Hydraulically-driven bionic fish
The movement of the tail and pectoral fins of the bionic fish is controlled through a single hydraulic drive system, which solves the problems of large size and heavy mass of the traditional bionic fish, realizes lightweight and underwater detection expansion, and improves motion handling and information collection efficiency.
Patent Information
- Application Number
- CN202422409988.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-09-30
AI Technical Summary
Traditional bionic fish have independent control of the movement of the tail and pectoral fin, which leads to large size and heavy mass, which cannot be miniaturized, limiting the underwater detection range.
A single hydraulic drive system is used to control the tail and pectoral fin movement components through the first and second branches, and combine the detection components to achieve lightweighting and underwater detection expansion of bionic fish.
The driving components are reduced, the mass and volume of bionic fish are reduced, the motion handling and information collection capabilities are improved, and the underwater detection scenarios are expanded.
Smart Images
Figure CN223132337U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of bionic fish, and more specifically, to a hydraulically driven bionic fish. Background Technique
[0002] With the development of underwater bionics, bionic fish have been more and more widely used in the fields of underwater resource detection, hydrological research, etc. Compared with traditional underwater detectors, bionic fish can imitate the movement of fish, flexibly enter some special underwater spaces, and carry out underwater detection operations under different hydrological conditions.
[0003] The movement control of bionic fish is mainly achieved through the control of pectoral fins and the tail. Among them, the tail generally provides the forward power for the bionic fish through reciprocating swing, and the pectoral fins adjust the inclination angle to change the size and direction of the water-facing area to achieve the adjustment of the movement direction. Because the movement modes and movement rhythms of the tail and pectoral fins are different, traditional bionic fish often use two independent motors and transmission systems to separately control the movement of the tail and pectoral fins, which results in a larger volume and heavier mass of the bionic fish, is not conducive to the miniaturization and lightweight of the bionic fish, makes the bionic fish unable to enter some underwater spaces with smaller entrances and exits, and limits the detection range of the bionic fish.
[0004] The Chinese patent discloses a bionic fish tail propulsion device based on AC hydraulic technology, including a motor, a pulse pump, a frame, a pulse pump installation part, an electromagnetic overflow valve, a hydraulic system integration block, an integration block installation part, a one-way valve, an accumulator, a swing hydraulic motor, a swing motor installation part, a bionic fish tail fin, a first electromagnetic overflow valve, and a second electromagnetic overflow valve; the pulse pump, the hydraulic system integration block, and the swing hydraulic motor are fixedly installed on the frame; the motor is fixedly installed on the shell of the pulse pump, the pulse pump is connected to the hydraulic system integration block, the first electromagnetic overflow valve, the second electromagnetic overflow valve, the one-way valve, and the accumulator are installed on the hydraulic system integration block, the hydraulic system integration block is connected to the swing hydraulic motor, and the swing hydraulic motor is fixedly connected to the bionic fish tail fin. This bionic fish tail propulsion device has the characteristics of small volume, light weight, and convenient control of the AC hydraulic system, but still cannot control the movement of the pectoral fins at the same time, requires an additional driving mechanism to control the pectoral fins, does not further achieve the lightweight and miniaturization of the bionic fish, and cannot further expand the underwater detection scenario of the bionic fish. Content of the Utility Model
[0005] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a hydraulically driven bionic fish, which can simultaneously control the movement of the pectoral fins and the tail through a single hydraulic drive system, is beneficial to the lightweight of the bionic fish, and expands the underwater detection scenario of the bionic fish.
[0006] To solve the above technical problems, the technical solution adopted by the utility model is:
[0007] A hydraulic-driven bionic fish is provided, which includes a housing, a hydraulic control circuit, a tail movement component, a pectoral fin movement component and a detection component. The hydraulic control circuit, the tail movement component and the pectoral fin movement component are all arranged in the housing. The detection component is embedded at the front end of the housing. The hydraulic control circuit includes an oil tank, a hydraulic pump, a first branch and a second branch. The hydraulic pump is communicated with the oil tank. The first branch and the second branch are both communicated with the hydraulic pump. The first branch is also movably connected with the tail movement component, and the second branch is movably connected with the pectoral fin movement component.
[0008] In this setting mode, the hydraulic pump drives the tail movement component and the pectoral fin movement component respectively through the first branch and the second branch. When the bionic fish swims straight, the first branch is turned on and the second branch is default closed. The hydraulic pump outputs pressure to drive the tail movement component to work, and the tail movement component provides a forward driving force for the bionic fish. When the bionic fish needs to adjust the movement direction, the second branch is turned on, and at the same time the output flow of the hydraulic pump increases. The hydraulic pump drives the tail movement component and the pectoral fin movement component simultaneously through the first branch and the second branch. The tail movement component swings back and forth under the drive of the hydraulic pump, and the pectoral fin movement component rotates under the drive of the hydraulic pump to change the water-facing angle and the water-facing area, so that the bionic fish changes the pitching movement posture, and then realizes floating or diving. When the bionic fish swims to the water area where detection is required, the detection component can collect the water sample information, and the information collected by the detection component can also provide guidance for the movement path planning of the bionic fish. This setting mode reduces the mass of the bionic fish, reduces the volume of the bionic fish, is beneficial to the lightweight and miniaturization of the bionic fish, and expands the underwater detection scenario of the bionic fish.
