Bionic cheongfish

Abstract

The invention provides a bionic cheongfish, and relates to the technical field of bionic detection, the bionic cheongfish comprises a fish body, pectoral fins, a tail fin and a control module, pectoral fin steering engines are installed on the two sides of the interior of the fish body, and the rotation axes of the output ends of the pectoral fin steering engines extend along the two sides of the fish body; the pectoral fins are arranged on the two sides of the fish body and fixedly connected with the output ends of the pectoral fin steering engines. The longitudinal section of the pectoral fin is fusiform, and the longitudinal section at any position in the pectoral fin is parallel to the longitudinal central plane of the fish body; the tail fin is arranged at the tail end of the fish body and connected with the fish body through a tail fin steering engine. The control module is arranged in the fish body and is electrically connected with the pectoral fin steering engine and the steering engine; the pectoral fin is connected with the pectoral fin steering engine, and the pectoral fin steering engine rotates to drive the front end of the pectoral fin to deflect upwards or downwards to realize floating or diving, so that the arrangement of a water tank snorkeling system is omitted, the size of the bionic flag fish is greatly reduced, the running resistance of the bionic flag fish in water is smaller, and the movement is more flexible.

Description

Technical Field

[0001] The invention relates to the field of bionic detection technology, and in particular to a bionic swordfish. Background Art

[0002] With the continuous development and utilization of marine resources, today's autonomous underwater robots have become an important tool for human marine research and exploration. In recent years, with the continuous exploration of human understanding of the swimming mechanism of fish and the development of related manufacturing technology and control technology, an underwater submersible that uses the bionic propulsion mechanism of fish has emerged, providing a new idea for the development of high-efficiency, high-maneuverability, low-noise and easy-to-conceal underwater vehicles.

[0003] Bionic fish is an underwater submersible that uses the swimming mechanism of fish to achieve propulsion. It is equipped with various micro sensors and uses advanced control and communication methods to form a set of detectors that are similar to the structure of a fish body and can swim. However, traditional bionic fish usually use a traditional submarine-style water tank snorkeling system. Although the water tank snorkeling system is flexible and can effectively control the buoyancy and descent of the bionic fish, it occupies a large volume. Invisibly expanding the volume of the bionic fish will not only increase the running resistance of the bionic fish in the water, but also its maneuverability, concealment, and passability in narrow areas will be adversely affected.

[0004] Therefore, it is necessary to develop a new type of bionic fish to solve the above technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide a bionic swordfish to solve the problems existing in the prior art.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A bionic swordfish, characterized in that it comprises a fish body, pectoral fins, a caudal fin and a control module, wherein pectoral fin servos are installed on both sides of the inside of the fish body, and the rotation axis of the output end of the pectoral fin servo extends along both sides of the fish body; the pectoral fins are arranged on both sides of the fish body, and the pectoral fins are fixedly connected to the output end of the pectoral fin servo; the longitudinal section of the pectoral fin is spindle-shaped, and the longitudinal section at any position of the pectoral fin is parallel to the longitudinal center plane of the fish body; the caudal fin is arranged at the end of the fish body and is connected to the fish body through the caudal fin servo; the control module is arranged inside the fish body and is electrically connected to the pectoral fin servo and the servo.

[0008] As one embodiment, the front edge of the pectoral fin is inclined backwards.

[0009] As an embodiment, it also includes a tail handle connected between the tail fin and the fish body, and the tail handle is connected to the fish body and the tail fin through a tail handle servo and a tail fin servo respectively.

[0010] As one embodiment, a dorsal fin is provided on the back of the fish body.

[0011] As an embodiment, a wireless signal communication module electrically connected to the control module is disposed on the back of the fish body, and the wireless signal communication module is disposed behind the dorsal fin.

[0012] As an implementation manner, the fish body includes an upper shell and a lower shell connected by bolts, a keel is connected to the upper shell by bolts, and the control module is installed above the keel.

[0013] As an implementation manner, a camera module is installed at the bottom of the front end of the keel. The camera module is located in the lower shell. The lower shell has a transparent window for the camera module to shoot through.

[0014] As one embodiment, a battery is also installed below the keel.

[0015] As one embodiment, a gyroscope electrically connected to the control module is installed at the front end of the keel.

[0016] As one embodiment, a conical fish mouth is provided at the front end of the fish body.

[0017] As one embodiment, the fish mouth is connected to the fish body via threads.

