Ocean wind power bionic intelligent inspection robot fish

Abstract

The invention belongs to the technical field of ocean wind power inspection, and particularly relates to an ocean wind power bionic intelligent inspection robot fish which comprises an annular plate, a chest bionic plate is fixedly mounted on the left side of the annular plate, a dorsal fin bionic plate is fixedly mounted at the top of the chest bionic plate, and a ventral fin is fixedly mounted at the bottom of the chest bionic plate. A fish head bionic plate is fixedly mounted on the left side of the chest bionic plate, a propeller driving assembly is arranged on the chest bionic plate, and a power module steering engine driving assembly is arranged on the right side of the annular plate. The chest bionic plate and the fish head bionic plate are sequentially arranged on the left side of the annular plate, the power module steering engine driving assembly is arranged on the right side of the annular plate, and the propeller driving assembly is arranged in the chest bionic plate, so that the bionic robotic fish can be used for routing inspection when the ocean wind power is subjected to routing inspection; not only is the cost reduced, but also personnel following inspection is not needed, and the safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of marine wind power inspection, specifically to a bionic intelligent inspection robotic fish for marine wind power. Background Art

[0002] Marine wind power refers to a renewable energy utilization method that utilizes offshore wind energy resources and converts wind energy into electrical energy through wind turbines installed on the sea surface or near the shore.

[0003] Currently, when inspecting marine wind turbines, it is usually carried out by using inspection ships to carry inspection personnel. However, this inspection method not only has high costs but also poses risks. Therefore, a bionic intelligent inspection robotic fish for marine wind power is invented. Summary of the Invention

[0004] To solve the above technical problems, according to one aspect of the present invention, the following technical solutions are provided: A bionic intelligent inspection robotic fish for marine wind power, which includes an annular plate. A chest bionic plate is fixedly installed on the left side of the annular plate. A dorsal fin bionic plate is fixedly installed on the top of the chest bionic plate. Pectoral fins are fixedly installed on the bottom of the chest bionic plate. A fish head bionic plate is fixedly installed on the left side of the chest bionic plate. A propeller drive assembly is provided on the chest bionic plate. A power module servo drive assembly is provided on the right side of the annular plate.

[0005] As a preferred solution of the bionic intelligent inspection robotic fish for marine wind power of the present invention, wherein: the propeller drive assembly includes: A first rotating shaft, and both ends of the chest bionic plate are rotatably connected to the first rotating shaft; Pectoral fin bionic plates, and the opposite ends of the two groups of first rotating shafts are fixedly installed with pectoral fin bionic plates; A first servo, which is fixedly installed in the chest bionic plate, and the output shaft of the first servo is fixedly connected to a group of first rotating shafts.

[0006] As a preferred solution of the bionic intelligent inspection robotic fish for marine wind power of the present invention, wherein: the propeller drive assembly further includes: A second rotating shaft, which is rotatably connected to the chest bionic plate; Square plates, and both ends of the second rotating shaft are fixedly installed with square plates; Connecting rods, one side of the square plate is rotatably connected to the connecting rod, and one end of the connecting rod is rotatably connected to the pectoral fin bionic plate.

[0007] As a preferred solution of the bionic intelligent inspection robotic fish for marine wind power of the present invention, wherein: the propeller drive assembly further includes: The first brushless motor, and the first brushless motor is fixedly installed on the pectoral fin bionic board through a sealed box; The first propeller, and the output shaft of the first brushless motor is fixedly installed with the first propeller.

[0008] As a preferred scheme of the marine wind power bionic intelligent inspection robot fish of the present invention, wherein: the propeller drive assembly further includes: A hollow tube, and the hollow tube is fixedly installed on the bottom of the pectoral fin bionic board; The second brushless motor, and the second brushless motor is fixedly installed in the hollow tube through a sealed box; The second propeller, and the output shaft of the second brushless motor is fixedly installed with the second propeller.

[0009] As a preferred scheme of the marine wind power bionic intelligent inspection robot fish of the present invention, wherein: the power module servo drive assembly includes: The first side plate, and the first side plates are fixedly installed at both ends of the inner cavity of the annular plate; The second servo, and the second servo is fixedly installed at both ends of the left side on the first side plates; The second side plate, and the output shafts at both ends of the second servo are fixedly installed with the second side plates.

