Three-degree-of-freedom bionic mechanical fish
By designing a three-degree-of-freedom biomimetic mechanical fish, using servo motors and attitude adjustment mechanisms to simulate the tail swing of a fish, and combining it with a detection module to achieve underwater image acquisition and signal transmission, the problem of poor flexibility and lack of image acquisition in existing underwater vehicles has been solved, realizing efficient underwater exploration and low-cost underwater operations.
Patent Information
- Application Number
- CN202520121511.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-17
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2035-01-17
AI Technical Summary
Existing ROV underwater vehicles suffer from poor maneuverability and high noise levels. Bionic mechanical fish are not flexible enough, lack image acquisition and transmission systems, have complex structures, and are expensive, making them ineffective for underwater exploration and operations.
A three-degree-of-freedom biomimetic mechanical fish was designed, which uses a combination of a first servo motor, a second servo motor, and an attitude adjustment mechanism to simulate the tail swinging pattern of a fish. Combined with a detection module, it performs underwater image acquisition and signal transmission. The main control chip controls the coordinated work of each component. The main body parts of the mechanical fish are 3D printed, resulting in a simple structure and low cost.
It improves the swimming efficiency and biomimetic effect of mechanical fish in water, and has high mobility, stealth and biocompatibility. It can efficiently complete underwater exploration tasks and has low cost and configurability.
Smart Images
Figure CN223590960U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field more specifically, relate to a three degrees of freedom bionic mechanical fish. BACKGROUND
[0002] With the development of science and technology, marine ecological environment protection and new energy development have become emerging fields. There are many difficulties in underwater operation, such as high risk coefficient, harsh underwater environment and complex terrain. The conventional ROV underwater vehicle has the defects of poor flexibility and large noise. The existing bionic mechanical fish is not flexible, lacks image acquisition and transmission system, and has complex structure and high price, so it cannot effectively carry out underwater exploration and operation. UTILITARIAN CONTENT
[0003] In order to overcome the defects of the prior art, the utility model provides a three degrees of freedom bionic mechanical fish, which can simulate the tail swing rule of fish through the cooperation of the first steering engine, the second steering engine and the attitude adjusting mechanism, improve the swimming efficiency of the mechanical fish in water and the bionic effect of fish movement, and has the advantages of good maneuverability, simple structure, high concealment and biological affinity. The detection module can acquire underwater images and wirelessly transmit image signals, and efficiently complete underwater exploration tasks.
[0004] In order to achieve this purpose, the utility model adopts the following technical scheme:
[0005] The utility model provides a three degrees of freedom bionic mechanical fish, including bionic fish head, detection module, first steering engine, bionic fish body, second steering engine, bionic fish tail and attitude adjusting mechanism, bionic fish head first end is provided with detection module, bionic fish head tail end is provided with first steering engine, first steering engine output end is connected with bionic fish body, bionic fish body tail end is connected with second steering engine, second steering engine output end is connected with bionic fish tail, bionic fish head is provided with hollow chamber, and hollow chamber is provided with attitude adjusting mechanism, and attitude adjusting mechanism includes main control chip, six axis gyroscope sensor, third steering engine, transmission part and counterweight, third steering engine output end is connected with transmission part, transmission part is connected with counterweight, detection module, first steering engine, second steering engine, six axis gyroscope sensor and third steering engine all are electrically connected with main control chip, and the tail fin of bionic fish tail is forked, the upper and lower wingspan L of tail fin is 136.6mm, the tail fin area M of tail fin is 10305.5mm 2 , and the tail fin aspect ratio Z of tail fin is L*L / M=1.81.
[0006] In the preferred technical scheme of the utility model, the detection module includes a high-definition monocular camera, an ultrasonic sensor and a searchlight, and the high-definition monocular camera, the ultrasonic sensor and the searchlight are electrically connected with the main control chip.
