Double-independent-drive propelling device based on bionic fishtail appearance

Abstract

The invention belongs to the technical field of bionic robotic fishes, and particularly relates to a double-independent-drive propelling device based on the bionic fishtail appearance, a bionic fishtail is fixed to a tail fin plate through screws, the tail fin plate is installed on a tail fin rotating part, and the tail fin rotating part is connected with a watertight motor A through a transmission assembly; the propeller is located at the tail end of the fish tail section of the bionic robotic fish and fixed to the rotating shaft, and the rotating shaft is connected with the watertight motor B through the universal joint coupler to achieve power transmission. The bionic pelvic fins are symmetrically installed on the two sides of the fishtail section of the bionic robotic fish, incline by a set angle and are connected with the watertight steering engine through the steering engine shaft. The bionic robotic fish double-independent driving device has two propelling modes, namely a fishtail swing propelling mode and a propeller high-speed propelling mode. The hybrid application of the double independent driving devices can be suitable for different underwater environments, and meanwhile the flexibility degree of the bionic robotic fish is increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of bionic robotic fish, and specifically relates to a dual independent drive propulsion device based on the shape of a bionic fish tail. Background Art

[0002] A bionic robotic fish is an underwater robot that mimics the shape and movement form of fish. It has high mobility by imitating fish movement and can perform flexible turning and obstacle avoidance in complex waters. The bionic robotic fish has a similar shape to real fish, which can reduce interference with marine organisms and is suitable for performing covert tasks. However, it is not easy to achieve rapid movement or long-distance navigation of the bionic robotic fish by simply imitating the swimming drive mode of fish. Summary of the Invention

[0003] Aiming at the problem that it is not easy to achieve rapid movement or long-distance navigation of the existing bionic robotic fish by simply imitating the swimming drive mode of fish, the purpose of the present invention is to provide a dual independent drive propulsion device based on the shape of a bionic fish tail.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] The present invention includes a fixed bracket, a power system, a transmission component, bionic ventral fins, a tail fin rotating member, a tail fin plate, a rotating shaft, a propeller, and a bionic fish tail. The tail section of the bionic robotic fish is connected to the body section of the bionic robotic fish through the fixed bracket. The power system includes a waterproof servo motor, a waterproof motor A, and a waterproof motor B respectively installed in the fixed bracket. Bionic ventral fins are symmetrically arranged on both sides in the length direction of the tail section of the bionic robotic fish. Each bionic ventral fin is driven to rotate by a waterproof servo motor, thereby changing the force direction of the bionic ventral fin to achieve the floating or diving of the bionic robotic fish. The tail fin rotating member is located at the tail end of the fixed bracket. One end of the tail fin rotating member is rotatably connected to the tail end of the fixed bracket. The tail fin plate is fixedly connected to the other end of the tail fin rotating member. The bionic fish tail is fixed on the tail fin plate. One end of the rotating shaft is rotatably connected to the tail fin rotating member, and a propeller is installed at the other end of the rotating shaft. The output shaft of the waterproof motor A is connected to the tail fin rotating member through the transmission component, driving the tail fin rotating member to rotate, and then driving the bionic fish tail to propel in a swinging form through the tail fin rotating member. The waterproof motor B is connected to one end of the rotating shaft through a coupling, driving the rotating shaft to rotate, and then driving the propeller to propel in a rotating form through the rotating shaft.

[0006] Wherein: The transmission component includes a rotating member, a rotating shaft, and a connecting member. The output shaft of the waterproof motor A is connected to one side of the rotating member. One end of the rotating shaft is connected to the other side of the rotating member in a manner that can rotate relative to each other and can also move axially relative to each other. The other end of the rotating shaft is connected to a connecting shaft A provided at one end of the connecting member in a manner that can move axially relative to each other. The other end of the connecting member is connected to the tail fin rotating member.

[0007] Through holes are respectively formed in both sides of the rotating member along the length direction. The through hole on one side of the rotating member is connected to the output shaft of the watertight motor A through a flat key and a screw, and the through hole on the other side of the rotating member is in hole-shaft fit with one end hole of the rotating shaft.

[0008] Rotating shafts are provided at both the upper and lower ends of the caudal fin rotating member. Fixing members are fixedly connected above and below the caudal fin rotating member at the tail end of the fixed bracket. The rotating shafts at both the upper and lower ends of the caudal fin rotating member are respectively rotatably connected to the upper and lower fixing members.