[0010] As a preferred scheme of the marine wind power bionic intelligent inspection robot fish of the present invention, wherein: the power module servo drive assembly further includes: The third servo, and the third servo is fixedly installed at both ends of the left side on the second side plates; The third side plate, and the output shafts at both ends of the third servo are fixedly installed with the third side plates; The fourth servo, and the fourth servo is fixedly installed at both ends of the left side on the third side plates.

[0011] As a preferred scheme of the marine wind power bionic intelligent inspection robot fish of the present invention, wherein: the power module servo drive assembly further includes: The fourth side plate, and the output shaft of the fourth servo is fixedly installed with the fourth side plate whose shape is set to be Y-shaped; The fish tail bionic board, and the fish tail bionic board is fixedly installed on the fourth side plate.

[0012] As a preferred scheme of the marine wind power bionic intelligent inspection robot fish of the present invention, wherein: the power module servo drive assembly further includes: The first housing, and the second side plate is fixedly installed in the inner cavity of the first housing; The second housing, and the third side plate is fixedly installed in the inner cavity of the second housing; The third housing, and the fourth side plate is fixedly installed in the inner cavity of the third housing.

[0013] As a preferred embodiment of the marine wind power bionic intelligent inspection robotic fish of the present invention, wherein: an amorphous silicon thin film solar panel is provided on the outer side of the chest bionic plate, and the amorphous silicon thin film solar panel is electrically connected to the storage battery provided in the chest bionic plate.

[0014] Compared with the prior art: By sequentially arranging the chest bionic plate and the fish head bionic plate on the left side of the annular plate, arranging the power module servo drive assembly on the right side of the annular plate, and arranging the propeller drive assembly in the chest bionic plate, when inspecting marine wind power, it is possible to use the bionic robotic fish for inspection, which not only reduces costs but also eliminates the need for personnel to follow the inspection, improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of the present invention; Figure 2 It is a schematic structural diagram of the present invention after removing the amorphous silicon thin film solar panel; Figure 3 It is a schematic internal structure diagram of the propeller drive assembly of the present invention; Figure 4 It is a schematic internal structure diagram of the power module servo drive assembly of the present invention; Figure 5 It is a schematic diagram of the strapdown inertial navigation process of the present invention.

[0016] In the figure: annular plate 10, chest bionic plate 20, dorsal fin bionic plate 21, amorphous silicon thin film solar panel 22, fish head bionic plate 30, first rotating shaft 40, pectoral fin bionic plate 41, first servo 42, second rotating shaft 43, square plate 44, connecting rod 45, first propeller 46, first brushless motor 47, hollow tube 48, second propeller 49, second brushless motor 491, first side plate 50, second servo 51, second side plate 52, third servo 53, third side plate 54, fourth servo 55, fourth side plate 56, fish tail bionic plate 57, first housing 58, second housing 59, third housing 591. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0018] The present invention provides a marine wind power bionic intelligent inspection robotic fish, please refer to Figures 1 - 5, including an annular plate 10, a chest bionic plate 20 is fixedly installed on the left side of the annular plate 10, a dorsal fin bionic plate 21 is fixedly installed on the top of the chest bionic plate 20, ventral fins are fixedly installed on the bottom of the chest bionic plate 20, a fish head bionic plate 30 is fixedly installed on the left side of the chest bionic plate 20, a propeller drive assembly is provided on the chest bionic plate 20, and a power module servo drive assembly is provided on the right side of the annular plate 10; an amorphous silicon thin film solar panel 22 is provided on the outer side of the chest bionic plate 20, and the amorphous silicon thin film solar panel 22 is electrically connected to a storage battery provided in the chest bionic plate 20. Among them, a solar controller can be provided between the amorphous silicon thin film solar panel 22 and the storage battery according to requirements, and the storage battery is electrically connected to the intelligent inspection robotic fish.

