Multifunctional bionic fish structure based on double-joint rigid-flexible hybrid tail fin pushing

Abstract

The application discloses a multifunctional bionic fish structure based on double-joint rigid-flexible hybrid tail fins, which comprises a bionic fish main body structure, two underwater obstacle avoidance sensors are symmetrically arranged at the head of the bionic fish main body structure, left and right clamping devices are arranged at the rear of the bionic fish main body structure, the left clamping device is connected with the bionic fish main body structure through a steering engine, the steering engine is fixed on a steering engine fixing frame at the rear of the bionic fish main body structure, tail fin structures are arranged on the two clamping devices, left and right permanent magnets are installed on the two sides of the tail fin structures, a lead screw motor is arranged in the bionic fish main body structure, and a balance lead block is connected to the lead screw of the lead screw motor. The bionic fish double-joint tail fin structure is realized by adopting a magnetic drive laminated plate tail fin and a steering engine, the permanent magnets on the two sides of a carbon fiber plate are driven through a solenoid, the tail fin structure is further driven to swing, and the double-joint movement is realized by cooperation of the tail fin clamp driven by the steering engine and the solenoid drive laminated plate tail fin.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robotic fish technology, specifically to a multifunctional biomimetic fish structure based on a dual-joint rigid-flexible hybrid tail fin for propulsion. Background Technology

[0002] Background technologies in the field of biomimetic fish have received widespread attention in recent years, particularly in the design of underwater robots. Underwater robots have important applications in environmental monitoring, scientific research, and resource exploration. However, traditional underwater robots typically rely on complex mechanical propulsion systems, resulting in their large size, high manufacturing costs, and high energy consumption. Furthermore, these robots lack flexibility and maneuverability in confined spaces, limiting their practical applications. Therefore, developing flexible biomimetic fish robots has become a trend.

[0003] Biomimetic fish robots mimic the swimming motion of fish, employing a simplified structural design and possessing excellent hydrodynamic characteristics. This design not only reduces energy consumption but also enhances the flexibility and adaptability of underwater movement, meeting diverse application needs. Through innovative propulsion mechanisms and materials, these robots can operate efficiently in complex underwater environments, driving the development of marine exploration and related technologies. Summary of the Invention

[0004] In view of the problems existing in the prior art, the purpose of this invention is to provide a multifunctional biomimetic fish structure based on a double-jointed rigid-flexible hybrid tail fin for propulsion. This structure has the advantages of high propulsion force, high flexibility, low cost and high swimming speed.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] A multifunctional bionic fish structure based on a dual-joint rigid-flexible hybrid tail fin propulsion system includes a bionic fish main body structure. Two underwater obstacle avoidance sensors are symmetrically arranged on the head of the main body structure. A left-side clamping device and a right-side clamping device are located at the rear of the main body structure. The left-side clamping device is connected to the main body structure via a servo motor. The right-side clamping device is fixed to the left-side clamping device. The servo motor is fixed to a servo motor mounting bracket at the rear of the main body structure. A tail fin structure is fixed to both the left-side and right-side clamping devices. A left-side permanent magnet and a right-side permanent magnet are installed on both sides of the tail fin structure. A lead screw motor is installed inside the main bionic fish body structure. A balancing lead block is connected to the lead screw of the lead screw motor. A top cover plate is installed on the main body structure, and the top cover plate is sealed to the main body structure with two layers of sealant.

[0007] Furthermore, each of the left and right clamping devices is provided with a floating cavity, and the lower half of each of the two floating cavities is provided with a solenoid fixing hole. The left solenoid and the right solenoid are fixed to the left clamping structure solenoid fixing hole and the right clamping structure solenoid fixing hole respectively by bolts. The power supply lines of the two solenoids are connected to the control system through the clamping structure wire through hole. The front end of the two clamping devices is provided with a tail fin structure fixing hole for fixing the tail fin structure to the two clamping devices.

