powered on, the electromagnetic adsorption component 4 can generate a strong magnetic force through the underwater cruising of the unmanned boat 1, ensuring that even if there is a certain deviation range between the robot fish 100 and the electromagnetic adsorption component 4 during the contact process, the robot fish 100 can be effectively grasped, with better tolerance. At the same time, the electromagnetic adsorption properties between the electromagnetic adsorption component 4 and the metal part 101 enable the docking recovery mechanism of the robot fish 100 to provide a stable grasping force in complex environments such as water flow and sediment, thereby realizing the precise grasping and release of the robot fish 100; this precise control improves the success rate and efficiency of recovery, especially in underwater environments that require delicate operations.

[0055] Furthermore, since the docking recovery mechanism of the robot fish 100 and the robot fish 100 use the principle of electromagnetic adsorption for recovery, as long as the electromagnetic adsorption component 4 is powered, a stable electromagnetic adsorption force can be generated. This electromagnetic adsorption force will not be greatly affected by changes in the underwater water flow and wave environment, effectively reducing the adverse effects of the underwater environment on the recovery efficiency of the robot fish 100.

[0056] It can be seen that during the underwater recovery process of the robot fish 100, underwater environmental factors such as water flow, waves and sediments will have a significant impact on the stability and control of the robot fish 100; water flow and waves may cause the heading and position of the robot fish 100 to deviate from expectations, increasing the difficulty of the recovery process; and sediments may hinder the movement of the robot fish 100 or interfere with the normal operation of its sensors, further increasing the complexity of the operation. In this application, the use of the electromagnetic adsorption function between the electromagnetic adsorption component 4 and the metal part 101 to recover the robot fish 100 has significant advantages: accurate recovery can be achieved through the automated control of the unmanned boat 1, and it has strong adaptability; the magnetic force can be adjusted according to the size and weight of the robot fish 100; in addition, the design of the electromagnetic adsorption component 4 has the characteristics of good tolerance, which reduces interference with the underwater environment, improves operational safety, and allows remote operation.

[0057] like Figure 2 As shown, the electromagnetic adsorption component 4 includes a plurality of electromagnets 41, which are arranged at intervals; the docking recovery mechanism of the robotic fish 100 also includes a power supply unit, which is disposed in the unmanned boat 1 and electrically connected to the electromagnetic adsorption component 4, so as to supply power to the electromagnetic adsorption component 4. In addition, by adjusting the current, the magnitude of the magnetic force can be changed to adapt to robotic fish 100 of different weights and materials, thereby ensuring the stability and reliability of the grasping.

[0058] At the same time, the electromagnetic adsorption between the electromagnet 41 and the metal part 101 also has a good tolerance. Through the strong magnetic force and adjustability of the electromagnet 41, the robot fish 100 can be effectively grasped even within a certain deviation range, which simplifies the operation process and reduces the operator's technical requirements and error probability.

[0059] The multiple electromagnets 41 are arranged at intervals so that the electromagnetic adsorption component 4 can provide uniform magnetic force distribution in multiple directions, ensuring the stable adsorption of the robot fish 100 during the recovery process and reducing the risk of falling off due to uneven magnetic force. At the same time, the coordinated work of multiple electromagnets 41 can improve the grasping stability of the robot fish 100, especially in an environment affected by fluctuations or water flow, and can effectively resist interference from external forces. Even if one or two electromagnets 41 fail, the other electromagnets 41 can continue to work, thereby improving the fault tolerance of the system and ensuring the success rate of the recovery operation.

[0060] Compared with traditional underwater grippers and net systems, the electromagnetic adsorption solution significantly improves the accuracy and efficiency of the operation; through the adsorption of the electromagnet 41, the tolerance of the docking and recovery mechanism of the robot fish 100 is increased; even under the interference of water flow and waves, the electromagnet 41 can still effectively adsorb the target object within a certain deviation range, reducing the requirements for the operator's operating accuracy, and further improving the success rate and stability of the recovery of the robot fish 100.

[0061] In one embodiment of the present application, Figure 2 As shown, there are four electromagnets 41 , and the four electromagnets 41 are arranged in a diamond shape.

[0062] In this embodiment, the four electromagnets 41 are distributed in a diamond shape, which can effectively cover the various contact points of the robot fish 100 and form a good grasping angle, so that each electromagnet 41 can be adsorbed more effectively, which helps to keep the center of gravity of the robot fish 100 stable during the adsorption process, reduce the risk of tilting of the robot fish 100 under the influence of water flow or waves, and thus improve the success rate of recovery.

[0063] At the same time, the head of the robot fish 100 is installed with fixed magnetic metal parts 101 that match the electromagnet 41. When the electromagnet 41 approaches these metal parts 101, the magnetic force causes the robot fish 100 to be firmly adsorbed and fixed on the docking recovery mechanism of the robot fish 100.