[0009] Preferably, the hydraulic pump is a variable pump. By adjusting the output flow of the variable pump, the pressure in the first branch can be adjusted, so as to change the movement frequency of the tail movement component, and then control the speed of the bionic fish. And when the hydraulic pump controls the first branch and the second branch to work simultaneously, the hydraulic pump can further increase the output flow to offset the pressure loss caused by flow division, and ensure that both the first branch and the second branch can work normally.
[0010] Preferably, the detection component includes a vision unit, a temperature measurement unit and a sampling unit. The vision unit is used to collect underwater images, the temperature measurement unit is used to obtain underwater temperature data, and the sampling unit is used to extract and store water samples.
[0011] Preferably, the vision unit includes a plurality of cameras. The cameras adopt fish-eye cameras, and the plurality of cameras are respectively oriented in different directions. In this setting mode, it is beneficial to expand the image acquisition range of the vision unit, further improve the information acquisition efficiency, and is also beneficial to improving the auxiliary effect on path planning.
[0012] Preferably, the first branch includes a two-position four-way solenoid valve and a double-acting hydraulic cylinder. The P port of the two-position four-way solenoid valve is connected to the output end of the hydraulic pump. The T port of the two-position four-way solenoid valve is connected to the oil tank. The A port of the two-position four-way solenoid valve is connected to the rodless cavity of the double-acting hydraulic cylinder. The B port of the two-position four-way solenoid valve is connected to the rod cavity of the double-acting hydraulic cylinder.
[0013] With this setting method, by controlling the switching of the operation of the two-position four-way solenoid valve through current, the connection state between the hydraulic pump and the double-acting hydraulic cylinder can be controlled. When the hydraulic pump is connected to the rodless cavity of the double-acting hydraulic cylinder, the rod cavity of the double-acting hydraulic cylinder is connected to the oil tank. The oil pressure in the rodless cavity increases, and the oil in the rod cavity is discharged into the oil tank, and the first output rod extends. When the hydraulic pump is connected to the rod cavity of the double-acting hydraulic cylinder, the rodless cavity of the double-acting hydraulic cylinder is connected to the oil tank. The pressure in the rod cavity increases, and the pressure of the oil in the rodless cavity discharged into the oil tank decreases, and the first output rod retracts. By reciprocally switching the operating state of the two-position four-way solenoid valve, the first output rod reciprocally extends and retracts. The reciprocating telescopic motion is converted into a reciprocating swing through the tail motion assembly, thereby realizing the reciprocating swing of the tail fin and providing driving force for the bionic fish.
[0014] Preferably, in the first position of the two-position four-way solenoid valve, the P port is connected to the A port, and the T port is connected to the B port. In the second position of the two-position four-way solenoid valve, the P port is connected to the B port, and the T port is connected to the A port.
[0015] With this setting method, when in the first position, the first output rod extends. When in the second position, the first output rod contracts. By controlling the two-position four-way solenoid valve to switch between the first position and the second position through an electromagnet, the first output rod can be controlled to reciprocally extend and retract, providing driving force for the tail motion assembly.
[0016] Preferably, the tail motion assembly includes a transmission rod, a swing rod, a fixed rod, and a tail plate. The double-acting hydraulic cylinder is provided with a first output rod. One end of the transmission rod is rotatably connected to the first output rod. The other end of the transmission rod is connected to one end of the swing rod. The other end of the swing rod is fixedly connected to the tail plate. A positioning hole is provided in the middle of the swing rod. The fixed rod rotatably passes through the positioning hole. Both ends of the fixed rod are fixedly connected to the inner side of the housing. The tail plate is located outside the housing.
[0017] With this setting method, when the first output rod reciprocates telescopically, it drives one end of the transmission rod to move. Also, since the fixed rod passes through the positioning hole on the swing rod and the other end of the transmission rod is connected to one end of the swing rod, one end of the transmission rod moves linearly back and forth along the first output rod, and the other end swings along an arc with the positioning hole as the center of the circle. Therefore, the swing rod also swings around the positioning hole under the drive of the transmission rod, and the other end of the swing rod swings the output to the tail plate, realizing the control of the tail plate swing through the reciprocating linear motion of the first output rod. Additionally, by controlling the telescopic range of the first output rod, the swing range of the tail plate can be controlled. When a turn is needed, the on-off time of the two-position four-way solenoid valve can be shortened to make the tail plate swing only on the left or right side, thereby generating an opposite propulsive force to make the bionic fish move towards the left or right side.
[0018] Preferably, the swing rod includes an input section and an output section connected to each other. The angle between the output section and the input section is greater than 90° and less than 180°. The positioning hole is provided at the connection between the output section and the input section. The end of the input section is rotatably connected to the transmission rod, the end of the output section is fixedly connected to the tail plate, and the output section movably passes through the tail of the housing.
[0019] With this setting method, when the first output rod contracts to the shortest length, the connection between the transmission rod and the swing rod faces the left side. At this time, the angle between the transmission rod and the input section is the maximum value, the output section faces the left side, and the tail plate is at the leftmost end of the swing range. When the first output rod extends to the maximum length, the connection between the transmission rod and the swing rod still faces the left side, the angle between the input section and the transmission rod is the minimum value, the output section faces the right side, and the tail plate is at the rightmost end of the swing range. The first output rod reciprocates telescopically to control the tail plate to reciprocate and swing, which can prevent the transmission rod and the swing rod from entering or breaking through the dead zone and limit the swing of the tail plate within the correct motion range.