[0009] The watertight motor B is successively connected to one end of the rotating shaft through the connecting shaft B and the coupling, thereby realizing the rotation of the propeller.

[0010] The watertight steering gear is fixedly connected in the fixed bracket through the steering gear fixing member. One end of the steering gear shaft is connected to the watertight steering gear through a screw. The other end of the steering gear shaft is connected to the bionic ventral fin through a flat key and a screw. The clockwise or counterclockwise rotation of the watertight steering gear drives the bionic ventral fin to rotate correspondingly, thereby changing the force direction of the bionic ventral fin and realizing the floating or diving of the bionic robotic fish.

[0011] A fixed flat plate is fixedly connected in the fixed bracket. The watertight motor A and the watertight motor B are respectively fixed on the fixed flat plate through their respective watertight motor fixing members.

[0012] One end of the rotating shaft is rotatably connected to the caudal fin rotating member through a rolling bearing and a hole retaining ring.

[0013] The tail section of the bionic robotic fish is a water-permeable structure section, and all components in the tail section of the bionic robotic fish are made of waterproof and rust-proof materials.

[0014] The fixed bracket includes a fixing plate and a support frame. The fixing plate is circular and is used for connecting with the fish body section of the bionic robotic fish. One end of the support frame is fixedly connected to the fixing plate, and one end of the caudal fin rotating member is rotatably connected to the other end of the support frame.

[0015] The advantages and positive effects of the present invention are as follows:

[0016] 1. The present invention has two propulsion modes, namely propeller propulsion and fish tail swing, and can be flexibly switched according to task requirements. Propeller propulsion is suitable for long-distance straight-line high-speed travel to quickly reach the designated operation area. Fish tail swing propulsion is suitable for low-speed and fine operations and can complete operation tasks under low disturbance. The two propulsion modes cooperate with each other to realize operations such as small-diameter turning and backward movement of the bionic robotic fish, increasing its flexibility.

[0017] 2. The propeller propulsion of the present invention has high efficiency during high-speed travel and is suitable for rapid movement; the fish-tail swing propulsion has low energy consumption at low speeds and is suitable for long-term operations; it can automatically select the optimal propulsion method according to mission requirements, achieving efficient utilization of energy and extending the working time of the robotic fish.

[0018] 3. By changing the angle of the bionic ventral fin of the present invention, the direction of the water flow impact force is changed to achieve the floating or diving of the bionic robotic fish; this design is not only simple in structure but also precise in control, and can meet the operation requirements in complex underwater environments.

[0019] 4. The present invention adopts a modular design, and each component is fixed by connection methods such as screws and flat keys, which is convenient for disassembly and maintenance.

[0020] 5. All structural materials of the present invention adopt waterproof and rust-proof materials to ensure that the robotic fish maintains good performance during long-term underwater operations; the tail section adopts a water-permeable structure design, which reduces water resistance and further improves the propulsion efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the overall structure of the bionic robotic fish installed with the present invention;

[0022] Figure 2 is Figure 1 a schematic diagram of the structure after removing the fish-tail shell where the present invention is located in

[0023] Figure 3 is one of the schematic diagrams of the overall structure of the present invention;

[0024] Figure 4 is another schematic diagram of the overall structure of the present invention;

[0025] Figure 5 is a schematic diagram of the structure of the fish-tail swing propulsion of the present invention;

[0026] Figure 6 is a schematic diagram of the structure of the propeller rotation propulsion of the present invention;

[0027] Figure 7 is a schematic diagram of the structure of the rotating part, rotating shaft and connecting part of the present invention;

[0028] Wherein: 1 is a fixed plate, 2 is a support frame, 301 is a watertight servo, 302 is a servo fixing member, 303 is a servo shaft, 304 is a bionic ventral fin, 401 is a watertight motor A, 402 is a rotating member, 403 is a rotating shaft, 404 is a connecting member, 405 is a connecting shaft A, 501 is a watertight motor B, 502 is a connecting shaft B, 503 is a universal joint coupling, 6 is a watertight motor fixing member, 7 is a tail fin rotating member, 8 is a tail fin plate fixing member, 9 is a tail fin plate, 10 is a rotating shaft, 11 is a propeller, 12 is a bionic fish tail, 13 is a fixed flat plate, 14 is a bionic robot fish body segment, 15 is a bionic robot fish tail segment, 16 is a dual independent drive propulsion device, and 17 is a fixing member. Detailed implementation mode

[0029] The present invention will be further described in detail below with reference to the accompanying drawings.

