Bionic takifugaceae robotic fish synergistically propelled by tail handle and propeller

Abstract

The invention provides a bionic fugu robot fish cooperatively propelled by a tail handle and a propeller. The bionic fugu robot fish comprises a fish head cabin, a data acquisition device is installed in the fish head cabin, the data acquisition device is connected with small high-definition cameras arranged on the two sides of the fish head cabin, and attitude sensors are further arranged on the two sides of the fish head cabin; the fish body cabin I is connected with the fish head cabin, and a control device and an energy storage device are mounted in the fish body cabin I; the second fish body cabin is connected with the first fish body cabin, and a counterweight device is mounted in the second fish body cabin; the second fish body cabin is connected with the fishtail cabin through a tail handle, and a steering engine set is installed in the tail handle. A motor device is mounted in the fishtail cabin; the propeller is installed at the tail of the fishtail cabin and connected with the motor device. Through coordinated movement of the tail handle and the propeller thruster, a series of underwater movement of the bionic fugu robot fish is achieved, the tail handle is used for advancing, retreating, ascending, sinking and direction control of the bionic fish, the bionic fish is rapidly moved through coordination of the double propellers, and the capability of executing diversified movement underwater is achieved.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robot technology, specifically relating to a biomimetic pufferfish robotic fish with a tail shank and propeller working together for propulsion. Background Technology

[0002] With increasing emphasis on marine resource development, there is a need for efficient underwater tools for marine resource exploration. Traditional underwater detection equipment, such as towed sonar, lacks maneuverability and flexibility. Bionic fish can navigate complex seabed topography and coral reef areas like real fish, enabling closer observation and exploration of seabed mineral resources. For example, when searching for metal sulfide deposits near deep-sea hydrothermal vents, bionic fish can use their agile swimming posture to penetrate deep into the vicinity of the vent and obtain more accurate information on resource distribution.

[0003] The biomimetic pufferfish has a relatively large internal load space, which is beneficial for accommodating more electronic equipment and sensors. The concave shape of the pufferfish provides excellent self-stabilization when facing water flow impacts, a characteristic inherited by the biomimetic pufferfish, enabling it to remain stable in complex water flow environments. However, the motion control of the biomimetic pufferfish is relatively complex, especially when the oscillation frequency is high, requiring precise control of the amplitude and phase difference of the tail oscillation. This increases the complexity and cost of the control system.

[0004] Therefore, in response to this situation, designing a new tailstock and propeller-coordinated propulsion method by changing its tail structure plays a crucial role in better controlling the movement of the biomimetic pufferfish. Summary of the Invention

[0005] The purpose of this invention is to provide a biomimetic pufferfish robotic fish that uses a tailstock and a propeller for coordinated propulsion, which can adjust the fish's posture in real time and efficiently complete a series of complex movements such as flipping and pitching, thereby achieving the high maneuverability of the biomimetic robotic fish.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A biomimetic pufferfish robotic fish that uses a tail peduncle and a propeller for coordinated propulsion includes: a head chamber, a body chamber 1, a body chamber 2, a tail peduncle, and a propeller.

[0008] The fish head compartment is equipped with a data acquisition device, which is connected to small high-definition cameras located on both sides of the fish head compartment. Attitude sensors are also located on both sides of the fish head compartment.

[0009] The body compartment is connected to the head compartment, and the body compartment is equipped with a control device and an energy storage device.

[0010] The fish body two cabin is connected with the fish body one cabin, and a counterweight device is arranged in the fish body two cabin;

[0011] The fish body two cabin is connected with the fish tail cabin through the tail handle, and a rudder set is arranged in the tail handle;

[0012] A motor device is arranged in the fish tail cabin;

[0013] The propeller is arranged at the tail of the fish tail cabin, and the motor device is connected with the propeller.

[0014] Further, a pressure sensor, a temperature sensor and a salinity sensor are arranged at the front of the fish head cabin.

[0015] Further, the rudder set comprises N vertically arranged vertical rudders and horizontal rudders, the vertical rudders are arranged on vertical rudder sleeves, the vertical rudders are hinged with vertical U-shaped supports, the vertical U-shaped supports are connected with horizontal rudder sleeves, the horizontal rudder sleeves are connected with horizontal rudders, and the horizontal rudders are hinged with horizontal U-shaped supports through rudder supports.

[0016] Further, the tail handle shell is made of silicone rubber, and the silicone rubber has good elasticity and flexibility.