[0064] like Figure 1 As shown, the adapter assembly 2 includes a telescopic rod unit 21 and a first rotation pair 22; one end of the telescopic rod unit 21 is connected to the positioning assembly 3 and can be telescoped along the length direction; the first rotation pair 22 is arranged between the telescopic rod unit 21 and the unmanned boat 1, so that the telescopic rod unit 21 can rotate relative to the unmanned boat 1 along the horizontal plane and the vertical plane.

[0065] Specifically, the telescopic rod unit 21 has the function of telescoping along the length direction. Combined with the rotation function of the first rotating pair 22, the adapter assembly 2 can adjust the angle of the positioning assembly 3 relative to the unmanned boat 1 and the distance between the positioning assembly 3 and the unmanned boat 1, thereby realizing the angle and distance of the electromagnetic adsorption assembly 4 relative to the unmanned boat 1.

[0066] The introduction of the first rotating pair 22 enables the electromagnetic adsorption component 4 to rotate freely and flexibly respond to various recovery angles and direction requirements in complex underwater environments, far exceeding the operating limitations of traditional fixed recovery devices. At the same time, it reduces the interference of water flow, waves and sediments on the recovery operation, further improving the success rate and safety of the operation.

[0067] like Figure 4 and Figure 5 As shown, the telescopic rod unit 21 includes a sleeve 211, a base 212, a driving member 213, a transmission rod 214 and a telescopic rod 215; the base 212 is arranged at one end of the sleeve 211; the driving member 213 is arranged on the base 212; the transmission rod 214 is located in the sleeve 211 and is connected to the driving member 213 to rotate under the drive of the driving member 213; one end of the telescopic rod 215 is located in the sleeve 211 and is threadedly connected to the transmission rod 214; the other end of the telescopic rod 215 extends to the outside of the sleeve 211 in a direction away from the base 212, and is connected to the positioning component 3.

[0068] Specifically, the base 212 is used to install and position the driving member 213; after the driving member 213 is installed on the base 212, the driving shaft of the driving member 213 passes through the base 212 and is connected to the transmission rod 214 in the sleeve 211, thereby driving the transmission rod 214 to rotate. One end of the telescopic rod 215 is sleeved on the transmission rod 214 from the sleeve 211 and is threadedly connected with the transmission rod 214; the telescopic rod 215 is coaxially arranged with the transmission rod 214 and the sleeve 211, and the other end of the telescopic rod 215 extends to the outside of the sleeve 211 in a direction away from the base 212, thereby connecting with the positioning component 3, then when the transmission rod 214 rotates, the telescopic rod 215 moves axially, thereby adjusting the distance between the electromagnetic adsorption component 4 and the unmanned boat 1 by adjusting the distance between the positioning component 3 and the unmanned boat 1.

[0069] The cooperation between the driving member 213, the transmission rod 214 and the telescopic rod 215 is based on the screw-nut transmission principle to realize the axial movement of the telescopic rod 215; and, by adjusting the direction of rotation of the driving shaft of the driving member 213, the rotation direction of the transmission rod 214 can be adjusted, and then the axial movement direction of the telescopic rod 215 can be adjusted, so that the distance between the electromagnetic adsorption component 4 and the unmanned boat 1 is extended or shortened.

[0070] like Figure 4 and Figure 5 As shown, the telescopic rod unit 21 further includes a fixing rod 216, the fixing rod 216 is located in the sleeve 211, and one end of the fixing rod 216 is connected to the base 212; the telescopic rod 215 is provided with a slot 200 (such as Figure 6 As shown), a portion of the fixing rod 216 is located in the slot 200.

[0071] Specifically, the fixed rod 216 is positioned by the base 212 and the telescopic rod 215, respectively, so as to establish an interference positioning relationship between the telescopic rod 215 and the base 212, so that when the driving member 213 drives the transmission rod 214 to rotate, the telescopic rod 215 cannot rotate with the transmission rod 214, so as to achieve axial movement of the telescopic rod 215 under the premise of threaded connection between the telescopic rod 215 and the transmission rod 214, thereby preventing the telescopic rod 215 from being driven to rotate synchronously when the transmission rod 214 rotates, and failing to achieve a telescopic effect.

[0072] like Figure 7 As shown, the first rotating pair 22 includes a mounting portion 221 and a first rotating shaft 222; the mounting portion 221 is connected to the unmanned boat 1 and can rotate along a horizontal plane relative to the unmanned boat 1; a slot is provided on the mounting portion 221; the first rotating shaft 222 is located in the slot and connected to the mounting portion 221; a part of the telescopic rod unit 21 is located in the slot and is sleeved on the first rotating shaft 222; the telescopic rod unit 21 can rotate along a vertical plane relative to the first rotating shaft 222.

