Retractable fishtail capable of changing motion mode along with swimming direction

Abstract

The utility model discloses a contractile fishtail capable of changing a motion mode along with a swimming direction, which relates to the technical field of fluid dynamics and comprises a fish head body, a bionic dorsal fin is fixedly connected to the middle of the top of the fish head body, a plurality of fishtail joints are arranged on the left side of the fish head body, and the fishtail joints are hollow inside. Inserting holes are formed in the sides, close to the fish head body, of the multiple fishtail sections, connecting bolts are inserted into the inserting holes, every two adjacent fishtail sections are connected through the connecting bolts, the connecting bolt located on the rightmost side is fixedly connected with the left side of the fish head body, and a vertical tail fin is fixedly connected to the left side of the fishtail section located on the leftmost side; a first transverse tail fin is fixedly connected to the middle of the rear side of the vertical tail fin, and a second transverse tail fin is fixedly connected to the middle of the front side of the vertical tail fin. The rotatable fishtail has the advantages that the rotatable fishtail sections and the mechanical fishtail are mechanically integrated, so that the self-adaptive water flow environment capability of the mechanical fish is improved, the influence on the environment is reduced, and the social benefit is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of fluid dynamics, in particular to a contractile fish tail which can change its movement mode along with the swimming direction. Background Art

[0002] Currently, in the field of pumped hydroelectric energy storage, the main detection technologies include the following: Manual inspection is a traditional tunnel inspection technology, but it has many limitations. For example, manual inspection is slow and inefficient, and due to the complex underwater environment, the accuracy and precision of the inspection are difficult to guarantee. In addition, manual inspection is also dangerous, especially in deep water or complex underwater environments. Therefore, manual inspection is usually only used as an auxiliary means to verify the results of robot inspections or inspect special areas. Underwater robot inspection is a tunnel inspection technology that has developed rapidly in recent years. It is usually equipped with high-definition cameras, multi-beam sonar, pipeline sonar, and laser rangefinders, which can perform full-coverage scanning and detailed inspections of tunnels.

[0003] Underwater robots can be divided into autonomous and non-autonomous types. Autonomous robots offer advantages such as simple structure, low cost, and strong adaptability. However, they suffer from poor underwater navigation and positioning capabilities, low control accuracy, low degree of automation, and poor adaptability to operating environments. Non-autonomous robots, on the other hand, offer high control accuracy and can adapt to complex marine environments, particularly those confined within the water. However, their complex structures and high costs contribute to their superior operational capabilities. While these robots offer greater operational capabilities, their economic benefits are low. To address these issues, we propose a retractable fishtail that can adapt its motion to the direction of the swim. Utility Model Content

[0004] To solve the above technical problems, a retractable fish tail that can change its movement mode according to the swimming direction is provided, which solves the above-mentioned problem. Current underwater robots can be divided into autonomous underwater robots and non-autonomous underwater robots. Autonomous underwater robots have advantages such as simple structure, low cost, and strong adaptability, but they have disadvantages such as poor underwater navigation and positioning capabilities, low control accuracy, low degree of automation, and poor adaptability to the operating environment. Non-autonomous underwater robots have the characteristics of high control accuracy and can adapt to complex marine environments, especially in confined environments in water. They can still maintain good operating capabilities, but their structures are complex and costly. Overall, although the operating capabilities are stronger, the economic benefits are low.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is: a contractile fish tail that can change its movement mode with the swimming direction, including a fish head body, a bionic dorsal fin fixedly connected to the middle position of the top of the fish head body, and several fish tail sections are arranged on the left side of the fish head body. The interior of the fish tail section is hollow, and several of the fish tail sections are provided with plug-in holes on the side close to the fish head body, and a connecting bolt is plugged into the plug-in hole, and two adjacent fish tail sections are connected by a connecting bolt. The connecting bolt on the far right is fixedly connected to the left side of the fish head body, and the vertical tail fin is fixedly connected to the left side of the fish tail section on the far left, and the first transverse tail fin is fixedly connected to the middle of the rear side of the vertical tail fin, and the second transverse tail fin is fixedly connected to the middle of the front side of the vertical tail fin.