[0017] Further, the motor device drives the permanent magnet rotor to rotate by changing the current direction of the stator winding through an electronic controller, and the permanent magnet rotor outputs torque to provide continuous and reliable power for the propeller.

[0018] Further, the number of the propellers is two, the propeller blades are three-leafed, the shape of the propeller blades is twisted, and the pitch of the propeller blades gradually increases from the hub to the tip.

[0019] Further, a rudder is arranged on the fish tail cabin.

[0020] Further, the fish head cabin, the fish body one cabin, the fish body two cabin, the tail handle and the fish tail cabin are all made of carbon fiber composite materials.

[0021] Further, the material of the propeller blades is high-strength carbon fiber reinforced plastic composite material.

[0022] Further, the tail handle and the fish body two cabin are connected in an embedded mode, and waterproof glue is applied after embedding.

[0023] The beneficial effects of the present application are as follows:

[0024] The present application realizes a series of underwater movements of the bionic puffer fish robot by the coordinated movement of the tail handle and the propeller, the double propellers are used as the main propelling device and have good propelling capacity, the tail handle is mainly used for simulating the fish to advance, retreat, rise, sink and control the direction, the double propellers are coordinated to realize the fast movement of the bionic fish, and the bionic fish has excellent ability to perform diversified movements underwater.

[0025] The present application can instantly adjust the posture of the fish body through the coordinated movement mechanism of the tail handle and the propeller, efficiently complete a series of complex movements such as turning over and pitching, and achieve the high maneuverability of the bionic robot fish. Not only can the bionic fish realize basic actions such as advancing, retreating, rising and sinking, but also can accurately control the swimming direction. More importantly, the tail handle can work with the propeller, not only accelerating the moving speed of the bionic fish, but also effectively balancing the shaking of the fish head part, thereby ensuring the stability of the bionic fish during swimming. BRIEF DESCRIPTION OF DRAWINGS

[0026] ATTACHED Figure 1 is a structural schematic diagram of the present application;

[0027] ATTACHED Figure 2 is a schematic diagram of the cabin position of the present application;

[0028] ATTACHED Figure 3 is a structural schematic diagram of the tail handle of the present application;

[0029] ATTACHED Figure 4 is a structural schematic diagram of the propelling device of the present application.

[0030] In the figure: 1, fish head cabin, 2, pressure sensor, 3, small high-definition camera, 4, fish body one cabin, 5, fish body two cabin, 6, tail handle, 7, fish tail cabin, 8, propeller, 9, rudder, 10, motor device, 11, counterweight device, 12, energy storage device, 13, control device, 14, data collection device, 15-1, vertical rudder sleeve, 16-1, vertical rudder, 17-1, vertical U-shaped support, 15-2, horizontal rudder sleeve, 16-2, horizontal rudder, 17-2, horizontal U-shaped support, 18, rudder disc support. DETAILED DESCRIPTION

[0031] The present application will be further described below in combination with the drawings.

[0032] The present application provides a bionic puffer fish robot with tail handle and propeller coordinated propulsion, as shown in the accompanying Figure 1 The present application provides a bionic puffer fish robot with tail handle and propeller coordinated propulsion, as shown in the accompanying

[0033] The fish head compartment 1 is located at the front of the biomimetic pufferfish robotic fish. A data collection device 14 is installed in the fish head compartment 1. Small high-definition cameras 3 are installed on both sides of the fish head compartment 1. At the same time, attitude sensors are installed to sense the attitude information of the robotic fish such as pitch angle and roll angle in real time. A pressure sensor 2 is also installed, which can sense the pressure change of the water flow through the pressure sensor installed at the front of the fish head compartment.

[0034] Preferably, a temperature sensor and a salinity sensor are also provided to detect the underwater environment.

[0035] As attached Figure 2 As shown, the first body compartment 4 is located in the middle of the biomimetic pufferfish robotic fish. Inside the first body compartment 4, a control device 13 and an energy storage device 12 are installed. The control device contains a control unit, which is used to control the movement of the tailstock and propeller, process a large amount of data from different sensors to perceive and analyze the environment around the robotic fish, communicate with the various devices in the head compartment 1, the first body compartment 4, the second body compartment 5, and the tail compartment 7, and enable the robotic fish to communicate with external devices. The energy storage device is used to provide power for the entire biomimetic pufferfish robotic fish.

