Bionic robotic fish driven by actuator based on pairing of electromagnets and permanent magnets

Abstract

The invention provides a bionic robotic fish driven by actuators based on pairing of electromagnets and permanent magnets, the bionic robotic fish comprises a head part, a fish body and a tail part which are connected in sequence, a plurality of telescopic actuator groups are arranged on two sides of a spine of the fish body, each actuator group is formed by connecting two tightly adjacent actuators in series, and the two actuators are connected in series. Each actuator comprises an electromagnet, a permanent magnet and an elastic piece which are alternately arranged up and down, the magnetic force direction of the electrified electromagnet faces the permanent magnet of the adjacent actuator, and when the magnetic force of the electrified electromagnet attracts the permanent magnet in the adjacent actuator to enable the permanent magnet in the adjacent actuator to be close to each other, the actuator group shrinks; when magnetic force generated after the electromagnets are electrified repels the permanent magnets in the adjacent actuators to enable the permanent magnets to be far away from the electromagnets, the actuator sets stretch. The actuator sets on the two sides of the fish body are coupled through the spine of the fish body, and when the actuator set on one side of the fish body retracts, the actuator set on the other side of the fish body stretches to drive the fish body to twist so that the tail can swing. The bionic robotic fish can be driven by electromagnetic force and permanent magnetic force to flexibly move underwater.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, in particular to a bionic robot fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet. Background Art

[0002] With the rapid development of artificial intelligence and robotics, the application prospects of bionic robots in various fields are becoming increasingly broad, especially in the field of underwater exploration and monitoring. In recent years, bionic robot fish, a robot that simulates the movement of fish, has become one of the hot spots in underwater robot research due to its flexibility, maneuverability and ability to adapt to complex water environments. Traditional underwater robots usually use thrusters, propellers and other mechanisms. Although these mechanisms can provide a certain amount of propulsion, they usually have shortcomings such as large size, poor movement flexibility, high noise and low energy efficiency, which limits their application and development in specific environments.

[0003] In this context, how to improve the flexibility, acceleration performance and compactness of bionic robot fish has become the core issue of current technical research. Most existing bionic robot fish rely on traditional motors or water pumps to drive, which can provide a certain amount of power, but still have certain limitations in dynamic responses such as steering and acceleration.

[0004] At present, there are mainly the following technical solutions for the driving system of underwater robots: 1) Thruster drive system: Robots with this drive system usually have a complex structure, large size, and limited flexible movement capabilities such as acceleration and turning. They are easily affected by factors such as water flow, resulting in reduced control accuracy and maneuverability.

[0005] 2) Servo motor drive system: Although servo motors can provide relatively precise control, problems such as heat dissipation and power supply in underwater environments limit their efficient operation.

[0006] 3) Pneumatic or hydraulic drive system: Although pneumatic and hydraulic systems can provide strong power, they are usually unable to meet the needs of bionic robots that require miniaturization and fast response due to their large size and complex systems.

[0007] The main problems of these existing technologies include: large size, poor mobility, insufficient acceleration, slow steering response, and poor adaptability to the external environment. For application scenarios that require high maneuverability and high speed (such as underwater rescue, ocean detection, fishery monitoring, etc.), existing technical solutions are difficult to meet the needs. Summary of the invention

[0008] The present invention proposes a bionic robotic fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet. Through an innovative driving principle and the interaction between electromagnetic force and permanent magnetic force, the bionic robotic fish can achieve more efficient and flexible movement underwater.

[0009] The present invention adopts the following technical solutions.

[0010] A bionic robot fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet comprises a head, a fish body and a tail connected in sequence, a plurality of retractable actuator groups are arranged on both sides of the spine of the fish body, each actuator group is composed of two closely adjacent actuators connected in series, the actuator comprises an electromagnet, a permanent magnet and an elastic member for connecting adjacent actuators which are alternately arranged up and down, and the magnetic force direction of the electromagnet after being energized is toward the permanent magnet of the adjacent actuator, when the magnetic force of the electromagnet after being energized attracts the permanent magnet in the adjacent actuator to bring the two together, the actuator group contracts; when the magnetic force of the electromagnet after being energized repels the permanent magnet in the adjacent actuator to move the two apart, the actuator group extends; the actuator groups on both sides of the fish body are coupled with the spine of the fish body, when the actuator group on one side of the fish body contracts, the actuator group on the other side of the fish body extends, and the power is transmitted through the push rods between the adjacent drive groups to drive the fish body to twist so that the tail swings.