[0020] Preferably, the second branch includes a three-position three-way solenoid valve and a unidirectional hydraulic cylinder. The P port of the three-position three-way solenoid valve is connected to the output section of the hydraulic pump, the T port of the three-position three-way solenoid valve is connected to the oil tank, and the A port of the three-position three-way solenoid valve is connected to the rodless cavity of the unidirectional hydraulic cylinder.
[0021] With this setting method, when swimming normally, the P port, the T port, and the A port are not connected to each other, and the unidirectional hydraulic cylinder has no action. The pectoral fin piece remains stationary at the initial position, and the pectoral fin piece at the initial position is parallel to the forward direction. When the swimming direction needs to be changed, the P port is connected to the A port or the T port, the rodless cavity of the unidirectional hydraulic cylinder is pressurized or depressurized, thereby controlling the second output rod to extend or contract. The second output rod controls the rotation of the pectoral fin piece through the pectoral fin motion assembly, adjusts the water-facing angle and area of the pectoral fin piece, and thus adjusts the swimming direction of the bionic fish.
[0022] Preferably, inside the first position of the three-position three-way solenoid valve, the P port is connected to the A port, and the T port is not connected; inside the second position of the three-position three-way solenoid valve, the P port, the A port, and the T port are all not connected; inside the third position of the three-position three-way solenoid valve, the P port is not connected, and the A port is connected to the T port.
[0023] With this setting method, when the pectoral fin is not required to move, the three-position three-way solenoid valve is in the second position, and the A port, the P port, and the T port are all not connected. The pressure in the unidirectional hydraulic cylinder is constant, the second driving rod has no movement, and the pectoral fin remains stationary; when the pectoral fin needs to rotate upward, the three-position three-way solenoid valve is in the first position, the P port is connected to the A port, the hydraulic pump increases the pressure in the rodless cavity, the second output rod extends, and the pectoral fin is controlled to rotate through the pectoral fin movement assembly. After rotating to the appropriate position, the three-position three-way solenoid valve returns to the second position; when the pectoral fin needs to rotate downward, the three-position three-way solenoid valve is in the third position, the T port is connected to the A port, the rodless cavity of the unidirectional hydraulic cylinder is depressurized, the second driving rod contracts, and the pectoral fin is controlled to rotate through the pectoral fin movement assembly. After rotating to the appropriate position, the three-position three-way solenoid valve returns to the second position.
[0024] Preferably, the pectoral fin movement assembly includes a worm, a worm gear, a connecting rod, and two pectoral fins. The unidirectional hydraulic cylinder is provided with a second output rod. The end of the worm is connected to the second output rod. The worm and the worm gear form a worm and worm gear transmission pair. The connecting rod is fixedly penetrated through the worm gear, and the connecting rod also rotates through the housing. The two pectoral fins are respectively fixedly connected to the connecting rod outside the housing.
[0025] With this setting method, when the second output rod extends, the second extension rod drives the worm gear to rotate through the worm, the worm gear drives the connecting rod to rotate, and the pectoral fin tilts downward under the drive of the connecting rod, changing the water-facing angle and the water-facing area, and the bionic fish has a tendency to swim downward; when the second output rod contracts, the second output rod drives the worm gear to rotate through the worm, the worm gear drives the connecting rod to rotate, and the pectoral fin tilts upward under the drive of the connecting rod, changing the water-facing angle and the water-facing area, and the bionic fish has a tendency to swim downward.
[0026] Preferably, the second branch further includes a relief valve, and the relief valve is installed between the three-position three-way solenoid valve and the unidirectional hydraulic cylinder.
[0027] When the tail plate is swinging at a high speed, the pressure in the hydraulic control circuit is relatively high and the flow rate is relatively large. If it is necessary to adjust the swimming direction of the bionic fish at this time, when the three-position three-way solenoid valve connects the hydraulic pump and the single-acting hydraulic cylinder, the single-acting hydraulic cylinder will be instantly impacted by the oil with a large flow rate and high pressure. The pressure rising speed in the rodless cavity is too high, which is not conducive to accurate motion adjustment. By adding an overflow valve in this setting method, the overflow valve can limit the maximum pressure and flow rate received by the single-acting hydraulic cylinder, and discharge the flow rate exceeding the set range into the oil tank, which is beneficial to improving the adjustment accuracy of the pectoral fin and the motion control accuracy of the bionic fish.
[0028] Preferably, a waterproof sleeve is provided at the tail of the housing. The waterproof sleeve is made of an elastic material. The swing rod passes through the waterproof sleeve, and the tail plate is located outside the waterproof sleeve.
[0029] Through this setting method, the waterproof sleeve made of elastic material connects the housing and the swing rod, which not only does not affect the swing of the swing rod, but also tightly wraps the swing rod to prevent external liquid from seeping in from the connection, which is beneficial to improving the working life of the bionic fish.
