Posture adjusting device of bionic robotic fish

Abstract

The utility model discloses a posture adjusting device of a bionic robotic fish, and relates to the technical field of bionic fishes. The device comprises a shell, a driving tail and a connecting sleeve, the connecting sleeve is fixedly connected between the shell and the driving tail, and a posture adjusting mechanism and a driving mechanism are arranged in the shell; the posture adjusting mechanism comprises a sliding rail fixedly connected to the bottom of an inner cavity of the shell, an adjusting base is slidably connected to the top of the sliding rail, a screw is rotatably connected into the sliding rail, a first adjusting motor is fixedly connected to the end, facing the driving tail, of the sliding rail, a vertical shaft is rotatably connected to the top of the adjusting base, and a worm gear and a counterweight are fixedly connected to the exterior of the vertical shaft. A mounting seat is fixedly connected to the top of the adjusting seat, a worm is rotationally connected into the mounting seat, and a second adjusting motor is fixedly connected to the top of the adjusting seat. The gravity center position of the bionic fish is adjusted through front-back movement of the adjusting seat along the sliding rail and left-right rotation of the counterweight device, so that posture adjustment is more flexible when the bionic fish swims and carries out underwater operation.

Description

TECHNICAL FIELD

[0001] The utility model belongs to bionic fish technical field, especially a kind of pose adjusting device of bionic robot fish. BACKGROUND

[0002] Water quality safety detection bionic robot fish is a kind of efficient, flexible underwater mobile robot, is specially designed for water quality monitoring, this appearance imitates real fish's robot fish, by streamline design and efficient propulsion mode, can flexibly swim in water, and carry various water quality sensors, real-time monitoring including chlorophyll, oxygen content, pH value, conductivity and so on Multiple water quality parameters, provide comprehensive, real-time data support for water quality safety.Compared with traditional water quality monitoring method, water quality safety detection bionic robot fish has the advantages of flexible swimming, wide coverage, real-time monitoring, data accurate and reliable, good concealment, low noise, etc., is a kind of efficient, accurate, reliable water quality monitoring tool.

[0003] Underwater environment is relatively complex, including narrow channel, suspended solids and numerous organisms, however, the flexibility of the existing bionic robot fish in adjusting fish body overturn and inclination angle is insufficient when swimming, so that bionic robot fish is prone to collision, and the stability is insufficient when executing water detection task, which will affect the accuracy of detection result.

[0004] Therefore, we provide a pose adjusting device of bionic robot fish to solve the above problems. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a pose adjusting device of bionic robot fish, by adjusting seat moves along the slide rail back and forth, and counterweight left and right rotation, adjusts the barycentre position of bionic fish, realizes the underwater pose of bionic fish, solves the problem that the pose of existing bionic fish is difficult to adjust flexibly when operating underwater.

[0006] To solve the above technical problems, the utility model is realized by the following technical schemes:

[0007] The utility model is a pose adjusting device of bionic robot fish, including shell, drive tail and connecting sleeve;Connecting sleeve is fixedly connected between shell and drive tail, the inside of shell is provided with pose adjusting mechanism and drive mechanism;

[0008] The posture adjusting mechanism comprises a sliding rail fixedly connected to the bottom of the inner cavity of the shell, a adjusting seat slidingly connected to the top of the sliding rail, a screw rod rotatably connected to the inside of the sliding rail, and the adjusting seat is threadedly sleeved with the outside of the screw rod, a first adjusting motor fixedly connected to one end of the sliding rail towards the driving tail, and the screw rod is fixedly connected to the output end of the first adjusting motor, a vertical shaft rotatably connected to the top of the adjusting seat, a counterweight fixedly connected to the outside of the vertical shaft, a mounting seat fixedly connected to the top of the adjusting seat, a worm rotatably connected to the inside of the mounting seat and engaged with the worm wheel, a second adjusting motor fixedly connected to the top of the adjusting seat, and the worm is rotatably connected to the output end of the second adjusting motor.

[0009] The utility model further sets up, drive mechanism includes fixedly connected to the mounting bracket of shell inner chamber bottom and fixedly connected to the fixed link of shell inner chamber tail, the inside of mounting bracket is fixedly connected with drive motor, the output fixedly connected with turntable of drive motor, the top edge of turntable rotatably connected with connecting rod, the inside of fixed link rotatably connected with pivot, the outside of pivot is fixedly connected with gear and drive link, and drive tail rotatably connected with the free end of drive link, the top of fixed link is fixedly connected with sliding seat, the inside of sliding seat is slidably connected with rack, and rack is engaged with gear, and the free end of connecting rod is rotatably connected with the one end of rack towards turntable.

[0010] The utility model further sets up, the both sides of sliding rail all are set up with the sliding slot, the inner wall both sides of adjusting seat are rotatably connected with two gyro wheel respectively, and gyro wheel rolls in the inside corresponding to sliding slot.

[0011] The utility model further sets up, counterweight includes fixedly connected with cantilever of vertical shaft outside, and the one end of cantilever away from vertical shaft is fixedly connected with lead block.