[0011] The elastic part of the actuator is a spring installed at the spring seat for providing posture restoring force to the actuator group. The electromagnet of the actuator includes a coil with an iron core wound by enameled wire. The actuator also includes two crescent-shaped ribs made of metal material. The coil with the iron core, the permanent magnet and the spring seat are fixed between the two ribs.

[0012] When the actuator group on the extension side of the fish body extends, the spring of the actuator group is stretched; when the coil of the actuator group on the contraction side of the fish body is powered off, based on the coupling connection of the actuator groups on both sides of the fish body, the spring of the actuator group on the extension side of the fish body provides a restoring force, so that the fish body returns to a non-twisted posture in a balanced state.

[0013] The spine is composed of multiple spinal segments connected in series via hinges. Each spinal segment is "T"-shaped. Slide bars are installed on both sides of each spinal segment. Slide blocks for connecting actuators are slidably mounted on the slide bars. When the actuator contracts or relaxes, the spinal segments move under the drive of the actuator.

[0014] The coil with iron core, permanent magnet and spring seat are bonded in the middle of two ribs, and the spring is clamped in the spring seat by a cylindrical pin; the crescent-shaped rib is provided with a rib hole for fixing the actuator, and the actuator is connected and fastened with the spine and the side slider through the rib hole by fasteners.

[0015] A cavity for placing the control unit of the robot fish is provided at the head of the robot fish, and the cavity comprises a head cover, a control circuit compartment for installing a control board, and a drive board installation compartment.

[0016] The head cover is arranged on the top of the fish head, and permanent magnetic suction parts are arranged on both sides of the inside thereof for connecting with the fish body; The control circuit compartment is connected to the head cover, and permanent magnetic suction parts for connecting the head cover are arranged inside the two sides of the end connected to the head cover, and a circular hole for adjusting the position of the control board is arranged at the end, and the position of the circular hole is sealed; The drive board installation cabin is connected to one side of the control circuit cabin. The drive board installation cabin and the control circuit cabin are connected through a connecting frame, and the drive board is fixed at the connecting frame.

[0017] The drive plate mounting cabin is connected to the fish body via bolt fasteners.

[0018] The gaps at the joints of the fish body are sealed and waterproofed with sealing silicone. When the gap is large, it is first covered with silicone film and then coated with sealing silicone to form a seal; The fish tail is made by a soft silicone 3D printing method, and the connection method between the fish tail and the fish body is to fix the fish tail to the rib of the actuator at the end of the fish body through bolt fasteners.

[0019] A bionic robotic fish swimming method driven by an actuator that pairs an electromagnet with a permanent magnet, wherein the actuators on one side of the fish body are connected in series to form an actuator group, and the actuator groups on both sides of the fish body are connected in parallel to form a transmission structure. When the robotic fish swims, the power-on control method of the actuator group is as follows: the power-on directions of the actuator groups on both sides of the fish body are opposite, and when a positive current is passed through one side to generate an attractive force to cause the side to contract, a reverse current is passed through the other side to generate a repulsive force to cause the side to extend; by Figure 7 To illustrate the movement of the fish body, when the first group of actuators (34) on the right side starts to be energized, the electromagnets between the ribs generate magnetic force and attract each other with the permanent magnets, causing the first slider (18) at the first spinal segment to approach the first spinal segment (17) through the slide rod (27), and drive the second spinal segment (19) to move forward through the push rod (25). Then the second group of actuators (35) on the right side, the third group of actuators (36) on the right side, and the fourth group of actuators (37) on the right side are similar. While transmitting the front contraction force to the rear, they further increase the degree of deformation through the mutual attraction between the electromagnets and the permanent magnets in the actuators, and finally transmit it to the flexible fish tail (13) through the push rod (25); when the right side is energized, the movement of the left actuator group is just opposite to that of the left actuator group, that is, the fish body is stretched in the opposite direction in the form of the repulsive force between the electromagnetic force and the permanent magnet, forming a double same-side movement deformation capacity, so that the fish body works in a large deformation condition through the transmission structure and the power-on logic.

[0020] The present invention has the following advantages: 1) Small size: The driving method of pairing electromagnets with permanent magnets makes the driving system have a higher power density, which can greatly reduce the size of the robot fish and adapt to narrow underwater environments. It is especially suitable for small and precise underwater tasks, such as underwater exploration and precision detection.