[0018] Compared with the prior art, the present invention has the following technical effects:

[0019] In the present invention, the pectoral fin is connected to the pectoral fin servo, and the rotation of the pectoral fin servo can drive the front end of the pectoral fin to swing upward or downward, so as to achieve floating or diving, thereby eliminating the need for a water tank snorkeling system, greatly reducing the volume of the bionic sailfish, and making the bionic sailfish have less running resistance in the water and more flexible movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 This is a schematic structural diagram of a bionic swordfish according to an embodiment of the present invention;

[0022] Figure 2 for Figure 1 Side view of

[0023] Figure 3 It is a schematic structural diagram of an upper shell of an implementation mode;

[0024] Figure 4 It is a schematic structural diagram of a lower shell of an implementation mode;

[0025] Figure 5 It is a schematic diagram of the assembly structure of various electrical components on the keel in one implementation mode;

[0026] Figure 6 It is a schematic diagram of the structure of the keel;

[0027] Description of reference numerals:

[0028] 1. Fish body; 2. Pectoral fin; 3. Caudal fin; 4. Control module; 5. Pectoral fin servo; 6. Caudal handle; 7. Dorsal fin; 8. Caudal fin servo; 9. Caudal handle servo; 10. Upper shell; 11. Lower shell; 12. Keel; 13. Camera; 14. Gyroscope; 15. Battery; 16. Fish mouth; 17. Connecting rod; 18. Pallet; 19. Communication module. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The purpose of the present invention is to provide a bionic swordfish to solve the problems existing in the prior art.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 to Figure 6As shown, this embodiment provides a bionic sailfish, including a fish body 1, a pectoral fin 2, a caudal fin 3 and a control module 4, the fish body 1 has a streamlined structure, the interior of the fish body 1 has a cavity, and pectoral fin servos 5 are installed on both sides of the cavity. If the center point of the fish body 1 is used as the origin of the coordinate system, the X-axis points to the front end of the fish body 1, the Y-axis points to the side of the fish body 1, and the Z-axis points to the back of the fish body 1. As an embodiment, the rotation axis of the output end of the pectoral fin servo 5 is parallel to the Y-axis and can also be located in the XY plane. In this embodiment, the longitudinal section of the pectoral fin 2 (the section obtained by cutting along the surface parallel to the XZ plane) is spindle-shaped, and the longitudinal section of the pectoral fin 2 in any direction is parallel to the longitudinal center plane of the fish body 1. In other words, when the bionic sailfish moves forward, the pectoral fin 2 is horizontally arranged, and the horizontal center plane of the pectoral fin 2 is located at or parallel to the XY plane. The pectoral fins 2 are arranged on both sides of the fish body 1, and the pectoral fins 2 are fixedly connected to the output end of the pectoral fin servo 5. The tail fin 3 is U-shaped, arranged at the end of the fish body 1, and connected to the fish body 1 through the tail servo. The control module 4 is arranged inside the fish body 1, and is electrically connected to the pectoral fin servo 5 and the servo.

[0033] When in use, the tail servo drives the tail to swing to provide forward power. When the pectoral fin servo 5 rotates, it can drive the front end of the pectoral fin 2 to swing upward or downward to achieve floating or diving, thereby eliminating the need for a water tank snorkeling system, greatly reducing the size of the bionic sailfish, and making the bionic sailfish have less running resistance in the water and more flexible movement.

[0034] The front edge of the pectoral fin 2 is tilted backwards, which can cut the water surface and reduce the forward resistance. Along the Y direction, the longitudinal section size of the pectoral fin 2 is gradually reduced.

[0035] In order to increase the movement range of the tail fin 3 and improve the forward momentum, the bionic sailfish in this embodiment also includes a tail stalk 6 connected between the tail fin 3 and the fish body 1. The tail stalk 6 is connected to the fish body 1 through a tail stalk servo 9 and is connected to the tail fin 3 through a tail fin servo 8.

[0036] The back of the fish body 1 in the present embodiment is provided with a dorsal fin 7, and the dorsal fin 7 has a larger side area, which can improve the effect of the bionic sailfish's water motion stability. As an implementation method, the front end face of the dorsal fin 7 gradually tilts upward from front to back, and the front end face of the dorsal fin 7 is a concave arc surface in the middle part, and the upper surface of the dorsal fin 7 is a plane that gradually tilts upward from front to back. The structure of the dorsal fin 7 can also be processed so that it does not have an obvious front end face and an upper end face. At this time, the front end and the top of the dorsal fin 7 are sharp blade-shaped, and its front edge and upper edge are all along the gradually tilted upward from front to back, and the front edge is a concave arc in the middle part. The back of the fish body 1 is also provided with a wireless signal communication module 19 electrically connected to the control module 4, and the wireless signal communication module 19 is arranged behind the dorsal fin 7 for sending and receiving the communication signal with the ground controller. Specifically, the communication module 19 is fixed to the back of the fish body 1 by bolts.

