Robotic fish with novel propelling mode

Abstract

The utility model discloses a novel propelling type robotic fish which is characterized in that the robotic fish comprises a flexible main framework, a connecting frame is arranged at the front end of the flexible main framework, the connecting frame is connected with a fish head part through a front-end framework, a tail fin part is arranged at the tail end of the flexible main framework, a plurality of supporting blocks are further arranged on the flexible main framework, and the tail fin part is connected with the flexible main framework. Two pectoral fin driving mechanisms are symmetrically arranged on the front-end framework, each pectoral fin driving mechanism comprises a U-shaped supporting frame, a driving shaft is rotationally supported on each U-shaped supporting frame and is driven by a motor, the end of each driving shaft is connected with one end of a driving plate, and the other end of each driving plate is connected with a driving motor. A pectoral fin shaft perpendicular to the driving shaft is further rotationally supported on the U-shaped supporting frame, a driving frame is fixedly connected to the pectoral fin shaft, a shaft sleeve is movably connected to the driving frame, a swing rod is arranged on the shaft sleeve, and the end of the swing rod is movably inserted into a through hole formed in the edge of the driving plate.

Description

Technical Field

[0001] The utility model relates to the field of bionic robots, in particular to a robot fish with a new propulsion mode. Background Art

[0002] With the development of science and technology and the increasing severity of global environmental problems, people's demand for clean energy and green development is increasing. Bionic robot fish has high energy efficiency, mobility and environmental protection, and can be used in many fields such as marine environment monitoring, underwater resource exploration, underwater rescue, etc. At present, the bionic robot fish on the market generally adopts the BCF (Body and / orcaudal fin) propulsion mode. Although this type of bionic robot fish has certain advantages in some aspects, it still has certain limitations in terms of efficiency, energy consumption, and controllability. In particular, its swimming posture is severely limited and it cannot make relatively complex movements.

[0003] Therefore, a method or device capable of solving the above problems is now needed. Summary of the invention

[0004] The utility model aims to solve the above-mentioned deficiencies in the prior art and proposes a robot fish with a new propulsion method which has a simple structure, ingenious design, reasonable layout, can drive the tail fin and the pectoral fin to move in coordination, and has the function of realizing complex swimming movements.

[0005] The technical solution of the utility model is: a robot fish with a new propulsion mode, characterized in that: the robot fish comprises a flexible main skeleton 1, a connecting frame 13 is arranged at the front end of the flexible main skeleton 1, the connecting frame 13 is connected to the fish head through the front skeleton 14, a tail fin 2 is arranged at the tail end of the flexible main skeleton 1, a plurality of support blocks 3 are also arranged on the flexible main skeleton 1, and two pectoral fin drive mechanisms 4 are symmetrically arranged on the front skeleton 14,

[0006] The pectoral fin drive mechanism 4 includes a U-shaped support frame 5, on which a drive shaft 6 is rotatably supported, and the drive shaft 6 is driven by a motor. The end of the drive shaft 6 is connected to one end of a drive plate 7, and the U-shaped support frame 5 also rotatably supports a pectoral fin shaft 8 perpendicular to the drive shaft 6, and a drive frame 9 is fixedly connected to the pectoral fin shaft 8, and a shaft sleeve 10 is movably connected to the drive frame 9, and a swing rod 11 is arranged on the shaft sleeve 10, and the end of the swing rod 11 is movably inserted in a through hole opened at the edge of the drive plate 7.

[0007] The support blocks 3 are marked as 1, 2, 3, ... n in sequence from the tail fin 2 to the fish head, wherein the support blocks 3 with odd numbers are connected to the working end of the steering gear 12 arranged on the flexible main skeleton 1, and the support block 3 at the end of the flexible main skeleton 1 is connected to the tail fin 2.

[0008] The robot fish also includes a fish-shaped jacket, which covers the flexible main frame 1, the connecting frame 13, the front frame 14 and all the supporting blocks 3.

[0009] The outer end of the pectoral fin axis 8 is located outside the fish-shaped jacket, and the pectoral fin portion is also connected to the pectoral fin axis 8.

[0010] A battery and a control system are arranged in the fish head, and the control system includes a remote data interaction module.

[0011] Compared with the prior art, the utility model has the following advantages:

[0012] The robot fish with a novel propulsion method of this structural form has a simple structure, ingenious design and reasonable layout. The pectoral fins of the traditional bionic robot fish only play a decorative and profiling role. When the robot fish moves, the pectoral fins will not push the robot fish to move forward, and it is driven by swinging the tail fin. The swimming posture of this traditional robot fish will be greatly restricted. In order to solve the above problems, the present application designs a set of special structures. In addition to realizing the swing of the tail through multiple support blocks driven by a servo, it also has a pectoral fin drive mechanism. The pectoral fin drive mechanism here can drive the two pectoral fins to swing respectively, and the movement of the pectoral fins cooperates with the swing of the tail fin, thereby realizing the imitation of the swimming action of the fish; and the two pectoral fins can work independently, so that this kind of robot fish can realize relatively complex swimming actions.

[0013] In addition to the above advantages, the manufacturing process of the robot fish is simple and the manufacturing cost is low. Therefore, it can be said that it has many advantages and is particularly suitable for promotion and application in this field. Its market prospects are very broad. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the skeleton part of the embodiment of the utility model.

[0015] Figure 2 It is a structural schematic diagram of the pectoral fin drive mechanism part in the embodiment of the utility model.