[0021] 2) Strong acceleration performance: Compared with traditional mechanical drive, the electromagnet drive method can achieve a more efficient acceleration response. The robot fish can quickly accelerate from a stationary state to a higher speed, greatly improving its underwater response capability, especially in tasks that require rapid response.

[0022] 3) Flexible steering capability: By precisely controlling the direction of the electromagnet's force, the bionic robot fish can achieve fast and precise steering and turning movements. This highly flexible steering capability enables the robot fish to flexibly navigate in complex water flows and narrow spaces, and has similar movement capabilities to natural fish.

[0023] 4) Ability to achieve efficient energy utilization: Compared with traditional mechanical drive systems, electromagnetic drive systems have lower energy consumption and higher efficiency, and can work for a long time under limited energy, thereby extending the working time of the robot fish and improving its practicality.

[0024] 5) Low noise and strong concealment: The electromagnetically driven system has extremely low operating noise, which not only reduces interference to the underwater environment, but also improves the concealment of the bionic robot fish, making it suitable for covert missions such as underwater reconnaissance and monitoring.

[0025] 6) High reliability and maintainability: Due to the use of non-contact electromagnetic force drive, mechanical wear is greatly reduced, which improves the durability and reliability of the system. In addition, the design of electromagnets and permanent magnets makes the entire drive system easy to maintain and reduces operating costs.

[0026] In the present invention, the electromagnets and permanent magnets are distributed alternately between single fins, and the electromagnets and permanent magnets are also distributed alternately between pairs of fins. This distribution design comprehensively considers the influence of the mutual attraction between the permanent magnets when no power is supplied. It has been verified that through this distribution design of the present invention, the mutual attraction between the permanent magnets has little effect on the actual operation of the robot fish.

[0027] In the present invention, each actuator group forms a muscle drive module on both sides of the fish spine. The output of the muscle drive module and the twisting posture of the fish body can be flexibly adjusted through the size design of the actuator and the magnetic force adjustment of the electromagnet, so that the robot fish has more flexible swimming ability and better ability to pass underwater obstacles.

[0028] At present, the field of underwater bionic robots still has problems such as large size, inflexible steering, and poor acceleration response. The existing technology cannot effectively take into account miniaturization, flexibility and high efficiency. Therefore, there is a very urgent market demand for innovative solutions for bionic robot fish drive systems based on electromagnets and permanent magnets. The present invention can fill the gap in the existing technology, promote the technological progress of bionic robot fish, and provide a new efficient, flexible and environmentally friendly solution for a wide range of underwater applications, which has great commercial value and application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: Attached Figure 1 A schematic diagram of the structure of a bionic robotic fish driven by an actuator based on a pair of electromagnets and permanent magnets provided by the present invention; Figure 2 A schematic diagram of the placement of the magnets on the head end cover of the robotic fish provided by the present invention; Figure 3 A schematic diagram of the opening of the front shell of the PCB circuit board bin and the position of the permanent magnet of the robot fish provided by the present invention; Figure 4 A schematic diagram of the "T"-shaped spine structure of the robotic fish provided by the present invention; Figure 5 A schematic diagram of the distribution of the crescent-shaped fins, magnets and spring seats provided by the present invention; Figure 6 A schematic diagram of the connection between the "T"-shaped spine and the crescent-shaped ribs of the robotic fish provided by the present invention; Figure 7 A schematic diagram of the distribution of the robot fish actuator group provided by the present invention; Figure 8 A schematic diagram of the distribution of electromagnets and permanent magnets of the robotic fish actuator group provided by the present invention; In the figure: 1, end cover; 2, sealing plug; 3, front housing; 4, first PCB circuit board; 5, second PCB circuit board; 6, connecting frame; 7, third PCB circuit board; 8, rear housing; 9, large-size actuator; 10. Small-size actuator group; 11. Front section of fishtail; 12. Bolt connection; 13. Flexible fishtail; 14. Permanent magnet placement hole; 15. Magnetic attraction (electromagnet or permanent magnet); 16. Spring seat; 17. First spinal segment; 18. First slider; 19. Second spinal segment; 20. Second slider; 21. Third spinal segment; 22. Third slider; 23. Fourth spinal segment; 24. Right slider of fourth spinal segment; 25. Push rod; 26. Left slider of fourth spinal segment; 27. Sliding rod; 28. Actuator group connection hole; 29. ​​Spring square hole; 30. Crescent-shaped ribs at the front end of the actuator group; 31. Crescent-shaped ribs; 32. PCB circuit board position adjustment hole; 33. Permanent magnet mounting hole; 34. The first group of actuators on the right side (including 3 magnets (electromagnets and permanent magnets are alternately matched)); 35. The second group of actuators on the right side (refer to 34, including 3 magnets (electromagnets and permanent magnets are alternately matched)); 36. The third group of actuators on the right side (including 2 magnets (electromagnets and permanent magnets)); 37. The fourth group of actuators on the right side (refer to 36, including 2 magnets ( Electromagnet and permanent magnet)); 38. The fourth group of actuators on the left (refer to 37, including 2 magnets (electromagnet and permanent magnet)); 39. The third group of actuators on the left (refer to 36, including 2 magnets (electromagnet and permanent magnet)); 40. The second group of actuators on the left (refer to 35, including 3 magnets (electromagnet and permanent magnet are alternately matched)); 41. The first group of actuators on the left (refer to 34, including 3 magnets (electromagnet and permanent magnet are alternately matched)); 42. Electromagnet; 43. Permanent magnet; 44. Spring. DETAILED DESCRIPTION