[0030] Preferably, a control module is further included. The control module is electrically connected to the two-position four-way solenoid valve and the three-position three-way solenoid valve. The control module is also communicatively connected to the detection component. The control module is used to monitor the movement strokes of the first output rod and the second output rod and control the on-off of the two-position four-way solenoid valve and the three-position three-way solenoid valve.
[0031] Through this setting method, the control module can monitor the movement strokes of the first output rod and the second output rod to judge the positions of the tail plate and the pectoral fin at this time, and then control the movements of the tail plate and the pectoral fin respectively by controlling the on-off of the two-position four-way solenoid valve and the three-position three-way solenoid valve, so as to control the underwater movement of the bionic fish; and the control module can also collect the information of the visual unit in the detection component to assist in planning the movement path of the bionic fish.
[0032] Preferably, the control module is provided with a wireless communication unit and a controller. The wireless communication unit is communicatively connected to the controller. Through the wireless communication unit, the control module can upload the information obtained by the detection component to the controller in real time, including the image information of the visual unit. After observing the real-time image, the operator can send a control instruction through the controller to control the movement path of the bionic fish.
[0033] Preferably, a check valve is further provided between the hydraulic pump and the second branch. Through this setting method, it can be avoided that when the second branch is connected to the hydraulic valve, the pressure in the single-acting hydraulic cylinder is too high, resulting in backflow and affecting the first branch.
[0034] Compared with the prior art, the beneficial effects of the present utility model are:
[0035] (1) The single pressure output of a single hydraulic pump is respectively converted into separate controls for the tail movement component and the pectoral fin movement component through the first branch and the second branch, reducing the driving components, lightening the mass of the bionic fish, reducing the cost, facilitating the lightweight and miniaturization of the bionic fish, and expanding the underwater detection and working scenarios of the bionic fish.
[0036] (2) Through the tail movement component, a mapping is formed between the extension length of the first output rod and the swing range of the tail plate. The swing range of the tail plate can be controlled by controlling the telescopic range of the first output rod, thereby realizing steering and improving the motion controllability of the bionic fish.
[0037] (3) The pitching angle of the pectoral fin sheet is adjusted through the pectoral fin movement component, and the pitching swimming posture of the bionic fish is adjusted by changing the angle of the pectoral fin sheet, improving the motion controllability of the bionic fish.
[0038] (4) Through the settings of the detection component and the control module, not only can water area information be collected, but also planning guidance can be provided for the movement path of the bionic fish, ensuring the safety of the bionic fish swimming. Description of the Drawings
[0039] Figure 1 It is a schematic diagram of the overall structure of a hydraulic-driven bionic fish of the present utility model;
[0040] Figure 2 It is a schematic diagram of the internal structure of a hydraulic-driven bionic fish of the present utility model;
[0041] Figure 3 It is a schematic diagram of the swing rod structure of a hydraulic-driven bionic fish of the present utility model;
[0042] Figure 4 It is a hydraulic control circuit diagram of a hydraulic-driven bionic fish of the present utility model;
[0043] Figure 5 It is a hydraulic diagram of the first branch of a hydraulic-driven bionic fish of the present utility model;
[0044] Figure 6 It is a hydraulic diagram of the second branch of a hydraulic-driven bionic fish of the present utility model.
[0045] The illustration marks are explained as follows:
[0046] 1. Housing; 11. Waterproof sleeve; 2. Hydraulic control circuit; 21. Oil tank; 22. Hydraulic pump; 23. First branch; 231. Two-position four-way solenoid valve; 232. Bidirectional hydraulic cylinder; 233. First output rod; 24. Second branch; 241. Three-position three-way solenoid valve; 242. Unidirectional hydraulic cylinder; 243. Second output rod; 244. Relief valve; 25. Check valve; 3. Tail movement assembly; 31. Transmission rod; 32. Swing rod; 321. Positioning hole; 322. Input section; 323. Output section; 33. Fixed rod; 34. Tail plate; 4. Pectoral fin movement assembly; 41. Worm; 42. Worm gear; 43. Connecting rod; 44. Pectoral fin piece; 5. Detection assembly; 51. Visual unit; 52. Temperature measurement unit; 53. Sampling unit. Detailed implementation manners
[0047] The present utility model will be further described below in conjunction with the detailed implementation manners. Among them, the attached drawings are only for illustrative purposes, showing only schematic diagrams, rather than physical diagrams, and should not be construed as a limitation on this patent; in order to better illustrate the embodiments of the present utility model, some components in the attached drawings will be omitted, enlarged or reduced, which do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the attached drawings may be omitted.
[0048] In the attached drawings of the embodiments of the present utility model, the same or similar reference numerals correspond to the same or similar components; in the description of the present utility model, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or position relationship, they are based on the orientation or position relationship shown in the attached drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the attached drawings are only for illustrative purposes and should not be construed as a limitation on this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.
[0049] Embodiment 1
[0050] As Figures 1 to 6 shown in the first embodiment of a hydraulic-driven bionic fish of the present utility model, it includes a housing 1, a hydraulic control circuit 2, a tail movement assembly 3, a pectoral fin movement assembly 4 and a detection assembly 5. The hydraulic control circuit 2, the tail movement assembly 3 and the pectoral fin movement assembly 4 are all arranged in the housing 1, and the detection assembly 5 is embedded in the front end of the housing 1. The hydraulic control circuit 2 includes an oil tank 21, a hydraulic pump 22, a first branch 23 and a second branch 24. The hydraulic pump 22 is connected to the oil tank 21, the first branch 23 and the second branch 24 are both connected to the hydraulic pump 22, the first branch 23 is also movably connected to the tail movement assembly 3, and the second branch 24 is movably connected to the pectoral fin movement assembly 4.