[0073] Specifically, the telescopic rod unit 21 is assembled with the mounting portion 221 through the first rotating shaft 222, so that the telescopic rod unit 21 is assembled on the outside of the unmanned boat 1. The mounting portion 221 is arranged on the outside of the bottom of the unmanned boat 1, and can rotate along the horizontal plane relative to the unmanned boat 1 to drive the telescopic rod 215 to rotate, and finally realize the rotation of the electromagnetic adsorption component 4 relative to the unmanned boat 1 along the horizontal plane.

[0074] The central axis of the first rotating shaft 222 is arranged in the horizontal direction, and the telescopic rod unit 21 is mounted on the first rotating shaft 222 and can rotate along a vertical plane relative to the first rotating shaft 222; therefore, by rotating the mounting portion 221 and / or the telescopic rod unit 21, the extension angle of the telescopic rod 215 relative to the unmanned boat 1 can be adjusted in the horizontal direction and the vertical direction, thereby adjusting the adsorption angle of the electromagnetic adsorption component 4.

[0075] In the present application, the telescopic rod 215 can be freely rotated in the horizontal and vertical directions through the first rotating pair 22 to meet the recovery requirements of different angles and directions; in this way, even if the robot fish 100 deviates from the initial trajectory in a complex underwater environment, the docking recovery mechanism of the robot fish 100 can effectively capture and recover it by adjusting its posture.

[0076] like Figure 8As shown, the positioning assembly 3 includes a positioning block 31 and a second rotation pair 32; the electromagnetic adsorption assembly 4 is arranged on one side of the positioning block 31; the second rotation pair 32 is arranged on the side of the positioning block 31 away from the electromagnetic adsorption assembly 4, and is hinged to the adapter assembly 2.

[0077] Specifically, the positioning block 31 is used to install and position the electromagnetic adsorption component 4; the second rotation pair 32 is used to connect the positioning block 31 with the telescopic rod 215, and realize the relative rotation between the telescopic rod 215 and the positioning block 31, so as to realize the rotation of the electromagnetic adsorption component 4 relative to the telescopic rod 215. Then, under the coordinated action of the first rotation pair 22 and the second rotation pair 32, the electromagnetic adsorption component 4 can be adjusted in all directions, can rotate freely, and flexibly respond to various recovery angles and direction requirements in complex underwater environments, which far exceeds the operation limitations of traditional fixed recovery devices.

[0078] At the same time, the first rotating pair 22 and the second rotating pair 32 are connected through the telescopic rod unit 21. Based on the circular outer structure of the sleeve 211 and the telescopic rod 215, the telescopic rod unit 21 has a small contact area with water and a smooth surface when moving in water, so it can move more freely, reduce the interference of water flow, waves and sediments on the recovery operation, and improve the success rate and safety of the recovery operation.

[0079] In one embodiment of the present application, Figure 8 As shown, the second rotating pair 32 includes a second rotating shaft 321, a third rotating shaft 322 and two fixed blocks 323; the two fixed blocks 323 are arranged on the side of the positioning block 31 away from the electromagnetic adsorption component 4; the second rotating shaft 321 is arranged at the end of the adapter component 2 away from the unmanned boat 1, and can rotate relative to the adapter component 2; the rotation plane of the second rotating shaft 321 is perpendicular to the central axis of the adapter component 2; the third rotating shaft 322 is located between the two fixed blocks 323, and is respectively connected to the two fixed blocks 323; the third rotating shaft 322 is rotationally connected to the second rotating shaft 321; the rotation plane of the third rotating shaft 322 is parallel to the central axis of the adapter component 2.

[0080] Specifically, the second rotating shaft 321 is arranged at an end of the telescopic rod 215 away from the unmanned boat 1, and can rotate relative to the telescopic rod 215, and the rotation plane of the second rotating shaft 321 is perpendicular to the central axis of the telescopic rod 215; then, when the second rotating shaft 321 rotates relative to the telescopic rod 215, the positioning block 31 can drive the electromagnetic adsorption component 4 to rotate synchronously, thereby realizing rotation along a plane perpendicular to the central axis of the telescopic rod 215.