[0007] The utility model discloses a preferably technical scheme, the main control chip includes wireless transmitting module, wireless receiving module and control drive module, and wireless transmitting module, wireless receiving module and control drive module are electrically connected between.
[0008] In the preferable technical scheme of the utility model, the bionic fish body is composed of a fish body and first fish body pieces symmetrically arranged on both sides of the fish body.
[0009] In the preferable technical scheme of the utility model, the transmission part is a crank rocker structure.
[0010] In the preferable technical scheme of the utility model, the bionic fish tail is a two-joint swinging fish tail, and the first joint of the bionic fish tail is symmetrically provided with a second fish body piece on both sides, and the second fish body piece is internally provided with a reinforcing rib plate.
[0011] The utility model discloses a beneficial effect is:
[0012] The utility model discloses a three degree of freedom bionic mechanical fish, through mutual cooperation of first steering wheel, second steering wheel, attitude adjusting mechanism and other structures, can simulate and realize the tail swing rule of fish, improve the swimming efficiency of mechanical fish in water and fish motion bionics effect, have good mobility, simple structure, high concealment and biological affinity and the like advantage. The main part of mechanical fish is made by 3D printing, has the characteristics of low cost and strong configurability. The high-definition monocular camera located at the front part of the bionic fish head can collect and transmit underwater images, and efficiently complete the exploration task of underwater environment. BRIEF DESCRIPTION OF DRAWINGS
[0013] Figure 1 It is the whole structure schematic diagram of a three degree of freedom bionic mechanical fish provided by the utility model specific embodiment;
[0014] Figure 2 It is Figure 1 the explosion map of;
[0015] Figure 3 It is the circuit control principle diagram of a three degree of freedom bionic mechanical fish provided by the utility model specific embodiment.
[0016] In the drawing:
[0017] 1. Bionic fish head; 11. Hollow cavity; 2. Detection module; 21. High-definition monocular camera; 22. Ultrasonic sensor; 23. Searchlight; 3. First servo motor; 4. Bionic fish body; 41. Fish body; 42. First fish body piece; 5. Second servo motor; 6. Bionic fish tail; 61. Second fish body piece; 7. Attitude adjustment mechanism; 71. Main control chip; 711. Wireless transmission module; 712. Wireless receiving module; 713. Control drive module; 72. Six-axis gyroscope sensor; 73. Third servo motor; 74. Transmission unit; 75. Counterweight. Detailed Implementation
[0018] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.
[0019] like Figures 1-3 As shown, the embodiment provides a three-degree-of-freedom bionic mechanical fish, including a bionic fish head 1, a detection module 2, a first servo motor 3, a bionic fish body 4, a second servo motor 5, a bionic fish tail 6, and an attitude adjustment mechanism 7. The bionic fish head 1 has a detection module 2 at its front end, a first servo motor 3 at its rear end, an output of the first servo motor 3 connected to the bionic fish body 4, a second servo motor 5 connected to the rear end of the bionic fish body 4, and an output of the second servo motor 5 connected to the bionic fish tail 6. A hollow cavity 11 is provided inside the bionic fish head 1, and a [missing information - likely a component or mechanism] is provided inside the hollow cavity 11. The attitude adjustment mechanism 7 includes a main control chip 71, a six-axis gyroscope sensor 72, a third servo motor 73, a transmission unit 74, and a counterweight 75. The output end of the third servo motor 73 is connected to the transmission unit 74, and the counterweight 75 is connected to the transmission unit 74. The detection module 2, the first servo motor 3, the second servo motor 5, the six-axis gyroscope sensor 72, and the third servo motor 73 are all electrically connected to the main control chip 71. The biomimetic fish tail 6 has a forked tail fin with a wingspan L = 136.6 mm and a tail fin area M = 10305.5 mm². 2, and the tail fin aspect ratio Z=L*L / M=1.81. In this embodiment, the bionic fish head 1, the bionic fish body 4 and the bionic fish tail 6 are connected in