[0051] In this setting method, the hydraulic pump 22 drives the tail movement assembly 3 and the pectoral fin movement assembly 4 respectively through the first branch 23 and the second branch 24. When the bionic fish swims straight, the first branch 23 is connected and the second branch 24 is default closed. The hydraulic pump 22 outputs pressure to drive the tail movement assembly 3 to work, and the tail movement assembly 3 provides the bionic fish with a forward driving force. When the bionic fish needs to adjust its movement direction, the second branch 24 is connected, and at the same time, the output flow of the hydraulic pump 22 increases. The hydraulic pump 22 drives the tail movement assembly 3 and the pectoral fin movement assembly 4 simultaneously through the first branch 23 and the second branch 24. The tail movement assembly 3 swings back and forth under the drive of the hydraulic pump 22, and the pectoral fin movement assembly 4 rotates under the drive of the hydraulic pump 22 to change the water-facing angle and the water-facing area, so as to make the bionic fish change its swimming posture and then adjust the movement direction. When the bionic fish swims to the water area where detection is required, the detection component 5 can collect the water sample information, and the information collected by the detection component 5 can also provide guidance for the movement path planning of the bionic fish.
[0052] As an embodiment of the present invention, the hydraulic pump 22 is a variable pump. By adjusting the output flow of the variable pump, the pressure in the first branch 23 can be adjusted, thereby changing the movement frequency of the tail movement assembly 3 and then controlling the speed of the bionic fish. And when the hydraulic pump 22 controls the first branch 23 and the second branch 24 to work simultaneously, the hydraulic pump 22 can further increase the output flow to offset the pressure loss caused by the flow splitting and ensure that both the first branch 23 and the second branch 24 can work properly.
[0053] As an embodiment of the present invention, the detection component 5 includes a visual unit 51, a temperature measurement unit 52 and a sampling unit 53. The visual unit 51 is used to collect underwater images, the temperature measurement unit 52 is used to obtain underwater temperature data, and the sampling unit 53 is used to collect and store seabed water samples.
[0054] As an embodiment of the present invention, the visual unit includes several cameras. The cameras adopt fish-eye cameras, and several cameras are respectively oriented in different directions. Through this setting method, it is beneficial to expand the image acquisition range of the visual unit, further improve the information acquisition efficiency, and is also beneficial to improving the auxiliary effect on path planning.
[0055] As an embodiment of the present invention, the first branch 23 includes a two-position four-way solenoid valve 231 and a double-acting hydraulic cylinder 232. The P port of the two-position four-way solenoid valve 231 is connected to the output end of the hydraulic pump 22, the T port of the two-position four-way solenoid valve 231 is connected to the oil tank 21, the A port of the two-position four-way solenoid valve 231 is connected to the rodless cavity of the double-acting hydraulic cylinder 232, and the B port of the two-position four-way solenoid valve 231 is connected to the rod cavity of the double-acting hydraulic cylinder 232.
[0056] With this setting method, by controlling the switching of the operation of the two-position four-way solenoid valve 231 through current, the connection state between the hydraulic pump 22 and the double-acting hydraulic cylinder 232 can be controlled. When the hydraulic pump 22 is connected to the rodless cavity of the double-acting hydraulic cylinder 232, the rod chamber of the double-acting hydraulic cylinder 232 is connected to the oil tank 21. The oil pressure in the rodless cavity increases, and the oil in the rod chamber is discharged into the oil tank 21, and the first output rod 233 extends; when the hydraulic pump 22 is connected to the rod chamber of the double-acting hydraulic cylinder 232, the rodless cavity of the double-acting hydraulic cylinder 232 is connected to the oil tank 21. The pressure in the rod chamber increases, the pressure of the oil in the rodless cavity discharged into the oil tank 21 decreases, and the first output rod 233 retracts. By reciprocally switching the working state of the two-position four-way solenoid valve 231, the first output rod 233 reciprocally extends and retracts. The reciprocating telescopic movement is converted into a reciprocating swing through the tail movement assembly 3, thereby realizing the reciprocating swing of the tail fin and providing driving force for the bionic fish.
[0057] As an embodiment of the present invention, in the first position of the two-position four-way solenoid valve 231, the P port is connected to the A port, and the T port is connected to the B port; in the second position of the two-position four-way solenoid valve 231, the P port is connected to the B port, and the T port is connected to the A port.
[0058] With this setting method, when in the first position, the first output rod 233 extends, and when in the second position, the first output rod 233 contracts. By controlling the two-position four-way solenoid valve 231 to switch between the first position and the second position through an electromagnet, the reciprocating telescopic movement of the first output rod 233 can be controlled to provide driving force for the tail movement assembly 3.