[0030] As Figures 1 to 7 shown, the present invention includes a fixed bracket, a power system, a transmission component, a bionic ventral fin 304, a tail fin rotating member 7, a tail fin plate 9, a rotating shaft 10, a propeller 11 and a bionic fish tail 12. The bionic robot fish tail segment 15 is connected to the bionic robot fish body segment 14 through the fixed bracket. The power system includes a watertight servo 301, a watertight motor A 401 and a watertight motor B 501 respectively installed in the fixed bracket. Bionic ventral fins 304 are symmetrically arranged on both sides in the length direction of the bionic robot fish tail segment 15. Each bionic ventral fin 304 is driven to rotate by a watertight servo 301, thereby changing the force direction of the bionic ventral fin 304 to achieve the floating or diving of the bionic robot fish; the tail fin rotating member 7 is located at the tail end of the fixed bracket. One end of the tail fin rotating member 7 is rotatably connected to the tail end of the fixed bracket. The tail fin plate 9 is fixedly connected to the other end of the tail fin rotating member 7. The bionic fish tail 12 is fixed on the tail fin plate 9; one end of the rotating shaft 10 is rotatably connected to the tail fin rotating member 7 through two rolling bearings and two shaft retaining rings for holes. The other end of the rotating shaft 10 is provided with a propeller 11; the output shaft of the watertight motor A 401 is connected to the tail fin rotating member 7 through the transmission component, driving the tail fin rotating member 7 to rotate, and then driving the bionic fish tail 12 to perform propulsion in a swinging form through the tail fin rotating member 7; the watertight motor B 501 is connected to one end of the rotating shaft 10 through a coupling, driving the rotating shaft 10 to rotate, and then driving the propeller 11 to perform propulsion in a rotating form through the rotating shaft 10.

[0031] The fixed bracket of this embodiment includes a fixed plate 1 and a support frame 2. The fixed plate 1 is circular. The whole bionic robot fish tail segment 15 is connected to the bionic robot fish body segment 14 through the fixed plate 1. One end of the support frame 2 is fixedly connected to the fixed plate 1, which is used to fix the outer shell of the bionic robot fish and provide an assembly space for each component. One end of the tail fin rotating member 7 is rotatably connected to the other end of the support frame 2.

[0032] The transmission component of this embodiment includes a rotating member 402, a rotating shaft 403 and a connecting member 404. Through holes are respectively formed in both sides of the rotating member 402 along the length direction. The through hole on one side of the rotating member 402 is connected to the output shaft of the waterproof motor A401 through a flat key and a screw. The through hole on the other side of the rotating member 402 is in hole-shaft fit with one end of the rotating shaft 403. One end of the rotating shaft 403 can rotate relative to the other side of the rotating member 402 and can also move relative to each other along the axial direction. The other end of the rotating shaft 403 is connected to a connecting shaft A405 provided at one end of the connecting member 404 in a manner that can move relative to each other along the axial direction. The other end of the connecting member 404 is connected to the tail fin rotating member 7. The waterproof motor A401 is sequentially connected through the rotating member 402, the rotating shaft 403, the connecting member 404 and the tail fin rotating member 7 to realize the swing of the bionic fish tail 12. By controlling the rotation speed of the waterproof motor A401, the swing frequency of the bionic fish tail 12 can be controlled.

[0033] Rotating shafts are provided at both the upper and lower ends of the tail fin rotating member 7 of this embodiment. Fixed members 17 are fixedly connected above and below the tail fin rotating member 7 at the other end of the support frame 2. A rolling bearing is provided in each fixed member 17. The rotating shafts at the upper and lower ends of the tail fin rotating member 7 are respectively rotationally connected to the upper and lower fixed members 17 through the rolling bearings, reducing the friction when the tail fin rotating member 7 swings.

[0034] A fixed flat plate 13 is fixedly connected in the support frame 2 of this embodiment through screws. Two waterproof motor fixing members 6 are fixedly connected to the fixed flat plate 13 through bolts, corresponding to the waterproof motor A401 and the waterproof motor B501 respectively. The waterproof motor A401 and the waterproof motor B501 are respectively fixed on the fixed flat plate 13 through their respective waterproof motor fixing members 6. The waterproof motor B501 is sequentially connected to one end of the rotating shaft 10 through a connecting shaft B502 and a coupling, thereby realizing the rotation of the propeller 11. By controlling the rotation speed and the forward and reverse rotation of the waterproof motor B501, the rotation speed of the propeller 11 and the forward or backward movement of the bionic robot fish can be controlled. The coupling of this embodiment is a universal joint coupling 503.