[0019] The propeller drive assembly includes: a first rotating shaft 40, a pectoral fin bionic plate 41, a first servo 42, a second rotating shaft 43, a square plate 44, a connecting rod 45, a first propeller 46, a first brushless motor 47, a hollow tube 48, a second propeller 49, a second brushless motor 491; Both ends of the chest bionic plate 20 are rotatably connected to the first rotating shaft 40, the opposite ends of the two groups of first rotating shafts 40 are fixedly installed with pectoral fin bionic plates 41, the first servo 42 is fixedly installed in the chest bionic plate 20, and the output shaft of the first servo 42 is fixedly connected to a group of first rotating shafts 40. The second rotating shaft 43 is rotatably connected to the chest bionic plate 20, square plates 44 are fixedly installed at both ends of the second rotating shaft 43, one side of the square plate 44 is rotatably connected to the connecting rod 45, and one end of the connecting rod 45 is rotatably connected to the pectoral fin bionic plate 41. The first brushless motor 47 is fixedly installed on the pectoral fin bionic plate 41 through a sealed box, the output shaft of the first brushless motor 47 is fixedly installed with the first propeller 46, the hollow tube 48 is fixedly installed on the bottom of the pectoral fin bionic plate 41, the second brushless motor 491 is fixedly installed in the hollow tube 48 through a sealed box, and the output shaft of the second brushless motor 491 is fixedly installed with the second propeller 49.

[0020] The principle of the propeller drive assembly is: when the intelligent inspection robotic fish swims in seawater, a group of pectoral fin bionic plates 41 will be swung through the first servo 42. When a group of pectoral fin bionic plates 41 swing, another group of pectoral fin bionic plates 41 will be swung through the cooperation of the second rotating shaft 43, the square plate 44 and the connecting rod 45. At this time, the first propeller 46 and the second propeller 49 will be rotated through the first brushless motor 47 and the second brushless motor 491 to generate thrust.

[0021] The power module servo drive assembly includes: a first side plate 50, a second servo 51, a second side plate 52, a third servo 53, a third side plate 54, a fourth servo 55, a fourth side plate 56, a fish tail bionic plate 57, a first housing 58, a second housing 59, a third housing 591; At both ends of the inner cavity of the annular plate 10, the first side plates 50 are fixedly installed. At both left ends of the second servo 51, the first side plates 50 are fixedly installed. Output shafts at both ends of the second servo 51 are fixedly installed with second side plates 52. At both left ends of the third servo 53, the second side plates 52 are fixedly installed. Output shafts at both ends of the third servo 53 are fixedly installed with third side plates 54. At both left ends of the fourth servo 55, the third side plates 54 are fixedly installed. The output shaft of the fourth servo 55 is fixedly installed with a fourth side plate 56 whose shape is Y-shaped. The fish-tail bionic plate 57 is fixedly installed on the fourth side plate 56. The second side plate 52 is fixedly installed in the inner cavity of the first housing 58. The third side plate 54 is fixedly installed in the inner cavity of the second housing 59. The fourth side plate 56 is fixedly installed in the inner cavity of the third housing 591.

[0022] The principle of the power module servo drive assembly is: on the basis of the propeller drive assembly, the second servo 51, the third servo 53 and the fourth servo 55 are used to make the fish-tail bionic plate 57, the first housing 58, the second housing 59 and the third housing 591 swing.

[0023] In the present invention, a portable base station, an infrared camera, an underwater high-definition camera and Beidou 3 are provided in the chest bionic plate 20, and a power line carrier communication interaction module and an information collection module are provided in the fish-head bionic plate 30; in addition, a strapdown inertial navigation (principle: using inertial devices (gyroscopes, accelerometers) to measure the specific force and angular velocity of the intelligent inspection robot fish, and through integration and various algorithms, the position, speed and attitude information of the intelligent inspection robot fish can be obtained) and a Doppler log (principle: using the Doppler frequency shift of the reflected echo wave to measure the absolute speed of the intelligent inspection robot fish on the water surface or underwater relative to the bottom or the relative speed of the water flow, with certain real-time performance and autonomy, and the speed error does not accumulate with time) are also provided in the chest bionic plate 20.