[0030] This example provides a bionic robotic fish driven by an actuator based on a pair of electromagnets and permanent magnets. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0031] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0032] It should also be noted that the same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Or implicitly indicate the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0034] The invention is further described below by describing embodiments in conjunction with the accompanying drawings.

[0035] As shown in the figure, a bionic robot fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet comprises a head, a fish body and a tail connected in sequence, a plurality of retractable actuator groups are arranged on both sides of the spine of the fish body, each actuator group is composed of two closely adjacent actuators connected in series, the actuator comprises electromagnets (42), permanent magnets (43) and elastic parts for connecting adjacent actuators arranged alternately up and down, and the direction of the magnetic force of the electromagnet after being energized is toward the permanent magnet of the adjacent actuator, when the magnetic force of the electromagnet after being energized attracts the permanent magnets in the adjacent actuators to bring the two together, the actuator group contracts; when the magnetic force of the electromagnet after being energized repels the permanent magnets in the adjacent actuators to move the two apart, the actuator group extends; the actuator groups on both sides of the fish body are coupled with the spine of the fish body, when the actuator group on one side of the fish body contracts, the actuator group on the other side of the fish body extends, and the push rods between the adjacent drive groups transmit power to drive the fish body to twist so that the tail swings, that is, the flexible fish tail 13 is driven to swing and paddle, thereby driving the robot fish to move.

[0036] Each actuator group is divided into a large actuator group (9) at the middle section of the fish body and a small actuator group (10) at the rear section of the fish body.

[0037] The elastic member of the actuator is a spring (44) installed at the spring seat for providing a posture reset force to the actuator group. The electromagnet of the actuator includes a coil with an iron core wound by enameled wire. The actuator also includes two crescent-shaped fins 31 made of metal material. The coil with the iron core, the permanent magnet and the spring seat are fixed between the two fins.

[0038] When the actuator group on the extension side of the fish body extends, the spring of the actuator group is stretched; when the coil of the actuator group on the contraction side of the fish body is powered off, based on the coupling connection of the actuator groups on both sides of the fish body, the spring of the actuator group on the extension side of the fish body provides a restoring force, so that the fish body returns to a non-twisted posture in a balanced state.

[0039] The spine is composed of multiple spinal segments connected in series via hinges. Each spinal segment is "T"-shaped. Slide bars are installed on both sides of each spinal segment. Slide blocks for connecting actuators are slidably mounted on the slide bars. When the actuator contracts or relaxes, the spinal segments move under the drive of the actuator.

[0040] The coil with the iron core, the permanent magnet and the spring seat are bonded in the middle of the two ribs, and the spring is clamped in the spring seat (16) through a cylindrical pin; the crescent-shaped rib is provided with a rib hole for fixing the actuator, and the actuator is connected and fastened to the spine and the side slider through the rib hole by a fastener.

[0041] A cavity for placing the control unit of the robot fish is provided at the head of the robot fish, and the cavity comprises a head cover, a control circuit compartment for installing a control board, and a drive board installation compartment.

[0042] The head cover is arranged on the top of the fish head, and permanent magnetic suction parts are arranged on both sides of the inside thereof for connecting with the fish body; The control circuit compartment is connected to the head cover, and permanent magnetic suction parts for connecting the head cover are arranged inside the two sides of the end connected to the head cover, and a circular hole for adjusting the position of the control board is arranged at the end, and the position of the circular hole is sealed; The drive board installation cabin is connected to one side of the control circuit cabin. The drive board installation cabin and the control circuit cabin are connected via a connecting frame (6), and the drive board is fixed at the connecting frame.