[0035] There are two waterproof servos 301 in this embodiment, which respectively control two bionic ventral fins 304. The two waterproof servos 301 are fixedly connected to the fixed flat plate 13 in the support frame 2 through servo fixing members 302. The connection structures between the two waterproof servos 301 and the bionic ventral fins 304 they control are the same, that is, one end of the servo shaft 303 is connected to the waterproof servo 301 through a screw, and the other end of the servo shaft 303 is connected to the bionic ventral fin 304 through a flat key and a screw. The clockwise or counterclockwise rotation of the waterproof servo 301 drives the bionic ventral fin 304 to rotate accordingly, thereby changing the force direction of the bionic ventral fin 304 and realizing the floating or diving of the bionic robot fish.

[0036] The tail section 15 of the bionic fish robot in this embodiment is a water-permeable structure section, and all components in the tail section 15 of the bionic fish robot are made of waterproof and rust-proof materials, such as stainless steel or aluminum alloy 6061.

[0037] For this embodiment, the energy and control lines of the waterproof motor A401, waterproof motor B501 and waterproof servo 301 enter the body section 14 of the bionic fish robot through connection with waterproof connectors, and are powered by the battery section inside the body section 14 of the bionic fish robot, and the energy and control connections are made through waterproof connectors.

[0038] The working principle of the present invention is as follows:

[0039] The present invention has two independent driving modes:

[0040] The first mode is that the waterproof motor A401 converts rotation into a swinging form through the rotating member 402, rotating shaft 403 and connecting member 404 to realize the swinging of the bionic fish tail 12; by changing the rotation speed of the waterproof motor A401, the swinging frequency of the bionic fish tail 12 can be controlled. When the bionic fish robot needs to move slowly or reach the operation area for operation, the swinging form of the bionic fish tail 12 is adopted as the propulsion mode, which can realize swimming under low disturbance.

[0041] The second mode is that the waterproof motor B501 drives the rotation of the propeller 11 through the connection shaft 502, universal joint coupling 503 and rotating shaft 10 in sequence. When the bionic fish robot needs to move in a straight line over a long distance, the propeller 11 propulsion is adopted as the driving mode, and this mode can enable the bionic fish robot to reach the designated operation area in the shortest time.

[0042] When the bionic fish robot needs to float or sink, it is achieved by changing the angle of the bionic ventral fins 304 on both sides to change the direction of the water flow impact force on the bionic ventral fins 304.

[0043] When the bionic fish tail 12 swings to a set angle and then the propeller 11 moves forward, the bionic fish robot can make a small-diameter turn.

[0044] The swinging of the bionic fish tail 12 of the present invention has low energy consumption at low speeds and is suitable for long-term operations; the propeller 11 has higher efficiency at high speeds and is suitable for rapid tasks. The combination of the two can select the most energy-efficient propulsion mode according to requirements to improve the overall efficiency; the swinging propulsion of the bionic fish tail 12 is closer to real fish and is suitable for tasks that require concealment or bionics; the propeller 11 propulsion is suitable for tasks with high speed requirements. The combination of the two modes expands the application range of the bionic fish robot, enhances the adaptability, efficiency, reliability and functionality of the bionic fish robot, and makes it perform better in complex tasks.

Claims

1. A dual independent drive propulsion device based on the shape of a bionic fish tail, characterized in that: It includes a fixed bracket, a power system, a transmission component, a bionic ventral fin (304), a caudal fin rotating member (7), a caudal fin plate (9), a rotating shaft (10), a propeller (11) and a bionic fish tail (12). Among them, the caudal fin section (15) of the bionic robotic fish is connected to the body section (14) of the bionic robotic fish through a fixed bracket. The power system includes a waterproof servo (301), a waterproof motor A (401) and a waterproof motor B (501) respectively installed inside the fixed bracket. On both sides of the caudal fin section (15) of the bionic robotic fish in the length direction, bionic ventral fins (304) are symmetrically arranged. Each bionic ventral fin (304) is driven to rotate by a waterproof servo (301), thereby changing the force direction of the bionic ventral fin (304) to realize the floating or diving of the bionic robotic fish; the caudal fin rotating member (7) is located at the tail end of the fixed bracket. One end of the caudal fin rotating member (7) is rotatably connected to the tail end of the fixed bracket. The caudal fin plate (9) is fixedly connected to the other end of the caudal fin rotating member (7). The bionic fish tail (12) is fixed on the caudal fin plate (9); one end of the rotating shaft (10) is rotatably connected to the caudal fin rotating member (7), and a propeller (11) is installed at the other end of the rotating shaft (10); the output shaft of the waterproof motor A (401) is connected to the caudal fin rotating member (7) through a transmission component, driving the caudal fin rotating member (7) to rotate, and then driving the bionic fish tail (12) to propel in a swinging form through the caudal fin rotating member (7); the waterproof motor B (501) is connected to one end of the rotating shaft (10) through a coupling, driving the rotating shaft (10) to rotate, and then driving the propeller (11) to propel in a rotating form through the rotating shaft (10).