[0024] Although the present invention has been described above with reference to the embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention can be combined with each other in any way, and the exhaustive description of these combinations is omitted in this specification only for the consideration of saving space and resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. Marine wind power bionic intelligent inspection robotic fish, including an annular plate (10), characterized in that, On the left side of the annular plate (10), a chest bionic plate (20) is fixedly installed. On the top of the chest bionic plate (20), a dorsal fin bionic plate (21) is fixedly installed. On the bottom of the chest bionic plate (20), ventral fins are fixedly installed. On the left side of the chest bionic plate (20), a fish head bionic plate (30) is fixedly installed. A propeller drive assembly is provided on the chest bionic plate (20), and a power module servo drive assembly is provided on the right side of the annular plate (10).

2. The bionic intelligent inspection robotic fish for offshore wind power according to claim 1, wherein The propeller drive assembly includes: A first rotating shaft (40), and both ends of the chest bionic plate (20) are rotatably connected to the first rotating shaft (40); Pectoral fin bionic plates (41), and pectoral fin bionic plates (41) are fixedly installed at the opposite ends of the two groups of first rotating shafts (40); A first servo (42), the first servo (42) is fixedly installed in the chest bionic plate (20), and the output shaft of the first servo (42) is fixedly connected to a group of first rotating shafts (40).

3. The bionic intelligent inspection robotic fish for offshore wind power according to claim 2, characterized in that, The propeller drive assembly further includes: A second rotating shaft (43), the second rotating shaft (43) is rotatably connected to the chest bionic plate (20); Square plates (44), and square plates (44) are fixedly installed at both ends of the second rotating shaft (43); Connecting rods (45), one side of the square plate (44) is rotatably connected to the connecting rod (45), and one end of the connecting rod (45) is rotatably connected to the pectoral fin bionic plate (41).

4. The marine wind power bionic intelligent inspection robotic fish according to claim 3, characterized in that, The propeller drive assembly further includes: A first brushless motor (47), the first brushless motor (47) is fixedly installed on the pectoral fin bionic plate (41) through a sealed box; A first propeller (46), the output shaft of the first brushless motor (47) is fixedly installed with the first propeller (46).

5. The bionic intelligent inspection robotic fish for offshore wind power according to claim 4, characterized in that, The propeller drive assembly further includes: A hollow tube (48), the hollow tube (48) is fixedly installed on the bottom of the pectoral fin bionic plate (41); A second brushless motor (491), the second brushless motor (491) is fixedly installed in the hollow tube (48) through a sealed box; A second propeller (49), the output shaft of the second brushless motor (491) is fixedly installed with the second propeller (49).

6. The marine wind power bionic intelligent inspection robot fish according to claim 1, characterized in that, The power module servo drive assembly includes: A first side plate (50), and first side plates (50) are fixedly installed at both ends of the inner cavity of the annular plate (10); A second servo (51), and the left ends of the second servo (51) are fixedly installed on the first side plates (50); Second side plates (52), and second side plates (52) are fixedly installed on the output shafts at both ends of the second servo (51).

7. The bionic intelligent inspection robotic fish for offshore wind power according to claim 6, characterized in that, The power module servo drive assembly further includes: A third servo (53), and the left ends of the third servo (53) are fixedly installed on the second side plates (52); Third side plates (54), and third side plates (54) are fixedly installed on the output shafts at both ends of the third servo (53); A fourth servo (55), and the left ends of the fourth servo (55) are fixedly installed on the third side plates (54).

8. The marine wind power bionic intelligent inspection robotic fish according to claim 7, characterized in that, The power module servo drive assembly further includes: A fourth side plate (56), the output shaft of the fourth servo (55) is fixedly installed with a fourth side plate (56) whose shape is Y-shaped; The fish-tail bionic board (57), and the fish-tail bionic board (57) is fixedly installed on the fourth side plate (56).

9. The bionic intelligent inspection robotic fish for offshore wind power according to claim 8, wherein The power module servo drive assembly further includes: The first housing (58), and the second side plate (52) is fixedly installed in the inner cavity of the first housing (58); The second housing (59), and the third side plate (54) is fixedly installed in the inner cavity of the second housing (59); The third housing (591), and the fourth side plate (56) is fixedly installed in the inner cavity of the third housing (591).

10. The bionic intelligent inspection robotic fish for offshore wind power according to claim 1, characterized in that, An amorphous silicon thin-film solar panel (22) is provided on the outer side of the chest bionic board (20), and the amorphous silicon thin-film solar panel (22) is electrically connected to a storage battery provided in the chest bionic board (20).

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