[0043] The drive plate mounting cabin is connected to the fish body via bolt fasteners.

[0044] The gaps at the joints of the fish body are sealed and waterproofed with sealing silicone. When the gap is large, it is first covered with silicone film and then coated with sealing silicone to form a seal; The fish tail is made by a soft silicone 3D printing method, and the connection method between the fish tail and the fish body is to fix the fish tail to the rib of the actuator at the end of the fish body through bolt fasteners.

[0045] A bionic robotic fish swimming method driven by an actuator that pairs an electromagnet with a permanent magnet, wherein the actuators on one side of the fish body are connected in series to form an actuator group, and the actuator groups on both sides of the fish body are connected in parallel to form a transmission structure. When the robotic fish swims, the power-on control method of the actuator group is as follows: the power-on directions of the actuator groups on both sides of the fish body are opposite, and when a positive current is passed through one side to generate an attractive force to cause the side to contract, a reverse current is passed through the other side to generate a repulsive force to cause the side to extend; by Figure 7To illustrate the movement of the fish body, that is, when the first group of actuators 34 on the right side starts to be energized, the electromagnets between the ribs generate magnetic force and attract each other with the permanent magnets, causing the first slider 18 at the first spinal segment to approach the first spinal segment 17 through the slide rod 27, and the second spinal segment 19 is driven to move forward through the push rod 25. Then the second group of actuators 35 on the right side, the third group of actuators 36 on the right side, and the fourth group of actuators 37 on the right side are similar. While transmitting the front contraction force to the rear, they further increase the degree of deformation through the mutual attraction between the electromagnet and the permanent magnet in the actuator, and finally transmit it to the flexible fish tail 13 through the push rod 25; when the right side is energized, the movement of the left actuator group is just opposite to that of the left actuator group, that is, the fish body is stretched in the opposite direction in the form of the repulsive force between the electromagnetic force and the permanent magnet, forming a double same-side movement deformation capacity, so that the fish body works in a large deformation condition through the transmission structure and the power-on logic.

[0046] Embodiment 1: This example provides a bionic robotic fish driven by an actuator based on a pair of electromagnets and permanent magnets. Figure 1 As shown in the figure, the robot fish is generally composed of three parts: Head - end cover 1, sealing plug 2, front shell 3, first PCB circuit board 4, second PCB circuit board 5, connecting frame 6 and third PCB circuit board 7, according to Figure 1 The sequence is connected in sequence; Fish body - rear housing 8, large actuator group 9 and small actuator group 10 according to Figure 1 Middle structure composition; Tail - the front section 11 of the fishtail is connected to the flexible fishtail 13 by a bolt connection 12 according to Figure 1 Medium structure composition.

[0047] At the connection between the end cover 1 and the front shell 3 of the fish head part, as shown in FIG. Figure 2 , Figure 3 As shown in the figure, there are two permanent magnet placement holes 14 and permanent magnet mounting holes 33 for placing permanent magnets. Since the connection between the end cover 1 and the front shell 3 is magnetic attraction connection, the front shell 3 corresponding to the permanent magnet placement hole 14 is as follows. Figure 3 There are also two permanent magnet mounting holes 33 shown in FIG.

[0048] like Figure 3 There is also a PCB circuit board position adjustment hole 32, which is used to adjust the placement of the PCB circuit board in the front shell cabin. These two holes must be sealed with a sealing plug 2 before the robot fish is put into the water. The two cabins are connected by magnetic attraction to facilitate the opening of the end cover 1.

[0049] The front housing 3 contains a PCB circuit board (1) 4 and a PCB circuit board (2) 5, which are connected to the rear housing 8 via a connecting frame 6, wherein the PCB circuit board (3) 7 is fixed to the connecting frame and placed in the rear housing 8, and a large number of cavities are left to facilitate heat dissipation.

[0050] The middle section of the fish body is the spine and muscle drive module of the fish body, which is mainly composed of a large actuator group 9 and a small actuator group 10.