[0059] As an embodiment of the present invention, the tail movement assembly 3 includes a transmission rod 31, a swing rod 32, a fixed rod 33 and a tail plate 34. The double-acting hydraulic cylinder 232 is provided with a first output rod 233. One end of the transmission rod 31 is rotatably connected to the first output rod 233, the other end of the transmission rod 31 is connected to one end of the swing rod 32, the other end of the swing rod 32 is fixedly connected to the tail plate 34, a positioning hole 321 is provided in the middle of the swing rod 32, the fixed rod 33 is rotatably inserted through the positioning hole 321, and both ends of the fixed rod 33 are fixedly connected to the inner side of the housing 1, and the tail plate 34 is located outside the housing 1.
[0060] With this setting method, when the first output rod 233 reciprocates telescopically, it drives one end of the transmission rod 31 to move. Also, since the fixed rod 33 passes through the positioning hole 321 on the swing rod 32 and the other end of the transmission rod 31 is connected to one end of the swing rod 32, one end of the transmission rod 31 moves linearly back and forth along the first output rod 233, and the other end swings along an arc with the positioning hole 321 as the center. Therefore, the swing rod 32 also swings around the positioning hole 321 driven by the transmission rod 31, and the other end of the swing rod 32 swings the output to the tail plate 34, realizing the control of the swing of the tail plate 34 through the reciprocating linear motion of the first output rod 233. Additionally, by controlling the telescopic range of the first output rod 233, the swing range of the tail plate 34 can be controlled. When turning is required, the on-off time of the two-position four-way solenoid valve 231 can be shortened to make the tail plate 34 swing only on the left or right side, thereby generating an opposite propulsive force to make the bionic fish move towards the left or right side.
[0061] As an embodiment of the present utility model, the swing rod 32 includes a connected input section 322 and an output section 323. The included angle between the output section 323 and the input section 322 is greater than 90° and less than 180°. The positioning hole 321 is provided at the connection between the output section 323 and the input section 322. The end of the input section 322 is rotatably connected to the transmission rod 31, the end of the output section 323 is fixedly connected to the tail plate 34, and the output section 323 movably passes through the tail of the housing 1.
[0062] With this setting method, when the first output rod 233 contracts to the shortest length, the connection between the transmission rod 31 and the swing rod 32 faces the left side. At this time, the included angle between the transmission rod 31 and the input section 322 is the maximum value, the output section 323 faces the left side, and the tail plate 34 is located at the leftmost end of the swing range. When the first output rod 233 extends to the maximum length, the connection between the transmission rod 31 and the swing rod 32 still faces the left side, the included angle between the input section 322 and the transmission rod 31 is the minimum value, the output section 323 faces the right side, and the tail plate 34 is located at the rightmost end of the swing range. The first output rod 233 reciprocates telescopically to control the reciprocating swing of the tail plate 34, which can prevent the transmission rod 31 and the swing rod 32 from entering or breaking through the dead zone, and limit the swing of the tail plate 34 within the correct motion range.
[0063] As an embodiment of the present utility model, the second branch 24 further includes a relief valve 244, and the relief valve 244 is installed between the three-position three-way solenoid valve 241 and the one-way hydraulic cylinder 242.
[0064] When the tail plate 34 is swinging at a high speed, the pressure in the hydraulic control circuit 2 is high and the flow rate is large. If it is necessary to adjust the swimming direction of the bionic fish at this time, when the three-position three-way solenoid valve 241 connects the hydraulic pump 22 and the single-acting hydraulic cylinder 242, the single-acting hydraulic cylinder 242 will be instantly impacted by the large-flow and high-pressure oil. The pressure increase speed in the rodless cavity is too high, which is not conducive to accurate motion adjustment. By adding the overflow valve 244 in this setting method, the overflow valve 244 can limit the maximum pressure and flow rate received by the single-acting hydraulic cylinder 242, and discharge the flow rate exceeding the set range into the oil tank 21, which is beneficial to improving the adjustment accuracy of the pectoral fin piece 44 and the motion control accuracy of the bionic fish.
[0065] As an embodiment of the present invention, a waterproof sleeve 11 is provided at the tail of the housing 1. The waterproof sleeve 11 is made of an elastic material. The swing rod 32 passes through the waterproof sleeve 11, and the tail plate 34 is located outside the waterproof sleeve 11.
[0066] Through this setting method, the elastic waterproof sleeve 11 connects the housing 1 and the swing rod 32, which not only does not affect the swing of the swing rod 32, but also tightly wraps the swing rod 32, preventing external liquid from seeping in at the connection, which is beneficial to improving the working life of the bionic fish.
[0067] Embodiment 2
[0068] As Figure 2 、 Figure 4 and Figure 6 shown in the figure is the second embodiment of a hydraulically driven bionic fish of the present invention. This embodiment is similar to Embodiment 1, and the difference lies in that the second branch 24 is further defined.
[0069] As an embodiment of the present invention, the second branch 24 includes a three-position three-way solenoid valve 241 and a single-acting hydraulic cylinder 242. The P port of the three-position three-way solenoid valve 241 is connected to the output section 323 of the hydraulic pump 22. The T port of the three-position three-way solenoid valve 241 is communicated with the oil tank 21. The A port of the three-position three-way solenoid valve 241 is communicated with the rodless cavity of the single-acting hydraulic cylinder 242.