[0006] Preferably, the first transverse tail fin and the second transverse tail fin are staggered in an up-down manner, and the height difference between the first transverse tail fin and the second transverse tail fin is five to ten millimeters.

[0007] Preferably, installation grooves are provided on the front and rear sides of the right end of the fish head body, plug-in blocks are fixedly connected to the inside of the two groups of installation grooves, connecting rods are fixedly connected to the middle parts of the outer sides of the two plug-in blocks, and the ends of the two connecting rods are fixedly connected to bionic pectoral fins.

[0008] Preferably, the connecting bolt includes a connecting block, which is fixedly connected to the side of the fishtail section away from the plug hole by welding. A notch is provided in the middle of the connecting block, and a rotating column is rotatably connected to the inside of the notch through a pin shaft.

[0009] Preferably, a T-shaped block is connected to the side of the rotating column close to the plug hole, and arc-shaped introduction parts are provided at the upper and lower ends of the side of the T-shaped block away from the rotating column, and the T-shaped block is plugged into the inside of the plug hole through the introduction part.

[0010] Preferably, inspection ports are provided on both the front and rear sides of the left end of the fish head body, and waterproof cover plates are fixedly connected to the outsides of the two inspection ports by bolts. A sealing ring is provided between the inspection port and the waterproof cover plate, and the sealing ring is bonded to the outer wall of the inspection port by glue.

[0011] Preferably, a control device, a communication device and a power supply device are provided inside the fish head body, and the fish head body is spindle-shaped.

[0012] Compared with the prior art, the advantages of the present invention are:

[0013] 1. The utility model mechanically integrates the multi-section rotatable fish tail section and the mechanical fish tail, thereby improving the ability of the mechanical fish to adapt to the water flow environment while reducing the impact on the environment, thereby improving its social benefits. Moreover, the integrated mechanical fish tail can maintain the balance of the mechanical fish in a multi-flow environment, reduce the impact of the water flow on underwater exploration, save the cost of configuring underwater stabilization equipment, and reduce energy loss to a certain extent.

[0014] 2. This utility model partially adopts bionic design. The mechanical fish tail adopts the bionic design of whale tail and crucian carp tail. By increasing the contact area with water and improving the fluid dynamic characteristics of the pendulum body, the streamlined body reduces the resistance of water flow to the forward movement of the mechanical fish. At the same time, the principle of fluid mechanics is applied to the horizontal tail, making it easier for the mechanical fish to float and more products can be carried.

[0015] 3. The utility model can be adjusted in size and applied to various underwater robots. It can be expected that when exploring variable water flow environments, it will have higher application value and economic benefits compared to existing underwater robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the utility model;

[0017] Figure 2 This is an exploded schematic diagram of the utility model;

[0018] Figure 3 It is a left side view of the present utility model;

[0019] Figure 4 This is an exploded schematic diagram of the connecting bolt in the present utility model;

[0020] Figure 5 It is a cross-sectional view of the fishtail section in the present invention;

[0021] Figure 6 for Figure 1 A partial enlarged view of point A in the middle;

[0022] Figure 7 for Figure 2 A partial enlarged view of point B in the middle.

[0023] The numbers in the figure are:

[0024] 1. Fish head body; 2. Bionic dorsal fin; 3. Mounting slot; 4. Plug-in block; 5. Connecting rod; 6. Bionic pectoral fin; 7. Fish tail section; 8. Plug-in hole; 9. Connecting bolt; 901. Connecting block; 902. Pin; 903. Rotating column; 904. T-shaped block; 905. Introduction part; 10. Vertical tail fin; 11. First transverse tail fin; 12. Second transverse tail fin; 13. Inspection port; 14. Waterproof cover; 15. Sealing ring. DETAILED DESCRIPTION

[0025] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are merely examples, and those skilled in the art may conceive of other obvious variations.