[0037] In this embodiment, the fish body 1 includes an upper shell 10 and a lower shell 11 connected by bolts. The upper shell 10 and the lower shell 11 have substantially the same shape and internal volume, and are connected by bolts. A keel 12 is connected to the upper shell 10 by bolts, and the keel 12 mainly serves to install the control module 4 and other electrical components. The control module 4 is installed above the keel 12.

[0038] In this embodiment, the control module 4 is used to transmit control signals between the pectoral fin servo 5, the caudal fin servo 8, the caudal handle servo 9, the camera 13 and the gyroscope 14. The selection of the specific circuit board and the setting of the control program are well known to those skilled in the art, and will not be elaborated in this embodiment.

[0039] In this embodiment, a camera module is installed at the bottom of the front end of the keel 12. The camera module is located in the lower shell 11. The lower shell 11 has a transparent window for the camera module to shoot through. The camera module may include a camera 13 for taking underwater photos or recording underwater videos. The lower shell 11 may only have a transparent window for the camera 13 to shoot, and the lower shell 11 may also be made of a transparent material as a whole.

[0040] In this embodiment, a gyroscope 14 electrically connected to the control module 4 is installed at the front end of the keel 12. In this embodiment, the gyroscope 14 is located in front of the camera 13 and is used to obtain the inclination angle of the fish body 1. A battery 15 is also installed below the keel 12. The battery 15 is arranged on a support plate 18, and the support plate 18 is connected to the keel 12 through a connecting rod 17.

[0041] As an embodiment, the front end of the fish body 1 is provided with a conical fish mouth 16, which is used to imitate the protruding snout of a sailfish, and can further reduce the moving resistance of the bionic sailfish in water. After the upper shell 10 and the lower shell 11 are threadedly connected to form a complete fish body 1, the front end of the fish body 1 has a threaded section for connecting the fish mouth 16.

[0042] In this embodiment, the body 1, caudal peduncle 6, caudal fin 3, pectoral fin 2 and dorsal fin 7 of the bionic swordfish can be manufactured by 3D printing, and the material used for 3D printing is nylon carbon fiber or non-crystalline copolyester.

[0043] Adaptive changes made according to actual needs are all within the protection scope of the present invention.

[0044] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A bionic swordfish, characterized in that: include: A fish body, wherein pectoral fin servos are installed on both sides of the fish body, and a rotation axis of an output end of the pectoral fin servo extends along both sides of the fish body; Pectoral fins, the pectoral fins are arranged on both sides of the fish body, the pectoral fins are fixedly connected to the output end of the pectoral fin servo; the longitudinal section of the pectoral fin is spindle-shaped, and the longitudinal section at any position of the pectoral fin is parallel to the longitudinal center plane of the fish body; A tail fin, which is arranged at the end of the fish body and connected to the fish body through a tail fin servo; as well as A control module is arranged inside the fish body and is electrically connected to the pectoral fin servo and the servo.

2. The bionic swordfish according to claim 1, characterized in that: The front edge of the pectoral fin is tilted backwards.

3. The bionic swordfish according to claim 1, characterized in that: It also includes a tail handle connected between the tail fin and the fish body, and the tail handle is connected to the fish body and the tail fin through a tail handle servo and a tail fin servo respectively.

4. The bionic swordfish according to claim 1, characterized in that: A dorsal fin is arranged on the back of the fish body.

5. The bionic swordfish according to claim 4, characterized in that: A wireless signal communication module electrically connected to the control module is arranged on the back of the fish body, and the wireless signal communication module is arranged behind the dorsal fin.

6. The bionic swordfish according to claim 1, characterized in that: The fish body comprises an upper shell and a lower shell connected by bolts, a keel is connected to the upper shell by bolts, and the control module is installed above the keel.

7. The bionic swordfish according to claim 6, characterized in that: A camera module is installed at the bottom of the front end of the keel. The camera module is located in the lower shell. The lower shell has a transparent window for the camera module to shoot through.

8. The bionic swordfish according to claim 6, characterized in that: A storage battery is also installed below the keel; and a gyroscope electrically connected to the control module is installed at the front end of the keel.

9. The bionic swordfish according to claim 1, characterized in that: The front end of the fish body is provided with a conical fish mouth.

10. The bionic swordfish according to claim 9, characterized in that: The fish mouth is connected to the fish body via threads.

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