[0070] Through this setting method, when swimming normally, the P port, the T port and the A port are not communicated with each other, and the single-acting hydraulic cylinder 242 has no action. The pectoral fin piece 44 remains stationary at the initial position. The pectoral fin piece 44 at the initial position is parallel to the forward direction. When it is necessary to change the swimming direction, the P port is communicated with the A port or the T port. The rodless cavity of the single-acting hydraulic cylinder 242 is pressurized or depressurized, so as to control the second output rod 243 to extend or contract. The second output rod 243 controls the pectoral fin piece 44 to rotate through the pectoral fin motion assembly 4, and adjusts the water-facing angle and area of the pectoral fin piece 44, so as to adjust the swimming direction of the bionic fish.
[0071] As an embodiment of the present utility model, inside the first position of the three-position three-way solenoid valve 241, the P port is communicated with the A port, and the T port is not communicated; inside the second position of the three-position three-way solenoid valve 241, the P port, the A port, and the T port are all not communicated; inside the third position of the three-position three-way solenoid valve 241, the P port is not communicated, and the A port is communicated with the T port.
[0072] Through this setting method, when the pectoral fin piece 44 does not need to move, the three-position three-way solenoid valve 241 is in the second position, the A port, the P port, and the T port are all not communicated, the pressure in the unidirectional hydraulic cylinder 242 is constant, the second driving rod has no action, and the pectoral fin piece 44 remains stationary; when the pectoral fin piece 44 needs to rotate upward, the three-position three-way solenoid valve 241 is in the first position, the P port is communicated with the A port, the hydraulic pump 22 increases the pressure in the rodless cavity, the second output rod 243 extends out, and the pectoral fin piece 44 is controlled to rotate through the pectoral fin motion assembly 4. After rotating to the appropriate position, the three-position three-way solenoid valve 241 returns to the second position; when the pectoral fin piece 44 needs to rotate downward, the three-position three-way solenoid valve 241 is in the third position, the T port is communicated with the A port, the rodless cavity of the unidirectional hydraulic cylinder 242 is depressurized, the second driving rod contracts, and the pectoral fin piece 44 is controlled to rotate through the pectoral fin motion assembly 4. After rotating to the appropriate position, the three-position three-way solenoid valve 241 returns to the second position.
[0073] As an embodiment of the present utility model, the pectoral fin motion assembly 4 includes a worm 41, a worm gear 42, a connecting rod 43, and two pectoral fin pieces 44. The unidirectional hydraulic cylinder 242 is provided with a second output rod 243. The end of the worm 41 is connected to the second output rod 243. The worm 41 and the worm gear 42 form a worm and worm gear transmission pair. The connecting rod 43 is fixedly penetrated through the worm gear 42, and the connecting rod 43 is also rotatably penetrated through the housing 1. The two pectoral fin pieces 44 are respectively fixedly connected to the connecting rod 43 on the outer side of the housing 1.
[0074] Through this setting method, when the second output rod 243 extends out, the second extension rod drives the worm gear 42 to rotate through the worm 41, the worm gear 42 drives the connecting rod 43 to rotate, and the pectoral fin piece 44 inclines downward under the drive of the connecting rod 43, the water-facing angle and the water-facing area change, and the bionic fish has a tendency to swim downward; when the second output rod 243 contracts, the second output rod 243 drives the worm gear 42 to rotate through the worm 41, the worm gear 42 drives the connecting rod 43 to rotate, and the pectoral fin piece 44 inclines upward under the drive of the connecting rod 43, the water-facing angle and the water-facing area change, and the bionic fish has a tendency to swim downward.
[0075] Embodiment 3
[0076] The following is the third embodiment of a hydraulically driven bionic fish according to the present utility model. This embodiment is similar to Embodiment 1, and the difference lies in that it further includes a control module and a check valve 25.
[0077] As an embodiment of the present utility model, it further includes a control module. The control module is electrically connected to the two-position four-way solenoid valve 231 and the three-position three-way solenoid valve 241, and the control module is also communicatively connected to the detection component 5. The control module is used to monitor the movement strokes of the first output rod 233 and the second output rod 243 and control the energization and de-energization of the two-position four-way solenoid valve 231 and the three-position three-way solenoid valve 241.
[0078] Through this setting method, the control module can monitor the movement strokes of the first output rod 233 and the second output rod 243 to judge the positions of the tail fin 34 and the pectoral fin piece 44 at this time, and then control the movement of the tail fin 34 and the pectoral fin piece 44 respectively by controlling the energization and de-energization of the two-position four-way solenoid valve 231 and the three-position three-way solenoid valve 241, so as to accurately control the underwater movement of the bionic fish; and the control module can also collect the information of the vision unit 51 in the detection component 5 to assist in planning the movement path of the bionic fish.
[0079] As an embodiment of the present utility model, the control module is provided with a wireless communication unit and a controller, and the wireless communication unit is communicatively connected to the controller. Through the wireless communication unit, the control module can upload the information obtained by the detection component 5 in real time to the controller, including the image information of the vision unit 51. After observing the real-time image, the operator can issue a control instruction through the controller to control the movement path of the bionic fish.
[0080] As an embodiment of the present utility model, a one-way valve 25 is further provided between the hydraulic pump 22 and the second branch 24. Through this setting method, it can be avoided that when the second branch 24 is connected to the hydraulic valve, the pressure in the one-way hydraulic cylinder 242 is too high, resulting in backflow and affecting the first branch 23.