[0008] Furthermore, the underwater obstacle avoidance sensor is an underwater ultrasonic obstacle avoidance sensor, which is cylindrical in shape. The angle between the centerline of the underwater obstacle avoidance sensor and the centerline of the bionic fish is 10-30°, and the underwater obstacle avoidance sensors on the left and right sides are symmetrically arranged on the centerline of the bionic fish. The underwater obstacle avoidance sensor is fixed to the obstacle avoidance module clamp, wherein the obstacle avoidance module clamp is fixed to the obstacle avoidance sensor fixing frame on the outside of the head of the bionic fish by bolts.

[0009] Furthermore, both the main body structure and the top cover of the bionic fish adopt a streamlined design. The first layer of sealant is double-sided butyl waterproof adhesive, and the second layer of sealant is single-sided butyl waterproof adhesive. The rear half of the top cover of the bionic fish is provided with a dorsal fin. The upper surface of the top cover of the bionic fish is provided with a waterproof switch fixing hole for fixing an external waterproof switch. The lower part of the main body structure of the bionic fish is provided with a ventral fin, and its tail is provided with a servo motor fixing bracket. A square through hole is provided below the servo motor fixing bracket.

[0010] Furthermore, the bionic fish main body structure is equipped with a bionic fish pectoral fin below it. A control unit is located inside the main body structure and is mounted on a control unit mounting plate. The control unit mounting plate is fixed to the control unit mounting bracket with bolts. The control unit includes a main control unit, a power module, a voltage regulator module, a current commutation module, and an attitude detection module. The power module is connected to the voltage regulator module via DuPont wires to ensure a continuous power supply. The voltage regulator module is connected to the power supply pins of the servo motor, the current commutation module, and the main control unit via DuPont wires to ensure a stable power supply. The main control unit is connected to the signal lines of the current commutation module and the servo motor via DuPont wires to ensure precise signal control. The four current output pins of the current commutation module are connected to the current input pins of the left and right solenoids. Upon receiving a signal from the main control unit, it changes the current direction, thereby changing the magnetic field direction.

[0011] Furthermore, the overall length of the biomimetic fish structure is 600-640mm, the overall width is 180-220mm, and the overall height is 200-240mm.

[0012] Furthermore, the rectangular portion of the tail fin structure is made of T700 carbon fiber layers, and the metal portion of the tail fin structure is cut into a fixed shape by the metal layer, and the cut metal layer is sandwiched between the carbon fiber layers and bonded and cured.

[0013] Furthermore, the bionic fish control system uses a PID algorithm to control and adjust the lead screw motor.

[0014] Furthermore, the mass of the balancing lead block is 100-300g.

[0015] Furthermore, the left and right permanent magnets are fixed to the position of the tail fin structure permanent magnets using waterproof adhesive.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1) This invention uses a magnetically driven laminated tail fin and a servo motor to realize the double-jointed tail fin structure of a biomimetic fish. The carbon fiber plate containing a metal layer is driven by a solenoid, which in turn causes the tail fin to swing. The servo motor drives the tail fin clamp to cooperate with the solenoid-driven laminated tail fin to realize the double-jointed movement.

[0018] 2) This invention uses a lead screw motor installed inside the bionic fish main structure to drive a balance lead block to change the center of gravity, thereby changing the underwater posture of the bionic fish; it also uses an obstacle avoidance sensor installed in the head to realize the design of the bionic fish swimming autonomously underwater.

[0019] 3) The present invention has a simple structure and, through a design that combines rigidity and flexibility, ensures excellent biomimetic effect and guarantees underwater propulsion, high flexibility, and high speed of the biomimetic fish. It successfully solves the shortcomings of traditional underwater biomimetic robots, such as poor flexibility, slow swimming speed, difficult manufacturing, and high cost. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 This is a three-dimensional schematic diagram of the main structure of the bionic fish of the present invention;

[0022] Figure 3 This is a top view of the biomimetic fish main structure of the present invention;

[0023] Figure 4 This is a front view of the connection between the biomimetic fish body structure and the tail fin structure of the present invention;

[0024] Figure 5 This is a three-dimensional schematic diagram of the bionic fish top cover of the present invention;

[0025] Figure 6 This is a side view of the left-side clamping structure at the tail of the present invention;

[0026] Figure 7 This is a top view of the left-side clamping structure at the tail of the present invention;

[0027] Figure 8 This is a front view of the left-side clamping structure at the tail of the present invention;