[0012] The utility model further sets up, the top of adjusting seat is fixedly connected with semicircular guide rail, the inside of cantilever is set up with installation mouth, the inside of installation mouth is rotatably connected with guide wheel, and guide wheel rolls on the top of guide rail.

[0013] The utility model further sets up, the both ends of guide rail top are all fixedly connected with stopper.

[0014] The utility model further sets up, the both sides of rack are set up with recess, and two recesses are all smeared with lubricating oil in the inside.

[0015] The utility model has the advantages of the following:

[0016] 1. The utility model discloses a first adjusting motor drives screw rod rotation, make the adjusting seat along the slide rail moves forward and backward, make the bionical fish's gravity center shifts forward or backward, and then adjust the pitch angle of bionical fish, and through the starting second adjusting motor drives worm rotation, then through the meshed worm wheel drives vertical shaft rotation, make the counterweight device rotates left or right, adjust bionical fish left and right gravity center, adjust the roll angle of bionical fish, and then make bionical fish swim and adjust the posture more flexible when carrying out underwater operation.

[0017] 2. The utility model discloses drive motor drives rotary table rotation, then through connecting rod drive rack moves back and forth in slide, then through the gear of rack meshing drive shaft rotation, then drive link rod swing, can drive driving tail swing in water, and then can realize driving bionical fish swims forward, can simulate true fish's swimming simultaneously, enhance the concealment of bionical fish, reduce the disturbance to aquatic biological environment. DRAWINGS

[0018] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the following will be to the embodiment description needed to use the drawing briefly introduced, obviously, the drawing in the following description only some embodiments of the utility model, for those skilled in the art, under the premise of not paying creative labor, can also obtain other drawings according to these drawings.

[0019] Figure 1 It is the three-dimensional structure schematic diagram of the utility model.

[0020] Figure 2 It is the cutaway structure schematic diagram of the shell of the utility model.

[0021] Figure 3 It is the structure schematic diagram of the attitude adjusting mechanism of the utility model.

[0022] Figure 4 It is the structure schematic diagram of the adjusting seat of the utility model.

[0023] Figure 5 It is the structure schematic diagram of the counterweight device of the utility model.

[0024] Figure 6 It is Figure 2 The enlarged structure schematic diagram of place A in.

[0025] Figure 7 It is Figure 3 The enlarged structure schematic diagram of place B in.

[0026] In the drawings, the component list represented by each sign is as follows:

[0027] 100, housing; 200, driving tail; 300, connecting sleeve; 400, posture adjusting mechanism; 401, slide rail; 402, screw rod; 403, adjusting seat; 403a, roller; 404, first adjusting motor; 405, second adjusting motor; 406, mounting seat; 407, worm; 408, vertical shaft; 409, worm wheel; 410, counterweight device; 410a, cantilever; 410b, lead block; 410c, mounting opening; 411, guide rail; 411a, stop block; 412, guide wheel; 500, driving mechanism; 501, mounting frame; 502, driving motor; 503, rotating disc; 504, fixed rod; 505, rotating shaft; 506, gear; 507, driving rod; 508, slide seat; 509, rack; 510, connecting rod. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] Embodiment 1

[0030] Please refer to Figure 1 , Figures 3 to 5 and Figure 7 The posture adjusting device of the bionic robotic fish comprises a housing 100, a driving tail 200 and a connecting sleeve 300. The connecting sleeve 300 is fixedly connected between the housing 100 and the driving tail 200. The housing 100 is internally provided with a posture adjusting mechanism 400 and a driving mechanism 500.

[0031] The posture adjusting mechanism 400 comprises a sliding rail 401 fixedly connected to the bottom of the inner cavity of the shell 100, a adjusting seat 403 slidingly connected to the top of the sliding rail 401, a screw rod 402 rotatably connected to the inside of the sliding rail 401, and the adjusting seat 403 is threadedly sleeved with the outside of the screw rod 402, one end of the sliding rail 401 towards the driving tail 200 is fixedly connected with a first adjusting motor 404, and the screw rod 402 is fixedly connected to the output end of the first adjusting motor 404, the top of the adjusting seat 403 is rotatably connected with a vertical shaft 408, the outside of the vertical shaft 408 is fixedly connected with a worm wheel 409 and a counterweight 410, the top of the adjusting seat 403 is fixedly connected with a mounting seat 406, the inside of the mounting seat 406 is rotatably connected with a worm 407, and the worm 407 is engaged with the worm wheel 409, the top of the adjusting seat 403 is fixedly connected with a second adjusting motor 405, and the worm 407 is rotatably connected to the output end of the second adjusting motor 405, the position of the counterweight 410 in the axial direction of the shell 100 can be adjusted by rotating the screw rod 402, so that the center of gravity of the bionic fish can be offset forward or backward, and the pitch angle of the bionic fish can be adjusted, the center of gravity of the bionic fish can be offset left or right by rotating the vertical shaft 408, the roll angle of the bionic fish can be adjusted, and the posture of the bionic fish is more flexible when swimming and underwater operation.

[0032] Specifically, the counterweight 410 comprises a cantilever 410a fixedly connected to the outside of the vertical shaft 408, and a lead block 410b fixedly connected to one end of the cantilever 410a away from the vertical shaft 408.