series, and a layer of bionic silica gel fish skin is coated on the outer surface of the bionic fish head 1, the bionic fish body 4 and the bionic fish tail 6. The first steering wheel 3, the second steering wheel 5 and the third steering wheel 73 are preferably waterproof steering wheels, and the first steering wheel 3 is fixedly connected at the end of the bionic fish head 1 by bolts, the second steering wheel 5 is fixed at the end of the bionic fish body 4 by bolts, the first steering wheel 3 can drive the bionic fish body 4 to swing, the second steering wheel 5 can drive the bionic fish tail 6 to swing, and through the cooperation of the first steering wheel 3 and the second steering wheel 5, the fish tail can swing left and right to realize underwater propulsion; the hollow chamber 11 includes an upper chamber and a lower chamber, the main control chip 71 and the six-axis gyroscope sensor 72 are located in the upper chamber, the third steering wheel 73, the transmission part 74 and the counterweight 75 are located in the lower chamber, the main control chip 71 can control the third steering wheel 73 to work, and then drive the counterweight 75 to move forward and backward in the lower chamber under the transmission of the transmission part 74, so as to adjust the position of the center of gravity of the mechanical fish, thereby realizing the pitching of the mechanical fish in water; the six-axis gyroscope sensor 72 is preferably MPU6050, which is used for monitoring the attitude of the mechanical fish and is convenient for remote control by the user. The tail fin of the bionic fish tail 6 is made of silica gel material. In addition, the bionic fish head 1 adopts a hollow structure design, which helps to reduce the overall weight of the device, and the main parts of the mechanical fish are made of 3D printing, which has the advantages of low cost and strong configurability. By redesigning the shape of the tail fin of the bionic fish tail 6, the maneuverability of the mechanical fish is better.
[0020] Specifically, the detection module 2 includes a high-definition monocular camera 21, an ultrasonic sensor 22 and a searchlight 23, and the high-definition monocular camera 21, the ultrasonic sensor 22 and the searchlight 23 are electrically connected with the main control chip 71. In this embodiment, the high-definition monocular camera 21, the ultrasonic sensor 22 and the searchlight 23 are fixedly arranged at the front end of the bionic fish head 1. The high-definition monocular camera 21 and the ultrasonic sensor 22 cooperate with each other to monitor the obstacles in front, realize underwater image acquisition and wireless transmission of image signals, and thus complete the exploration task of the underwater environment. The searchlight 23 is arranged to illuminate the front of the bionic fish head 1, so as to ensure the imaging quality of the high-definition monocular camera 21.
[0021] Specifically, the main control chip 71 includes a wireless transmission module 711, a wireless receiving module 712 and a control driving module 713, and the wireless transmission module 711, the wireless receiving module 712 and the control driving module 713 are electrically connected. In the embodiment, the wireless transmission module 711 and the wireless receiving module 712 are integrated circuit modules based on PT2262 chip and SC2272 chip, which can provide 6-way wireless control signals. The control driving module 713 is a PIC16F877A single-chip microcomputer, and the RB0-RB6 ports are electrically connected with the wireless receiving module 712, and the level jump interrupt function of the RB0 port is used to realize the real-time control of the swimming state of the bionic mechanical fish.
[0022] Specifically, the bionic fish body 4 is composed of a fish body 41 and first fish body pieces 42 symmetrically arranged on both sides of the fish body 41. In the embodiment, the first fish body pieces 42 are provided with rib plates for enhancing the strength of the fish body, and the first fish body pieces 42 are further provided with fastener connecting holes, so that the first fish body pieces 42 and the fish body 41 can be detachably connected into an integrated whole through fasteners.
[0023] Specifically, the transmission part 74 is a crank rocker structure. In the embodiment, the crank rocker structure is a prior art, and thus will not be described again.