[0016] Figure 3 It is a structural schematic diagram of the tail fin part in the embodiment of the utility model. DETAILED DESCRIPTION

[0017] The specific implementation of the present utility model will be described below in conjunction with the accompanying drawings. Figure 1 , Figure 2 , Figure 3As shown: a novel propulsion method of a robotic fish, comprising a flexible main skeleton 1, a connecting frame 13 is provided at the front end of the flexible main skeleton 1, the connecting frame 13 is connected to the fish head through a front skeleton 14, a tail fin 2 is provided at the tail end of the flexible main skeleton 1, a plurality of support blocks 3 are further provided on the flexible main skeleton 1, and two pectoral fin drive mechanisms 4 are symmetrically provided on the front skeleton 14.

[0018] The pectoral fin drive mechanism 4 includes a U-shaped support frame 5, on which a drive shaft 6 is rotatably supported, and the drive shaft 6 is driven by a motor. The end of the drive shaft 6 is connected to one end of a drive plate 7, and the U-shaped support frame 5 also rotatably supports a pectoral fin shaft 8 perpendicular to the drive shaft 6, and a drive frame 9 is fixedly connected to the pectoral fin shaft 8, and a shaft sleeve 10 is movably connected to the drive frame 9, and a swing rod 11 is arranged on the shaft sleeve 10, and the end of the swing rod 11 is movably inserted in a through hole opened at the edge of the drive plate 7.

[0019] The support blocks 3 are marked as 1, 2, 3, ... n in sequence from the tail fin 2 to the fish head, wherein the support blocks 3 with odd numbers are connected to the working end of the steering gear 12 arranged on the flexible main skeleton 1, and the support block 3 at the end of the flexible main skeleton 1 is connected to the tail fin 2.

[0020] The robot fish also includes a fish-shaped jacket, which covers the flexible main frame 1, the connecting frame 13, the front frame 14 and all the supporting blocks 3.

[0021] The outer end of the pectoral fin axis 8 is located outside the fish-shaped jacket, and the pectoral fin portion is also connected to the pectoral fin axis 8.

[0022] A battery and a control system are arranged in the fish head, and the control system includes a remote data interaction module.

[0023] The working process of the robot fish with a new propulsion method in the embodiment of the utility model is as follows: the robot fish is placed in a body of water, and a signal is sent to the control system through a remote controller, and the control system controls the motor and the steering gear 12 connected thereto to work in coordination.

[0024] When the servo 12 connected to the No. 1 support block 3 is working, it will drive the No. 1 support block 3 to swing relative to the No. 2 support block 3. When the servo 12 connected to the No. 3 support block 3 is working, it will drive the No. 3 support block to swing relative to the No. 4 support block 3. In other words, the movement of different servos 12 will drive the tail and body of the robot fish to swing, and the tail fin 2 will move accordingly.

[0025] At the same time as the above movement, the pectoral fin drive mechanism 4 also cooperates with the action, the motor therein drives the drive shaft 6 to rotate, and the drive shaft 6 drives the drive plate 7 to rotate together, because the end of the rocker arm 11 is movably inserted in the through hole on the drive plate 7, the rotation of the drive plate 7 will drive the rocker arm 11 to move, and the rocker arm 11 and the shaft sleeve 10 at its bottom end will swing relative to the U-shaped support frame 5 while moving along the axial direction of the drive frame 9 (because the shaft sleeve 10 and the drive frame 9 are movably connected), and the reciprocating swing of the shaft sleeve 10 will also drive the drive frame 9 to swing relative to the U-shaped support frame 5, and finally realize the reciprocating swing of the pectoral fin shaft 8 relative to the U-shaped support frame 5, that is, the pectoral fin connected to the end of the pectoral fin shaft 8 will swing back and forth;

[0026] The coordinated action of the pectoral fin and the caudal fin 2 enables the robot fish to simulate the swimming posture of real fish in the water. At the same time, the two pectoral fin drive mechanisms 4 can work independently, so relatively complex actions such as turning can be achieved by controlling different pectoral fin drive mechanisms 4.

Claims

1. A robotic fish with a new propulsion method, characterized in that: The robot fish comprises a flexible main skeleton (1), a connecting frame (13) is arranged at the front end of the flexible main skeleton (1), the connecting frame (13) is connected to the fish head via the front skeleton (14), a tail fin portion (2) is arranged at the tail end of the flexible main skeleton (1), a plurality of support blocks (3) are also arranged on the flexible main skeleton (1), and two pectoral fin drive mechanisms (4) are symmetrically arranged on the front skeleton (14). The pectoral fin drive mechanism (4) comprises a U-shaped support frame (5), a drive shaft (6) is rotatably supported on the U-shaped support frame (5), the drive shaft (6) is driven by a motor, an end of the drive shaft (6) is connected to one end of a drive plate (7), and a pectoral fin shaft (8) which is perpendicular to the drive shaft (6) is also rotatably supported on the U-shaped support frame (5), a drive frame (9) is fixedly connected to the pectoral fin shaft (8), a shaft sleeve (10) is movably connected to the drive frame (9), a swing rod (11) is provided on the shaft sleeve (10), and an end of the swing rod (11) is movably inserted into a through hole provided at an edge of the drive plate (7). The support blocks (3) are marked as No. 1, No. 2, No. 3, ... No. n in order from the tail fin portion (2) to the fish head, wherein the support blocks (3) with odd numbers are connected to the working end of the steering gear (12) arranged on the flexible main frame (1), and the support block (3) located at the end of the flexible main frame (1) is connected to the tail fin portion (2). The robotic fish also includes a fish-shaped outer shell, wherein the fish-shaped outer shell covers the flexible main frame (1), the connecting frame (13), the front frame (14) and all the supporting blocks (3). The outer end of the pectoral fin axis (8) is located outside the fish-shaped jacket, and a pectoral fin portion is connected to the pectoral fin axis (8). A battery and a control system are arranged in the fish head, and the control system includes a remote data interaction module.

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