[0028] Figure 9 This is a side view of the right-side clamping structure of the tail section of the present invention;

[0029] Figure 10 This is a top view of the tail right clamping structure of the present invention;

[0030] Figure 11 This is a front view of the tail right side clamping structure of the present invention;

[0031] Figure 12 This refers to the right-side clamping structure in the tail clamping structure of the present invention;

[0032] Figure 13 This refers to the left-side clamping structure in the tail clamping structure of the present invention;

[0033] Figure 14 This is a schematic diagram of the tail fin structure layout of the present invention;

[0034] Figure 15 This is a physical drawing of the entire invention;

[0035] Figure 16 These are physical images of the present invention in different orientations;

[0036] Figure 17 This is a physical diagram of the underwater movement process of the present invention.

[0037] In the diagram: 1. Power supply module; 2. Bionic fish top cover; 3. Voltage regulator module; 4. Current reversing module; 5. Main control unit; 6. Servo motor; 7. Right-side clamping device; 8. Right-side solenoid; 9. Right-side permanent magnet; 10. Tail fin structure; 11. Left-side permanent magnet; 12. Left-side solenoid; 13. Left-side clamping device; 14. Lead screw motor; 15. Balance weight; 16. Control unit mounting plate; 17. Bionic fish main body structure; 18. Obstacle avoidance module clamp; 19. Underwater obstacle avoidance sensor; 20. Bionic fish pectoral fin; 21. Control unit mounting bracket; 22. 23. Servo mount; 24. Pelvic fin; 25. Obstacle avoidance sensor mount; 26. Lead screw motor mount; 27. Main structure tail wire through hole; 28. Waterproof switch mounting hole; 29. ​​Bionic fish dorsal fin; 30. Servo mount for left-side clamping structure; 31. Float cavity for left-side clamping structure; 32. Solenoid mounting hole for left-side clamping structure; 33. Tail fin structure mounting hole; 34. Wire through hole for clamping structure; 35. Solenoid mounting hole for right-side clamping structure; 36. Rectangular part of tail fin structure; 37. Permanent magnet mounting position for tail fin structure; 38. Metal part of tail fin structure. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the scope described.

[0039] Please refer to Figure 1-14 A multifunctional biomimetic fish structure based on a dual-joint rigid-flexible hybrid tail fin propulsion system includes a biomimetic fish main body structure 17. Two underwater obstacle avoidance sensors 19 are symmetrically positioned on the head of the biomimetic fish main body structure 17, pointing towards the left and right sides of the biomimetic fish. By receiving feedback signals and responding with positional actions, obstacle avoidance control is achieved. A left-side clamping device 13 and a right-side clamping device 7 are located at the rear of the biomimetic fish main body structure 17. The left-side clamping device 13 is connected to the biomimetic fish main body structure 17 via a servo motor 6. The right clamping device 7 is fixed on the left clamping device 13, and the servo motor 6 is fixed on the servo motor mounting bracket 22 at the rear of the bionic fish main body structure 17. The left clamping device 13 and the right clamping device 7 are fixed with a tail fin structure 10. The left permanent magnet 11 and the right permanent magnet 9 are installed on both sides of the tail fin structure 10. The left permanent magnet 11 and the right permanent magnet 9 are fixed to the permanent magnet fixing position 36 of the tail fin structure with waterproof glue. The magnetic force generated by the left solenoid 12 and the right solenoid 8 installed below the clamping device is used for driving.

[0040] The bionic fish main structure 17 is equipped with a lead screw motor 14. A balance lead block 15 is connected to the lead screw of the lead screw motor 14. The lead screw motor 14 drives the balance lead block 15 to move back and forth, which causes the center of gravity of the bionic fish to change, thereby changing the underwater posture. The bionic fish main structure 17 is equipped with a bionic fish top cover plate 2.