[0024] Specifically, the bionic fish tail 6 is a two-joint swing fish tail, and the first joint of the bionic fish tail 6 is symmetrically provided with second fish body pieces 61 on both sides, and the second fish body pieces 61 are provided with reinforcing rib plates on the inner sides. In the embodiment, the bionic fish tail 6 is composed of a first joint and a tail fin, and the first joint and the tail fin are connected through a waterproof servo, which can drive the tail fin to swing. The second fish body pieces 61 are thin fish body pieces, and the thin fish body pieces are provided with reinforcing rib plates for enhancing the strength of the fish tail.
[0025] Working principle: when the device is used, the first servo 3 and the second servo 5 cooperate with each other to control the left and right swinging of the bionic fish tail 6, to provide power for the device, and the third servo 73 drives the counterweight 75 to slide forward and backward to adjust the pitch angle of the bionic fish head 1, so as to realize flexible swimming underwater. At the same time, the high-definition monocular camera 21 collects underwater images, and transmits the image data to the main control chip 71 for storage, so as to efficiently complete the underwater exploration task.
[0026] The utility model is described through preferred embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the utility model. The utility model is not limited by the specific embodiments disclosed herein, and other embodiments falling within the claims of the present application all belong to the protection scope of the utility model.
Claims
1. A three-degree-of-freedom biomimetic mechanical fish, characterized in that: The device includes a bionic fish head (1), a detection module (2), a first servo motor (3), a bionic fish body (4), a second servo motor (5), a bionic fish tail (6), and an attitude adjustment mechanism (7). The bionic fish head (1) is equipped with a detection module (2) at its head end and a first servo motor (3) at its tail end. The output end of the first servo motor (3) is connected to the bionic fish body (4), and the tail end of the bionic fish body (4) is connected to the second servo motor (5). The output end of the second servo motor (5) is connected to the bionic fish tail (6). A hollow cavity (11) is provided inside the bionic fish head (1), and the attitude adjustment mechanism (7) is provided inside the hollow cavity (11). The attitude adjustment mechanism (7) includes a main control chip (71), a six-axis gyroscope sensor (72), a third servo motor (73), a transmission unit (74), and a counterweight (75). The output end of the third servo motor (73) is connected to the transmission unit (74), and the counterweight (75) is connected to the transmission unit (74). The detection module (2), the first servo motor (3), the second servo motor (5), the six-axis gyroscope sensor (72), and the third servo motor (73) are all electrically connected to the main control chip (71). The tail fin of the bionic fish tail (6) is forked, with a wingspan L = 136.6 mm and a tail fin area M = 10305.5 mm². 2 The aspect ratio of the caudal fin is Z = L * L / M = 1.
81.
2. The three-degree-of-freedom biomimetic mechanical fish according to claim 1, characterized in that: The detection module (2) includes a high-definition single-lens camera (21), an ultrasonic sensor (22), and a searchlight (23). The high-definition single-lens camera (21), the ultrasonic sensor (22), and the searchlight (23) are all electrically connected to the main control chip (71).
3. The three-degree-of-freedom biomimetic mechanical fish according to claim 2, characterized in that: The main control chip (71) includes a wireless transmitting module (711), a wireless receiving module (712), and a control driving module (713), which are electrically connected to each other.
4. The three-degree-of-freedom biomimetic mechanical fish according to claim 1, characterized in that: The biomimetic fish body (4) consists of a fish body (41) and first fish body pieces (42) symmetrically arranged on both sides of the fish body (41).
5. A three-degree-of-freedom biomimetic mechanical fish according to claim 1, characterized in that: The transmission part (74) is a crank-rocker structure.
6. The three-degree-of-freedom biomimetic mechanical fish according to claim 1, characterized in that: The bionic fish tail (6) is a two-jointed swinging fish tail, and the first joint of the bionic fish tail (6) is symmetrically provided with second fish body pieces (61) on both sides, and the inner side of the second fish body pieces (61) is provided with reinforcing ribs.