[0051] in Figure 4 FIG. 1 is a schematic diagram of the structure of the “T”-shaped spine of the robot fish, which is connected to the rear housing 8 via the “T”-shaped spine (1) 17. Figure 6 As shown, the "T"-shaped spine (formed by a plurality of spinal segments hinged in series, including the first spinal segment 17, the second spinal segment 19, the third spinal segment 21, and the fourth spinal segment 23) and the sliders beside the plurality of spinal segments of the "T"-shaped spine (including the first slider 18, the second slider 20, the third slider 22, and the right slider 24 of the fourth spinal segment) are connected to the crescent-shaped rib 31 through the actuator group connection hole 28; Figure 5 The crescent-shaped fins in the large actuator group are shown, which include magnets 15 and spring seats 16. Two fins form a group, and the corresponding magnets form a group, that is, the electromagnets and permanent magnets are alternately matched. The two fins can be fixedly connected by the spring seat 16 to provide a restoring force after power failure.

[0052] The first slider 18 of the "T"-shaped spinal segment can slide freely through the slide rod 27. When the coil is energized, a magnetic attraction force is generated between the electromagnet and the permanent magnet to control the movement. The same applies to the other actuator groups.

[0053] Each adjacent group of actuators is connected via a push rod 25 to transmit force and deformation.

[0054] The tail of the fish body is the part that needs to transmit large deformation. The front cylindrical hole of the front section 11 of the fish tail is connected to the right slider 24 of the fourth vertebral segment of the "T" shape of the middle section of the fish body and the left slider 26 of the fourth vertebral segment of the "T" shape through the push rod 25 to transmit large deformation and force. Figure 7 As shown, the front section 11 of the fish tail is connected to the flexible fish tail 13 via a bolt connection 12 .

[0055] When the bionic robot fish driven by the actuator based on the pairing of electromagnet and permanent magnet swims in water, Figure 4 , Figure 7 and Figure 8 In the driving mechanism, the actuator group on one side of the fish body is in series, and the actuator groups on both sides of the fish body are in parallel. The power-on control logic is as follows, that is, the power-on directions on both sides are opposite, such as when the right side is powered by a forward current (generating a current in the form of an attractive force), the left side is powered by a reverse current (generating a current in the form of a repulsive force).

[0056] by Figure 7 To illustrate the movement of the fish body, that is, when the first group of actuators 34 on the right side starts to be energized, the electromagnets between the ribs generate magnetic force and attract each other with the permanent magnets, causing the first slider 18 on the right side of the "T"-shaped spine to approach the "T"-shaped first spinal segment 17 through the slide rod 27, and the "T"-shaped second spinal segment 19 is driven forward by the push rod 25. Then the second group of actuators 35 on the right side, the third group of actuators 36 on the right side, and the fourth group of actuators 37 on the right side are similar. While transmitting the previous contraction, they further attract each other through further electromagnets and permanent magnets, thereby increasing the degree of deformation, and finally transmitting it to the flexible fish tail 13 through the push rod 25.

[0057] When the right side is energized, the movement of the left actuator group is just opposite to that of the left actuator group, in the form of repulsive force. Overall, it is a double deformation of the same-side movement. Therefore, the fish body structure design and power-on logic support large deformation conditions.

[0058] In summary, this example discloses an actuator-driven bionic robot fish based on electromagnet and permanent magnet pairing, which includes a head, a fish body and a tail connected in sequence, wherein the fish body is composed of a plurality of actuator groups composed of electromagnets and permanent magnets connected in series, and a single actuator is mainly composed of a spring, two metal crescent-shaped ribs, a coil wound with enameled wire and a permanent magnet, and a coil with an iron core, a permanent magnet and a spring seat are bonded in the middle of the two ribs, and the spring is clamped in the spring seat by a cylindrical pin. After the coil is energized, a magnetic field is generated and an attraction force is generated by the permanent magnet to bring the two closer to each other, thereby completing the contraction of the actuator. Due to the mutual coupling of the actuators on the left and right sides of the robot fish by the "T"-shaped spine and the connecting push rod, when the actuator on one side of the fish body contracts, the actuator on the other side relaxes, and at this time, the spring of the actuator group on the relaxation side is stretched, and after the coil is powered off, due to the coupling effect on both sides of the fish body, the spring provides restoring force on both sides, and finally the fish body as a whole is restored to a balanced state.