[0041] The left clamping device 13 and the right clamping device 7 are each provided with a floating cavity. The lower half of each of the two floating cavities is provided with a solenoid fixing hole. The left solenoid 12 and the right solenoid 8 are fixed to the left clamping structure solenoid fixing hole 31 and the right clamping structure solenoid fixing hole 34 respectively by bolts. The power supply lines of the two solenoids are connected to the control system through the clamping structure wire through hole 33. The front end of the two clamping structures is provided with a tail fin structure fixing hole 32 for fixing the tail fin structure 10 to the two clamping structures. The left permanent magnet 11 and the right permanent magnet 9 are installed on both sides of the tail fin structure to generate a magnetic field force with the left solenoid 12 and the right solenoid 8, thereby driving the tail fin structure to swing.

[0042] Furthermore, the underwater obstacle avoidance sensor 19 is an underwater ultrasonic obstacle avoidance sensor, which is cylindrical in shape. The angle between the centerline of the underwater obstacle avoidance sensor 19 and the centerline of the bionic fish is 10-30°, and the underwater obstacle avoidance sensors on the left and right sides are symmetrically arranged on the centerline of the bionic fish. The underwater obstacle avoidance sensor 19 is fixed to the obstacle avoidance module clamp 18, and the obstacle avoidance module clamp 18 and the obstacle avoidance sensor fixing bracket 24 are fixed to the outside of the head of the bionic fish by bolts.

[0043] Both the biomimetic fish main structure 17 and the biomimetic fish top cover 2 adopt a streamlined design. The biomimetic fish top cover 2 and the biomimetic fish main structure 17 are sealed and connected by two layers of sealant. The first layer of sealant is double-sided butyl waterproof adhesive, the second layer of sealant is single-sided butyl waterproof adhesive, the outer layer of sealant is single-sided butyl waterproof adhesive, and the inner layer of sealing tape is double-sided butyl waterproof adhesive. The tape is respectively adhered to the gaps where the biomimetic fish main structure 17 and the biomimetic fish top cover 2 are attached.

[0044] The rear half of the bionic fish top cover plate 2 is provided with a bionic fish dorsal fin 28. The upper surface of the bionic fish top cover plate 2 is provided with a waterproof switch fixing hole 27 for fixing an external waterproof switch. The lower part of the bionic fish main body structure is provided with a pelvic fin 23, and its tail is provided with a servo motor fixing bracket 22. A square through hole is provided below the servo motor fixing bracket 22. The lower part of the bionic fish main body structure 17 is provided with a bionic fish pectoral fin 20.

[0045] The biomimetic fish main structure 17 houses a control unit, which is mounted on a control unit mounting plate 16. The control unit mounting plate 16 is fixed to the control unit mounting bracket 21 by bolts. The control unit includes a main control unit 5, a power module 1, a voltage regulator module 3, a current commutation module 4, and an attitude detection module. The power module 1 is connected to the voltage regulator module 3 via DuPont wires to ensure a continuous power supply. The voltage regulator module 3 is connected to the power supply pins of the servo motor 6, the current commutation module 4, and the main control unit 5 via DuPont wires to ensure a stable power supply. The main control unit 5 is connected to the signal lines of the current commutation module 4 and the servo motor 6 via DuPont wires to achieve precise signal control. The four current output pins of the current commutation module 4 are connected to the current input pins of the left solenoid 12 and the right solenoid 8. When receiving a signal from the main control unit, the current commutation module 4 controls the current direction of the left solenoid 12 and the right solenoid 8, thereby changing the magnetic field direction and generating a periodically changing magnetic field force with the left permanent magnet 11 and the right permanent magnet 9. This force, in conjunction with the servo motor, achieves the propulsion control of the dual-joint tail fin.

[0046] In this embodiment, the overall length of the biomimetic fish structure is 600-640mm, the overall width is 180-220mm, and the overall height is 200-240mm.

[0047] The rectangular part 35 of the tail fin structure is made of T700 carbon fiber layer, and the metal part 37 of the tail fin structure is cut into a fixed shape by the metal layer, and the cut metal layer is sandwiched between the carbon fiber layers and bonded and cured.

[0048] The bionic fish control unit uses a PID algorithm to control and adjust the lead screw motor. By changing the direction of the current in the solenoid, the direction of the magnetic field generated by the solenoid installed on the left clamping device 13 and the right clamping device 7 is changed. This, in turn, generates an attractive or repulsive force with the permanent magnets installed on both sides of the tail fin structure, causing the tail fin structure to oscillate periodically.