[0026] Reference Figure 1-7 As shown, a retractable fish tail that can change its movement mode with the swimming direction includes a fish head body 1, and a bionic dorsal fin 2 is fixedly connected to the middle position of the top of the fish head body 1. The design of the bionic dorsal fin 2 imitates the dorsal fin of fish in nature, which helps to provide stability and direction control. A number of fish tail sections 7 are arranged on the left side of the fish head body 1. The interior of the fish tail section 7 is hollow, and a plug hole 8 is opened on the side of the fish tail section 7 close to the fish head body 1. A connecting bolt 9 is inserted in the plug hole 8, and two adjacent fish tail sections 7 are connected by a connecting bolt 9. The connecting bolt 9 on the far right is fixedly connected to the left side of the fish head body 1, and the left side of the fish tail section 7 on the far left is fixedly connected to a vertical tail fin 10, the middle part of the rear side of the vertical tail fin 10 is fixedly connected to a first transverse tail fin 11, and the middle part of the front side of the vertical tail fin 10 is fixedly connected to a second transverse tail fin 12.

[0027] Furthermore, the first lateral tail fin 11 and the second lateral tail fin 12 are vertically staggered, with the height difference between the first and second lateral tail fins 11 and 12 being five to ten millimeters. This staggered design allows the fish's tail to better utilize the force of the water flow during swimming, improving swimming efficiency. Furthermore, the staggered tail fins enhance the mechanical fish's stability and balance in the water, allowing it to maintain a stable swimming posture in complex water environments.

[0028] Furthermore, mounting grooves 3 are provided on the front and rear sides of the right end of the fish head body 1, and plug-in blocks 4 are fixedly connected to the inside of the two sets of mounting grooves 3. Connecting rods 5 are fixedly connected to the middle parts of the outer sides of the two plug-in blocks 4, and the ends of the two connecting rods 5 are fixedly connected to bionic pectoral fins 6. The bionic pectoral fins 6 can enhance the flexibility and maneuverability of the mechanical fish in the water, enabling it to turn and accelerate more freely.

[0029] Furthermore, the connecting bolt 9 includes a connecting block 901, which is fixedly connected to the side of the fishtail section 7 away from the socket 8 by welding. A notch is opened in the middle of the connecting block 901, and a rotating column 903 is rotatably connected inside the notch via a pin 902. The design of the connecting bolt 9 enables each fishtail section 7 to have a certain degree of rotational ability. This design can enhance the flexibility and adaptability of the mechanical fish in the water, enabling it to better cope with complex water flow environments. At the same time, the existence of the rotational ability also allows the mechanical fish to automatically adjust the shape and angle of the fishtail according to changes in swimming direction and water flow, thereby maintaining the optimal swimming effect.

[0030] Furthermore, a T-shaped block 904 is connected to the side of the rotating column 903 close to the plug-in hole 8, and arc-shaped introduction parts 905 are provided at the upper and lower ends of the side of the T-shaped block 904 away from the rotating column 903. The T-shaped block 904 is plugged into the inside of the plug-in hole 8 through the introduction part 905. The existence of the introduction part 905 facilitates the smooth insertion of the T-shaped block 904 into the plug-in hole 8.

[0031] Furthermore, inspection openings 13 are provided on both the front and rear sides of the left end of the fish head body 1. The outer sides of the two inspection openings 13 are fixed with waterproof covers 14 by bolts. A sealing ring 15 is provided between the inspection opening 13 and the waterproof cover 14. The sealing ring 15 is bonded to the outer wall of the inspection opening 13 by glue. The design of the inspection opening 13 facilitates the maintenance and inspection of the control device, communication device and power supply device inside the fish head body 1, and the waterproof cover 14 can ensure that the inspection opening 13 has good waterproof performance when closed, preventing moisture from entering the interior of the fish head body 1 and causing damage.

[0032] Furthermore, the fish head body 1 houses a control device, communication device, and power supply. The spindle-shaped body 1 helps reduce the mechanical fish's resistance in the water and improve its swimming efficiency. This shape also enhances the mechanical fish's stability and balance, making its swimming more stable and controllable.