[0036] In this embodiment, the second compartment 5 of the fish body is located at the rear of the biomimetic pufferfish robotic fish body, and a counterweight device 11 is installed inside the tail compartment; the counterweight device is used to adjust the center of gravity of the robotic fish, and by changing the position or weight of the counterweight, the pitch and roll of the robotic fish can be adjusted.

[0037] As attached Figure 3 As shown, the tail shank 6 is located at the rear of the second compartment 5 of the fish body. The outer shell of the tail shank 6 is made of high-performance silicone rubber, which has good elasticity and flexibility and can withstand repeated bending and twisting, so that it can naturally deform during the tail swinging process.

[0038] The tailstock 6 has a servo assembly inside, which includes N alternating vertical and horizontal servos. The vertical servo 15-1 is mounted on the vertical servo sleeve 16-1 and is hinged to the vertical U-shaped bracket 17-1. The vertical U-shaped bracket is connected to the horizontal servo sleeve 15-2, and the horizontal servo sleeve is connected to the horizontal servo 16-2. The horizontal servo is hinged to the horizontal U-shaped bracket 17-2 through the servo bracket 18.

[0039] Preferably, the tailstock 6 has four servos inside, of which the first and third servos are vertical and the second and fourth servos are horizontal. The four servos work together to enable the tailstock to move flexibly with multiple degrees of freedom.

[0040] In this embodiment, the tail compartment 7 is located inside the rear compartment of the tail shank, and a motor device 10 is installed therein. The motor device provides the power source for the robotic fish. The motor is a brushless DC motor, and the permanent magnet rotor is driven to rotate by changing the current direction of the stator winding through an electronic controller. Its output torque is relatively stable, which can provide continuous and reliable power to the propeller.

[0041] In this embodiment, the propeller 8 is located at the end of the biomimetic pufferfish robotic fish and is connected to the motor device in the tail compartment to drive the biomimetic pufferfish robotic fish to move.

[0042] The head compartment and the first body compartment, as well as the first body compartment and the second body compartment, are connected by bolts. Bolt holes are pre-drilled in the compartments, and bolts and nuts are used for fastening. A gasket is placed in the middle of the bolt connection to ensure that the gasket can completely cover the gap of the connection surface.

[0043] The tailstock is embeddedly connected to the two body compartments and the tail compartment. The connection end between the two body compartments and the tail compartment has a specially designed groove whose shape matches the shape of the front and root of the tailstock. After embedding, waterproof adhesive is applied. The motor output shaft in the tail compartment is directly connected to the propeller shaft.

[0044] As attached Figure 4 As shown, there are two propellers 8, each with three blades. The blades are twisted, and the pitch gradually increases from the hub to the tip. The blades are made of high-strength carbon fiber reinforced plastic composite material, which has high strength and light weight, can withstand the centrifugal force generated during high-speed rotation, and can reduce the weight of the propeller itself, thereby improving the buoyancy and maneuverability of the robotic fish.

[0045] The main body of the fish is made of carbon fiber composite material. The fish body made of carbon fiber composite material can reduce the weight of the robotic fish while ensuring structural strength, thereby reducing energy consumption and improving endurance.

[0046] The flexible movement of the caudal peduncle of the biomimetic pufferfish, in conjunction with the propeller and real-time feedback from the attitude sensor, enables real-time control of the fish's posture based on the CPG control model, completing at least the movement modes of turning left and right, as well as rising and sinking.

[0047] In this embodiment, a rudder 9 is installed on the fishtail compartment 7.

[0048] In the embodiments of the present application, the motion control of the robotic fish relies on the biomimetic central pattern generator (CPG) technology, which is a neural network structure existing in the biological nervous system. In the animal body, the CPG can autonomously generate rhythmic motion patterns without relying on external sensory feedback to maintain the rhythm. By skillfully using the phase lag and phase locking mechanism, a variety of stable phase relationships can be generated, thereby realizing the diversified motion patterns of the robotic fish.

[0049] Working principle:

[0050] When the robotic fish needs to move forward, the signal control device will issue an instruction, which is then conveyed to the motor device in the fish tail cabin. The motor device drives the propeller to rotate, thereby pushing the robotic fish to move forward. If the direction deviates, the left and right bending of the tail handle is used for timely adjustment to ensure that the robotic fish moves along the predetermined trajectory.

[0051] When the robotic fish needs to ascend or sink, the signal control device will issue a corresponding instruction, and the motor device drives the propeller to rotate. At the same time, instructions are also issued to the second and fourth steering gears. After the steering gears process the signals, drive signals are issued to drive the DC motor to rotate. The DC motor drives the rudder disc to rotate through the reduction gear set. When ascending is needed, the tail handle is bent downward, and the fluid dynamics effect is used to generate upward lift to assist the robotic fish to ascend. When sinking is needed, the tail handle is bent upward, and the fluid dynamics effect is used to generate downward lift to assist the robotic fish to sink.