[0049] In this embodiment, a balance lead block 15 is installed on the lead screw motor 14. By adjusting the position of the balance lead block inside the bionic fish, the center of gravity of the bionic fish is changed, thereby adjusting the underwater posture of the bionic fish.

[0050] A square through hole is provided below the servo mounting bracket 22 for communicating and supplying power to the external servo and solenoid.

[0051] In this embodiment, the biomimetic fish main body structure 17, the biomimetic fish top cover plate 2, the left clamping device 13 and the right clamping device 7 are prepared by UV resin photocuring 3D printing.

[0052] One method of driving the bionic fish: The tail solenoid section, namely the left solenoid 12 and the right solenoid 8, is energized to generate a magnetic field, which in turn generates a magnetic force on the permanent magnets on both sides of the tail fin structure 10. This drives the tail fin structure 10 to swing to the left. Then, the servo motor 6 drives the tail clamping device to swing to the left. Afterwards, the current direction of the left solenoid 12 and the right solenoid 8 is changed by the current reversing module 4, thereby changing the direction of the magnetic field and driving the laminated plate to swing to the right, which in turn drives the tail fin structure 10 to swing to the right. Then, the servo motor 6 drives the left tail fin clamping device 13 to swing to the right, and so on, so that the entire tail fin structure 10 swings continuously from left to right, propelling the bionic fish forward. The rotation angle of the servo motor is 0-50°.

[0053] Bionic fish driving method two: When the left solenoid 12 and right solenoid 8 at the second joint of the tail are energized, the tail fin structure 10 is driven to swing to the left. Then, the servo motor 6 rotates rapidly to the left, driving the left clamping device 13 to rotate rapidly to the left, thus turning the bionic fish to the left. Changing the current direction of the two solenoids changes the magnetic field direction, driving the tail fin structure 10 to swing to the right. Then, the servo motor 6 rotates rapidly to the right, driving the left clamping device 13 to rotate rapidly to the right, thus turning the bionic fish to the right. The servo motor turning angle is 0-90°.

[0054] Bionic fish driving method three: The lead screw motor 14 drives the balance lead block 15 fixed on the lead screw motor to move towards the fish head. The center of gravity of the bionic fish moves forward with the movement of the balance lead block 15. Then the tail swings according to the driving method one, pushing the bionic fish downstream. The lead screw motor 14 drives the balance lead block 15 to move towards the fish tail, so that the center of gravity of the bionic fish moves towards the fish tail. The head of the bionic fish tilts upward. Then the tail fin of the bionic fish swings according to the driving method one, pushing the bionic fish upstream.

Claims

1. A multifunctional biomimetic fish structure based on a dual-joint rigid-flexible hybrid tail fin for propulsion, characterized in that... The system includes a bionic fish main body structure (17), with two underwater obstacle avoidance sensors (19) symmetrically arranged on the head of the bionic fish main body structure (17). A left-side clamping device (13) and a right-side clamping device (7) are located at the rear of the bionic fish main body structure (17). The left-side clamping device (13) is connected to the bionic fish main body structure (17) via a servo motor (6). The right-side clamping device (7) is fixed to the left-side clamping device (13). The servo motor (6) is fixed to a servo motor mounting bracket (22) at the rear of the bionic fish main body structure (17). A tail fin structure (10) is fixedly provided on the left clamping device (13) and the right clamping device (7). A left permanent magnet (11) and a right permanent magnet (9) are installed on both sides of the tail fin structure (10). A lead screw motor (14) is provided inside the bionic fish main body structure (17). A balance lead block (15) is connected to the lead screw of the lead screw motor (14). A bionic fish top cover plate (2) is installed on the bionic fish main body structure (17). The bionic fish top cover plate (2) and the bionic fish main body structure (17) are sealed and connected by two layers of sealant. The left clamping device (13) and the right clamping device (7) are each provided with a float cavity. The lower half of each float cavity is provided with a solenoid fixing hole. The left solenoid (12) and the right solenoid (8) are respectively fixed to the left clamping structure solenoid fixing hole (31) and the right clamping structure solenoid fixing hole (34) by bolts. The power supply lines of the two solenoids are connected to the control system through the clamping structure wire through hole (33). The front end of the two clamping devices is provided with a tail fin structure fixing hole (32) for fixing the tail fin structure (10) to the two clamping devices. Below the bionic fish main structure (17) is a bionic fish pectoral fin (20). Inside the bionic fish main structure (17) is a control unit. The control unit is mounted on a control unit mounting plate (16). The control unit mounting plate (16) is fixed to the control unit mounting bracket (21) by bolts. The control unit includes a main control unit (5), a power module (1), a voltage regulator module (3), a current commutation module (4), and an attitude detection module. The power module (1) is connected to the voltage regulator module (3) through DuPont wires to ensure a continuous power supply. The voltage regulator module (3) is connected to the power supply pins of the servo motor (6), the current commutation module (4), and the main control unit (5) via DuPont wires to ensure a stable power supply. The main control unit (5) is connected to the signal lines of the current commutation module (4) and the servo motor (6) via DuPont wires to ensure precise signal control. The four current output pins of the current commutation module (4) are connected to the current input pins of the left solenoid (12) and the right solenoid (8). When it receives the signal from the main control unit, it completes the change of current direction, thereby changing the direction of the magnetic field.