2. The dual independent drive propulsion device based on the bionic fish tail shape according to claim 1, characterized in that: The transmission component includes a rotating member (402), a rotating shaft (403) and a connecting member (404). The output shaft of the waterproof motor A (401) is connected to one side of the rotating member (402). One end of the rotating shaft (403) is connected to the other side of the rotating member (402) in a manner that can rotate relative to each other and can also move axially relative to each other. The other end of the rotating shaft (403) is connected to a connecting shaft A (405) provided at one end of the connecting member (404) in a manner that can move axially relative to each other. The other end of the connecting member (404) is connected to the caudal fin rotating member (7).

3. The dual independent drive propulsion device based on the bionic fish tail shape according to claim 2, characterized in that: Through holes are respectively provided along the length direction on both sides of the rotating member (402). The through hole on one side of the rotating member (402) is connected to the output shaft of the waterproof motor A (401) through a flat key and a screw, and the through hole on the other side of the rotating member (402) is in hole-shaft fit with one end hole of the rotating shaft (403).

4. The dual independent drive propulsion device based on the bionic fish tail shape according to claim 1, characterized in that: Rotating shafts are provided at both the upper and lower ends of the caudal fin rotating member (7). Fixed members (17) are fixedly connected above and below the tail end of the fixed bracket at the upper and lower ends of the caudal fin rotating member (7). The rotating shafts at the upper and lower ends of the caudal fin rotating member (7) are respectively rotatably connected to the upper and lower fixed members (17).

5. The dual independent drive propulsion device based on the bionic fish tail shape according to claim 1, wherein: The waterproof motor B (501) is successively connected to one end of the rotating shaft (10) through a connecting shaft B (502) and a coupling, thereby realizing the rotation of the propeller (11).

6. The dual independent drive propulsion device based on the bionic fish tail shape according to claim 1, characterized in that: The watertight servo (301) is fixedly connected inside the fixed bracket through the servo fixing member (302). One end of the servo shaft (303) is connected to the watertight servo (301) by screws, and the other end of the servo shaft (303) is connected to the bionic ventral fin (304) by a flat key and screws. The clockwise or counterclockwise rotation of the watertight servo (301) drives the bionic ventral fin (304) to rotate accordingly, thereby changing the force direction of the bionic ventral fin (304) and realizing the floating or diving of the bionic robotic fish.

7. The dual independent drive propulsion device based on the bionic fish tail shape according to claim 1, characterized in that: A fixed flat plate (13) is fixedly connected inside the fixed bracket, and the watertight motor A (401) and the watertight motor B (501) are respectively fixed on the fixed flat plate (13) through their respective watertight motor fixing members (6).

8. The dual independent drive propulsion device based on the bionic fish tail shape according to claim 1, characterized in that: One end of the rotating shaft (10) is rotatably connected to the tail fin rotating member (7) through a rolling bearing and a hole retaining ring.

9. The dual independent drive propulsion device based on the bionic fish tail shape according to claim 1, characterized in that: The tail section (15) of the bionic robotic fish is a water-permeable structure section, and all components in the tail section (15) of the bionic robotic fish are made of waterproof and rust-proof materials.

10. The double independent drive propulsion device based on the bionic fish tail shape according to claim 1, wherein: The fixed bracket includes a fixing plate (1) and a support frame (2). The fixing plate (1) is circular and is used to connect to the body section (14) of the bionic robotic fish. One end of the support frame (2) is fixedly connected to the fixing plate (1), and one end of the tail fin rotating member (7) is rotatably connected to the other end of the support frame (2).

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