[0052] When the robotic fish needs to turn left or right, the signal control device will issue a corresponding instruction, and the motor device drives the propeller to rotate. At the same time, instructions are also issued to the first and third steering gears. After the steering gears process the signals, drive signals are issued to drive the DC motor to rotate. The DC motor drives the rudder disc to rotate through the reduction gear set. When turning left is needed, the tail handle is bent to the right side, and this bending action generates a force to the left side, thereby driving the robotic fish to turn left. When turning right is needed, the tail handle is bent to the left side, and this bending action generates a force to the right side, thereby driving the robotic fish to turn right.

[0053] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A biomimetic pufferfish robotic fish with a co-propelled tail peduncle and propeller, characterized in that, include: Fish head compartment (1), fish body compartment 1 (4), fish body compartment 2 (5), tail shank (6), fish tail compartment (7), propeller (8); The fish head compartment (1) is equipped with a data acquisition device (14), which is connected to a small high-definition camera (3) on both sides of the fish head compartment (1). Attitude sensors are also provided on both sides of the fish head compartment (1). The fish body compartment (4) is connected to the fish head compartment (1), and the fish body compartment (4) is equipped with a control device (13) and an energy storage device (12); The second compartment (5) of the fish body is connected to the first compartment (4) of the fish body, and a counterweight device (11) is installed inside the second compartment (5); The two compartments (5) of the fish body are connected to the tail compartment (7) through the tail shank (6), and a rudder assembly is installed inside the tail shank (6); The fishtail compartment (7) is equipped with a motor device (10); The propeller (8) is installed at the tail of the fishtail compartment (7), and the motor is connected to the propeller (8).

2. The biomimetic pufferfish robotic fish with coordinated propulsion of the tail peduncle and propeller as described in claim 1, characterized in that, The front of the fish head compartment (1) is equipped with a pressure sensor (2), a temperature sensor and a salinity sensor.

3. The biomimetic pufferfish robotic fish with coordinated propulsion of the tail peduncle and propeller as described in claim 1 or 2, characterized in that, The servo assembly includes N alternating vertical servos and horizontal servos. The vertical servos are mounted on vertical servo sleeves and are hinged to vertical U-shaped brackets. The vertical U-shaped brackets are connected to horizontal servo sleeves, and the horizontal servo sleeves are connected to horizontal servos. The horizontal servos are hinged to horizontal U-shaped brackets via servo brackets.

4. The biomimetic pufferfish robotic fish with coordinated propulsion of the tail peduncle and propeller as described in claim 3, characterized in that, The outer shell of the tailstock (6) is made of silicone rubber, which has good elasticity and flexibility.

5. The biomimetic pufferfish robotic fish with coordinated propulsion of the tailstock and propeller as described in claim 4, characterized in that, The motor device drives the permanent magnet rotor to rotate by changing the current direction of the stator winding through an electronic controller. The output torque of the permanent magnet rotor provides continuous and reliable power to the propeller (8).

6. The biomimetic pufferfish robotic fish with coordinated propulsion of the tail peduncle and propeller according to claim 4 or 5, characterized in that, The number of propellers (8) is two, the propeller blades of the propellers (8) are three-bladed, the shape of the blades is twisted, and the pitch of the blades gradually increases from the hub to the tip.

7. The biomimetic pufferfish robotic fish with coordinated propulsion of the tail peduncle and propeller as described in claim 6, characterized in that, The fishtail compartment (7) is equipped with a rudder (9).

8. The biomimetic pufferfish robotic fish with coordinated propulsion of the tailstock and propeller as described in claim 7, characterized in that, The head compartment (1), body compartment 1 (4), body compartment 2 (5), tail shank (6), and tail compartment (7) are all made of carbon fiber composite material.

9. The biomimetic pufferfish robotic fish with co-propelled tailstock and propeller as described in claim 7 or 8, characterized in that, The blades are made of high-strength carbon fiber reinforced plastic composite material.

10. The biomimetic pufferfish robotic fish with coordinated propulsion of the tail peduncle and propeller according to claim 9, characterized in that, The tail shank (6) and the two compartments of the fish body (5) are connected by an embedded connection, and waterproof glue is applied after embedding.

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