[0033] Working Principle: A retractable tail designed to change its motion with swimming direction features a first transverse tail fin 11 and a second transverse tail fin 12 positioned at the location of the vertical tail fin 10. The junction between the first and second transverse tail fins 11, 12 is not aligned, but rather has a certain height difference. This allows the tail to be easily affected by currents, changing its width. Simultaneously, the large contact area with the water ensures the robotic fish remains afloat. As the robotic fish ascends or descends, it can be driven by the current to sway up and down. Its unique structure, thicker at the bottom and thinner at the top, ensures it remains stable in relatively gentle currents. Similar to the two sets of transverse tail fins, the vertical tail fin 10 also features a height difference—it is longer at the top and shorter at the bottom, with the junction between the first and second transverse tail fins 11, 12 as its midpoint—to facilitate adaptation to current conditions. A connecting bolt 9, used to connect the multiple tail segments 7, ensures that each segment 7 has a certain degree of rotational ability. In a multi-flow environment, the impact of the water flow will change the rotation angle of each tail section 7, and will also change the degree of opening of the horizontal and vertical tails, so that the mechanical fish can maintain a good balance and stable swimming in the water flow; when the water flow speed is relatively low, the rotation angle and the degree of opening of the tail will be entirely determined by the swimming direction of the mechanical fish, so that the movement mode can be changed with the swimming direction.

[0034] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and improvements are possible without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed for the present invention is defined by the appended claims and their equivalents.

Claims

1. A retractable fish tail that can change its movement mode according to the swimming direction, characterized by: The fish head body (1) comprises a fish head body (1), wherein a bionic dorsal fin (2) is fixedly connected at the middle position of the top of the fish head body (1), a plurality of fish tail sections (7) are arranged on the left side of the fish head body (1), the interior of the fish tail section (7) is hollow, a plug hole (8) is provided on the side of the plurality of fish tail sections (7) close to the fish head body (1), a connecting bolt (9) is plugged into the inside of the plug hole (8), and two adjacent fish tail sections (7) are connected by the connecting bolt (9), the connecting bolt (9) located on the far right is fixedly connected to the left side of the fish head body (1), the left side of the fish tail section (7) located on the far left is fixedly connected to a vertical tail fin (10), the middle part of the rear side of the vertical tail fin (10) is fixedly connected to a first transverse tail fin (11), and the middle part of the front side of the vertical tail fin (10) is fixedly connected to a second transverse tail fin (12).

2. The retractable fish tail capable of changing its movement mode according to the swimming direction according to claim 1, characterized in that: The first transverse tail fin (11) and the second transverse tail fin (12) are staggered in an up-down manner, and the height difference between the first transverse tail fin (11) and the second transverse tail fin (12) is five to ten millimeters.

3. The retractable fish tail capable of changing its movement mode according to the swimming direction according to claim 1, characterized in that: The fish head body (1) is provided with mounting grooves (3) on both the front and rear sides of the right end, and plug-in blocks (4) are fixedly connected inside the two groups of mounting grooves (3). Connecting rods (5) are fixedly connected to the middle parts of the outer sides of the two plug-in blocks (4), and bionic pectoral fins (6) are fixedly connected to the ends of the two connecting rods (5).

4. The retractable fish tail capable of changing its movement mode according to the swimming direction according to claim 1, characterized in that: The connecting bolt (9) comprises a connecting block (901), which is fixedly connected to the side of the fishtail section (7) away from the plug hole (8) by welding. A notch is provided in the middle of the connecting block (901), and a rotating column (903) is rotatably connected to the inside of the notch via a pin shaft (902).

5. The retractable fish tail capable of changing its movement mode according to the swimming direction according to claim 4, characterized in that: A T-shaped block (904) is connected to the side of the rotating column (903) close to the plug hole (8), and arc-shaped introduction portions (905) are provided at both upper and lower ends of the side of the T-shaped block (904) away from the rotating column (903). The T-shaped block (904) is plugged into the inside of the plug hole (8) through the introduction portion (905).

6. A retractable fish tail capable of changing its movement mode according to any one of claims 1 to 5, characterized in that: Inspection openings (13) are provided on both the front and rear sides of the left end of the fish head body (1), and waterproof cover plates (14) are fixedly connected to the outsides of the two inspection openings (13) by bolts. A sealing ring (15) is provided between the inspection opening (13) and the waterproof cover plate (14), and the sealing ring (15) is bonded to the outer wall of the inspection opening (13) by glue.

7. A retractable fish tail capable of changing its movement mode according to any one of claims 1 to 5, characterized in that: A control device, a communication device and a power supply device are provided inside the fish head body (1), and the fish head body (1) is spindle-shaped.

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