[0059] Embodiment 2: A bionic robotic fish driven by an actuator based on a pair of electromagnets and permanent magnets, comprising a head, a fish body and a tail connected in sequence, characterized in that a "T"-shaped spine and a connecting push rod in the fish body can achieve large deformation of the fish body; an actuator formed by a pair of electromagnets and permanent magnets connected in parallel can increase the driving force while being more energy-efficient, and each actuator is composed of a plurality of coils with iron cores and permanent magnets, two metal ribs and a spring; The fish body part is composed of a series of actuator groups composed of several electromagnets and permanent magnets. A single actuator is mainly composed of a coil with an iron core, a permanent magnet and a spring that provides passive elastic restoring force. After the coil is energized, a magnetic field is generated and the permanent magnet generates an attractive force to bring the two closer to each other, thereby completing the contraction of the actuator. Since the "T"-shaped spine and the connecting push rod couple the actuators on the left and right sides of the robot fish, when the actuator on one side of the fish body contracts, the actuator on the other side relaxes. At this time, the spring of the actuator group on the relaxation side is stretched. After the coil is powered off, due to the coupling effect on both sides of the fish body, the spring provides restoring force on both sides, and finally the fish body as a whole returns to a balanced state.

[0060] Among them, each actuator group of the fish body is composed of a spring, two metal crescent-shaped ribs, a coil wound with enameled wire and a permanent magnet. The coil with iron core, the permanent magnet and the spring seat are bonded in the middle of the two ribs, and the spring is clamped in the spring seat through a cylindrical pin.

[0061] By connecting several groups of such actuators in series and energizing them according to a certain rule, the fish body and tail can be made to swing.

[0062] The present example proposes a bionic robot fish device driven by an actuator based on a pairing of an electromagnet and a permanent magnet, comprising a "T"-shaped spine and a connecting push rod that can realize the coupling of actuators on the left and right sides of the fish body of the bionic robot fish, a crescent-shaped rib, a spring seat, a spring, a permanent magnet, and a coil with an iron core made of enameled wire. The "T"-shaped spine in the robot fish means that each segment of the spine is a "T" shape, which can couple the actuators on the left and right sides of the fish body, and each segment is equipped with a slide bar on both sides, and the slide bar connected to the actuator is sleeved on the slide bar and slides, and moves with the actuator when the actuator contracts or relaxes, and each "T"-shaped segment is connected in series through a hinge to form the spine of the robot fish. The device of a bionic robotic fish driven by an actuator based on a pair of electromagnets and permanent magnets, wherein the single actuator is two crescent-shaped ribs fixed on both sides of the magnet, a spring seat is installed in the radial interval between the two cylindrical magnets, and is used to install a spring that provides a restoring force. The connection method between the single actuator and the spine is that a hole is opened on the crescent-shaped rib of the single actuator, and is fastened to the corresponding holes on the spine and the side slider with bolts.

[0063] The head of the robot fish is designed as a head cover with permanent magnets placed on both sides of the top of the fish head, so as to facilitate the connection with the rear fish body; the part connected to the magnetic head cover is the cabin where the robot fish control circuit is placed, and the end connected to the head cover is also equipped with permanent magnets placed on both sides of the interior for connecting the head cover, and a circular hole is opened at the center of this end to facilitate the adjustment of the position of the control board in the cabin, and the circular hole position is sealed; connected to the other end of the cabin where the control board is placed is the drive board installation cabin, wherein the two cabins are connected by a connecting frame, and the drive board is installed on the connecting frame. Finally, the drive board installation cabin and the fish tail part of the fish body composed of the actuator are fastened by bolts. After fixing the various sections on the fish body, the gaps at the connection are sealed and waterproofed with sealing silicone. For larger gaps, a silicone film is used to cover them and then apply sealing silicone to seal them.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic robotic fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet, characterized in that: The invention comprises a head, a fish body and a tail which are connected in sequence. A plurality of retractable actuator groups are arranged on both sides of the spine of the fish body. Each actuator group is composed of two closely adjacent actuators connected in series. The actuator comprises an electromagnet, a permanent magnet and an elastic member which are alternately arranged up and down, and is used to connect adjacent actuators. The magnetic force direction of the electromagnet after being energized is toward the permanent magnet of the adjacent actuator. When the magnetic force of the electromagnet after being energized attracts the permanent magnet in the adjacent actuator to bring the two together, the actuator group contracts; when the magnetic force of the electromagnet after being energized repels the permanent magnet in the adjacent actuator to move the two apart, the actuator group extends. The actuator groups on both sides of the fish body are coupled with the spine of the fish body. When the actuator group on one side of the fish body contracts, the actuator group on the other side of the fish body extends. The push rod between the adjacent drive groups transmits power to drive the fish body to twist so that the tail swings.