[0081] Obviously, the above-mentioned embodiments of the present utility model are only examples for clearly explaining the present utility model, rather than limitations on the embodiments of the present utility model. For those of ordinary skill in the art, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to enumerate all the embodiments here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the claims of the present utility model.
Claims
1. A hydraulic-driven bionic fish, characterized in that, It includes a housing (1), a hydraulic control circuit (2), a tail movement assembly (3), a pectoral fin movement assembly (4) and a detection assembly (5). The hydraulic control circuit (2), the tail movement assembly (3) and the pectoral fin movement assembly (4) are all installed in the housing (1). The detection assembly (5) is embedded at the front end of the housing (1). The hydraulic control circuit (2) includes an oil tank (21), a hydraulic pump (22), a first branch (23) and a second branch (24). The hydraulic pump (22) is communicated with the oil tank (21). The first branch (23) and the second branch (24) are both communicated with the hydraulic pump (22). The first branch (23) is also movably connected to the tail movement assembly (3), and the second branch (24) is movably connected to the pectoral fin movement assembly (4).
2. The hydraulic-driven bionic fish according to claim 1, characterized in that, The first branch (23) includes a two-position four-way solenoid valve (231) and a double-acting hydraulic cylinder (232). The P port of the two-position four-way solenoid valve (231) is communicated with the output end of the hydraulic pump (22). The T port of the two-position four-way solenoid valve (231) is communicated with the oil tank (21). The A port of the two-position four-way solenoid valve (231) is communicated with the rodless cavity of the double-acting hydraulic cylinder (232). The B port of the two-position four-way solenoid valve (231) is communicated with the rod cavity of the double-acting hydraulic cylinder (232).
3. The hydraulic-driven bionic fish according to claim 2, wherein In the first position of the two-position four-way solenoid valve (231), the P port is communicated with the A port, and the T port is communicated with the B port. In the second position of the two-position four-way solenoid valve (231), the P port is communicated with the B port, and the T port is communicated with the A port.
4. The hydraulic-driven bionic fish according to claim 2, wherein, The tail movement assembly (3) includes a transmission rod (31), a swing rod (32), a fixed rod (33) and a tail plate (34). The double-acting hydraulic cylinder (232) is provided with a first output rod (233). One end of the transmission rod (31) is rotatably connected to the first output rod (233). The other end of the transmission rod (31) is connected to one end of the swing rod (32). The other end of the swing rod (32) is fixedly connected to the tail plate (34). A positioning hole (321) is provided in the middle of the swing rod (32). The fixed rod (33) rotatably passes through the positioning hole (321). Both ends of the fixed rod (33) are fixedly connected to the inner side of the housing (1). The tail plate (34) is located outside the housing (1).
5. The hydraulic-driven bionic fish according to claim 4, wherein The swing rod (32) includes an input section (322) and an output section (323) connected to each other. The angle between the output section (323) and the input section (322) is greater than 90° and less than 180°. The positioning hole (321) is provided at the connection between the output section (323) and the input section (322). The end of the input section (322) is rotatably connected to the transmission rod (31). The end of the output section (323) is fixedly connected to the tail plate (34). The output section (323) movably passes through the tail of the housing (1).
6. The hydraulic-driven bionic fish according to claim 4, characterized in that A waterproof sleeve (11) is provided at the tail of the housing (1). The waterproof sleeve (11) is made of an elastic material. The swing rod (32) passes through the waterproof sleeve (11), and the tail plate (34) is located outside the waterproof sleeve (11).
7. The hydraulic-driven bionic fish according to any one of claims 1 to 6, characterized in that, The second branch (24) includes a three-position three-way solenoid valve (241) and a unidirectional hydraulic cylinder (242). The P port of the three-position three-way solenoid valve (241) is connected to the output section (323) of the hydraulic pump (22). The T port of the three-position three-way solenoid valve (241) is communicated with the oil tank (21). The A port of the three-position three-way solenoid valve (241) is communicated with the rodless cavity of the unidirectional hydraulic cylinder (242).
8. The hydraulic-driven bionic fish according to claim 7, wherein In the first position of the three-position three-way solenoid valve (241), the P port is communicated with the A port, and the T port is not communicated. In the second position of the three-position three-way solenoid valve (241), the P port, the A port, and the T port are all not communicated. In the third position of the three-position three-way solenoid valve (241), the P port is not communicated, and the A port is communicated with the T port.
9. The hydraulic-driven bionic fish according to claim 7, characterized in that, The pectoral fin movement assembly (4) includes a worm (41), a worm gear (42), a connecting rod (43), and two pectoral fin pieces (44). The unidirectional hydraulic cylinder (242) is provided with a second output rod (243). The end of the worm (41) is connected to the second output rod (243). The worm (41) and the worm gear (42) form a worm and worm gear transmission pair. The connecting rod (43) is fixedly passed through the worm gear (42). The connecting rod (43) also rotatably passes through the housing (1). The two pectoral fin pieces (44) are respectively fixedly connected to the connecting rod (43) outside the housing (1).
10. The hydraulic-driven bionic fish according to claim 7, characterized in that, The second branch (24) further includes a relief valve (244). The relief valve (244) is installed between the three-position three-way solenoid valve (241) and the unidirectional hydraulic cylinder (242).