[0081] The two fixing blocks 323 are used to assemble and position the third rotating shaft 322, and the third rotating shaft 322 is used to assemble with the second rotating shaft 321; the second rotating shaft 321 is provided with a mounting hole, and the mounting hole penetrates the second rotating shaft 321 along the radial direction of the second rotating shaft 321; the third rotating shaft 322 passes through the mounting hole, and the two ends of the third rotating shaft 322 are respectively connected to the two fixing blocks 323. The rotation plane of the third rotating shaft 322 is parallel to the central axis of the telescopic rod 215, so when the third rotating shaft 322 rotates relative to the second rotating shaft 321, the positioning block 31 drives the electromagnetic adsorption component 4 to rotate, and realizes the rotation along the plane parallel to the central axis of the telescopic rod 215.

[0082] In summary, the present invention provides a docking and recovery mechanism for a robot fish, which includes an unmanned boat; at least one adapter component, which is arranged on the outer wall of the unmanned boat; a positioning component, which is arranged at one end of the adapter component away from the unmanned boat; and an electromagnetic adsorption component, which is arranged on the positioning component and is used to adsorb metal parts installed on the robot fish. In the present application, when the electromagnetic adsorption component is powered on, the electromagnetic adsorption component can generate a strong magnetic force through the underwater cruising of the unmanned boat, ensuring that even if there is a certain deviation range between the robot fish and the electromagnetic adsorption component during the contact process, the robot fish can be effectively grasped, and has better tolerance. At the same time, the electromagnetic adsorption properties between the electromagnetic adsorption component and the metal parts enable the docking and recovery mechanism of the robot fish to provide a stable grasping force in complex environments such as water flow and sediment, thereby realizing the precise grasping and release of the robot fish, and effectively improving the recovery efficiency of the robot fish.

[0083] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A docking and recovery mechanism for a robotic fish, characterized in that: It includes: Unmanned boats; At least one adapter assembly is disposed on the outer side wall of the unmanned boat; A positioning assembly, arranged at an end of the adapter assembly away from the unmanned boat; The electromagnetic adsorption component is arranged on the positioning component and is used to adsorb the metal parts installed on the robot fish.

2. The docking and recovery mechanism of the robotic fish according to claim 1, characterized in that: The electromagnetic adsorption component comprises: A plurality of electromagnets; the plurality of electromagnets are arranged at intervals.

3. The docking and recovery mechanism of the robotic fish according to claim 2, characterized in that: There are four electromagnets, and the four electromagnets are arranged in a diamond shape.

4. The docking and recovery mechanism of the robotic fish according to claim 1, characterized in that: The switching assembly comprises: A telescopic rod unit; one end of the telescopic rod unit is connected to the positioning assembly and can be telescoped along the length direction; The first rotation pair is arranged between the telescopic rod unit and the unmanned boat, so that the telescopic rod unit can rotate relative to the unmanned boat along a horizontal plane and a vertical plane.

5. The docking and recovery mechanism of the robotic fish according to claim 4, characterized in that: The telescopic rod unit comprises: Sleeve; A base, disposed at one end of the sleeve; A driving member, disposed on the base; A transmission rod, located in the sleeve and connected to the driving member, so as to rotate under the driving of the driving member; The telescopic rod has one end located in the sleeve and threadedly connected to the transmission rod; and the other end extends out of the sleeve in a direction away from the base and connected to the positioning assembly.

6. The docking and recovery mechanism of the robotic fish according to claim 5, characterized in that: The telescopic rod unit also includes: A fixing rod, located in the sleeve and having one end connected to the base; The telescopic rod is provided with a slot, and a part of the fixing rod is located in the slot.

7. The docking and recovery mechanism of the robotic fish according to claim 4, characterized in that: The first rotation pair comprises: A mounting portion connected to the unmanned boat and capable of rotating along a horizontal plane relative to the unmanned boat; the mounting portion is provided with a slot; The first rotating shaft is located in the slot and connected to the mounting portion; a portion of the telescopic rod unit is located in the slot and sleeved on the first rotating shaft; the telescopic rod unit can rotate along a vertical plane relative to the first rotating shaft.

8. The docking and recovery mechanism of the robotic fish according to claim 4, characterized in that: The positioning component comprises: Positioning block; the electromagnetic adsorption component is arranged on one side of the positioning block; The second rotating pair is arranged on a side of the positioning block away from the electromagnetic adsorption component and is hinged to the adapter component.

9. The docking and recovery mechanism of the robotic fish according to claim 8, characterized in that: The second rotation pair comprises: Two fixing blocks are arranged on a side of the positioning block away from the electromagnetic adsorption component; A second rotating shaft is disposed at an end of the adapter assembly away from the unmanned boat and can rotate relative to the adapter assembly; a rotation plane of the second rotating shaft is perpendicular to a central axis of the adapter assembly; The third rotating shaft is located between the two fixed blocks and is respectively connected to the two fixed blocks; the third rotating shaft is rotationally connected to the second rotating shaft; and the rotation plane of the second rotating shaft is parallel to the central axis of the adapter assembly.

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