2. The multifunctional biomimetic fish structure based on a dual-joint rigid-flexible hybrid tail fin propulsion according to claim 1, characterized in that... The underwater obstacle avoidance sensor (19) is an underwater ultrasonic obstacle avoidance sensor, which is cylindrical in shape. The angle between the centerline of the underwater obstacle avoidance sensor (19) and the centerline of the bionic fish is 10-30°, and the underwater obstacle avoidance sensors (19) on the left and right sides are symmetrically arranged on the centerline of the bionic fish. The underwater obstacle avoidance sensor (19) is fixed to the obstacle avoidance module clamp (18), wherein the obstacle avoidance module clamp (18) is fixed to the obstacle avoidance sensor fixing frame (24) on the outside of the head of the bionic fish by bolts.

3. The multifunctional biomimetic fish structure based on a dual-joint rigid-flexible hybrid tail fin propulsion according to claim 1, characterized in that... The bionic fish main body structure (17) and the bionic fish top cover plate (2) are both designed with a streamlined shape. The first layer of sealant is double-sided butyl waterproof adhesive, and the second layer of sealant is single-sided butyl waterproof adhesive. The rear half of the bionic fish top cover plate (2) is provided with a bionic fish dorsal fin (28). The upper surface of the bionic fish top cover plate (2) is provided with a waterproof switch fixing hole (27) for fixing an external waterproof switch. The lower part of the bionic fish main body structure is provided with a ventral fin (23), and its tail is provided with a servo motor fixing bracket (22). The bottom of the servo motor fixing bracket (22) is provided with a square through hole.

4. The multifunctional biomimetic fish structure based on a dual-joint rigid-flexible hybrid tail fin propulsion according to claim 1, characterized in that... The biomimetic fish structure has an overall length of 600-640mm, an overall width of 180-220mm, and an overall height of 200-240mm.

5. The multifunctional biomimetic fish structure based on a dual-joint rigid-flexible hybrid tail fin propulsion according to claim 1, characterized in that... The rectangular part (35) of the tail fin structure is made of T700 carbon fiber layer, and the metal part (37) of the tail fin structure is cut into a fixed shape by the metal layer, and the cut metal layer is sandwiched between the carbon fiber layers and bonded and cured.

6. A multifunctional biomimetic fish structure based on a dual-joint rigid-flexible hybrid tail fin for propulsion, as described in claim 1, is characterized in that... The bionic fish control system uses a PID algorithm to control and adjust the lead screw motor.

7. The multifunctional biomimetic fish structure based on a dual-joint rigid-flexible hybrid tail fin propulsion according to claim 1, characterized in that... The mass of the balancing lead block (15) is 100-300g.

8. The multifunctional biomimetic fish structure based on a dual-joint rigid-flexible hybrid tail fin propulsion according to claim 1, characterized in that... The left permanent magnet (11) and the right permanent magnet (9) are fixed to the tail fin structure permanent magnet position (36) by waterproof adhesive.

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