2. The bionic robotic fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet according to claim 1, characterized in that: The elastic part of the actuator is a spring installed at the spring seat for providing posture restoring force to the actuator group. The electromagnet of the actuator includes a coil with an iron core. The actuator also includes two crescent-shaped ribs made of metal material. The coil with an iron core, a permanent magnet and a spring seat are fixed between the two ribs.

3. The bionic robotic fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet according to claim 2, characterized in that: When the actuator group on the extended side of the fish body extends, the spring of the actuator group is stretched; When the coil of the actuator group on the contraction side of the fish body is powered off, based on the coupling connection of the actuator groups on both sides of the fish body, the spring of the actuator group on the extension side of the fish body provides a restoring force to restore the fish body to a non-twisted posture in a balanced state.

4. The bionic robotic fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet according to claim 2, characterized in that: The spine is composed of multiple spinal segments connected in series via hinges. Each spinal segment is "T" shaped. Slide bars are installed on both sides of each spinal segment. Slide bars are slidably mounted with sliders for connecting to actuators. When the actuator contracts or relaxes, the spinal segments move under the drive of the actuator.

5. The bionic robotic fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet according to claim 4, characterized in that: The coil with iron core, permanent magnet and spring seat are bonded in the middle of two ribs, and the spring is clamped in the spring seat by a cylindrical pin; the crescent-shaped rib is provided with a rib hole for fixing the actuator, and the actuator is connected and fastened with the spine and the side slider through the rib hole by fasteners.

6. The bionic robotic fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet according to claim 1, characterized in that: A cavity for placing the control unit of the robot fish is provided at the head of the robot fish, and the cavity comprises a head cover, a control circuit compartment for installing a control board, and a drive board installation compartment.

7. The bionic robotic fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet according to claim 6, characterized in that: The head cover is arranged on the top of the fish head, and permanent magnetic suction parts are arranged on both sides of the inside thereof for connecting with the fish body; The control circuit compartment is connected to the head cover, and permanent magnetic suction parts for connecting the head cover are arranged inside the two sides of the end connected to the head cover, and a circular hole for adjusting the position of the control board is arranged at the end, and the position of the circular hole is sealed; The drive board installation cabin is connected to one side of the control circuit cabin. The drive board installation cabin and the control circuit cabin are connected through a connecting frame, and the drive board is fixed at the connecting frame.

8. The bionic robotic fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet according to claim 6, characterized in that: The drive plate mounting cabin is connected to the fish body via bolt fasteners.

9. The bionic robotic fish driven by an actuator based on a pairing of an electromagnet and a permanent magnet according to claim 1, characterized in that: The gaps at the joints of the fish body are sealed and waterproofed with sealing silicone. When the gap is large, it is first covered with silicone film and then coated with sealing silicone to form a seal; The fish tail is made by a soft silicone 3D printing method, and the connection method between the fish tail and the fish body is to fix the fish tail to the rib of the actuator at the end of the fish body through bolt fasteners.

10. A method for swimming a bionic robotic fish driven by an actuator based on a pair of electromagnets and permanent magnets, characterized in that: The actuators on one side of the fish body are connected in series to form an actuator group, and the actuator groups on both sides of the fish body are connected in parallel to form a transmission structure. When the robot fish swims, the power supply control method of the actuator group is as follows: the power supply directions of the actuator groups on both sides of the fish body are opposite, and when a positive current is supplied to one side to generate an attractive force to cause the side to contract, a reverse current is supplied to the other side to generate a repulsive force to cause the side to extend; The specific movement mode of the fish body is as follows: when the first group of actuators (34) on the right side starts to be energized, the electromagnets between the ribs generate magnetic force and attract each other with the permanent magnets, causing the first slider (18) at the first spinal segment to approach the first spinal segment (17) through the slide rod (27), and drive the second spinal segment (19) to move forward through the push rod (25). Then the second group of actuators (35) on the right side, the third group of actuators (36) on the right side, and the fourth group of actuators (37) on the right side are similar. While transmitting the front contraction force to the rear, they further increase the degree of deformation through the mutual attraction between the electromagnets and the permanent magnets in the actuators, and finally transmit it to the flexible fish tail (13) through the push rod (25); when the right side is energized, the movement form of the left actuator group is just opposite to that of the left actuator group, that is, the fish body is stretched in the opposite direction in the form of the repulsive force between the electromagnetic force and the permanent magnet, forming a double same-side movement deformation capacity, so that the fish body works in a large deformation condition through the transmission structure and the power-on logic.

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