[0033] Further, the sliding rail 401 is provided with a sliding groove on both sides, and the inner wall of the adjusting seat 403 is rotatably connected with two rollers 403a on both sides, and the rollers 403a roll in the corresponding sliding grooves, the rollers 403a can make the adjusting seat 403 slide more smoothly on the top of the sliding rail 401, and reduce wear;

[0034] The top of the adjusting seat 403 is fixedly connected with a semicircular guide rail 411, the inside of the cantilever 410a is provided with a mounting hole 410c, the inside of the mounting hole 410c is rotatably connected with a guide wheel 412, and the guide wheel 412 rolls on the top of the guide rail 411, the guide rail 411 can support the cantilever 410a and prevent it from bending;

[0035] Both ends of the top of the guide rail 411 are fixedly connected with a stop block 411a, and the stop block 411a can prevent the cantilever 410a from separating from the guide rail 411.

[0036] The operation process of the embodiment is as follows: when the posture of the bionic fish needs to be adjusted, first, the first adjusting motor 404 is started to drive the screw rod 402 to rotate, then the adjusting seat 403 moves forward and backward along the slide rail 401 under the action of the screw thread, so that the center of gravity of the bionic fish is offset forward or backward, and then the pitch angle of the bionic fish can be adjusted, then the second adjusting motor 405 is started to drive the worm gear 407 to rotate, then the vertical shaft 408 is driven to rotate through the meshed worm wheel 409, and then the counterweight device 410 is driven to rotate left or right, so that the center of gravity of the bionic fish is offset left or right, and the roll angle of the bionic fish can be adjusted, so that the bionic fish swims and adjusts the posture more flexibly when performing underwater work.

[0037] Embodiment 2

[0038] Please refer to Figure 1 、 Figure 2 and Figure 6 , on the basis of the specific embodiment one, the driving mechanism 500 includes a mounting frame 501 fixedly connected to the bottom of the inner cavity of the shell 100 and a fixed rod 504 fixedly connected to the tail of the inner cavity of the shell 100, the inside of the mounting frame 501 is fixedly connected with a driving motor 502, the output end of the driving motor 502 is fixedly connected with a rotating disc 503, the top edge of the rotating disc 503 is rotatably connected with a connecting rod 510, the inside of the fixed rod 504 is rotatably connected with a rotating shaft 505, the outside of the rotating shaft 505 is fixedly connected with a gear 506 and a driving rod 507, and the driving tail 200 is rotatably connected to the free end of the driving rod 507, the top of the fixed rod 504 is fixedly connected with a sliding seat 508, the inside of the sliding seat 508 is slidably connected with a rack 509, and the rack 509 is meshed with the gear 506, the end of the rack 509 towards the rotating disc 503 is rotatably connected with the free end of the connecting rod 510, and swinging the driving tail 200 through the driving rod 507 can realize driving the bionic fish to swim forward, at the same time, the swimming of the real fish can be simulated, the concealment of the bionic fish is enhanced, and the disturbance to the biological environment of the water area is reduced.

[0039] Specifically, recesses are formed on the upper and lower sides of the rack 509, and lubricating oil is applied in the two recesses, so that the friction between the rack 509 and the sliding seat 508 is reduced.

[0040] The operation process of the embodiment is as follows: when the bionic fish needs to be driven to swim, first, the driving motor 502 is started to drive the rotating disc 503 to rotate, then the rack 509 is moved back and forth in the sliding seat 508 through the connecting rod 510, then the rotating shaft 505 is driven to rotate through the gear 506 meshed with the rack 509, and then the driving rod 507 is swung, which can drive the driving tail 200 to swing in the water, so that the bionic fish can be driven to swim forward, at the same time, the swimming of the real fish can be simulated, the concealment of the bionic fish is enhanced, and the disturbance to the biological environment of the water area is reduced.

[0041] In the description of the present specification, the description referring to the terms "one embodiment", "an example", "a specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0042] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The preferred embodiments do not describe all the details and do not limit the present application to the specific embodiments described. Obviously, according to the content of the present specification, many modifications and changes can be made. The present specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that the persons skilled in the art can well understand and utilize the present application.

Claims

1. A posture adjusting device of a biomimetic robotic fish, comprising a shell (100), a driving tail (200) and a connecting sleeve (300); characterized in that: The connecting sleeve (300) is fixedly connected between the shell (100) and the driving tail (200), and the inside of the shell (100) is provided with a posture adjusting mechanism (400) and a driving mechanism (500); The posture adjusting mechanism (400) comprises a sliding rail (401) fixedly connected to the bottom of the inner cavity of the shell (100), a adjusting seat (403) slidably connected to the top of the sliding rail (401), a screw rod (402) rotatably connected to the inside of the sliding rail (401), and the adjusting seat (403) is threadedly sleeved on the outside of the screw rod (402), a first adjusting motor (404) fixedly connected to one end of the sliding rail (401) towards the driving tail (200), and the screw rod (402) is fixedly connected to the output end of the first adjusting motor (404), a vertical shaft (408) rotatably connected to the top of the adjusting seat (403), a worm wheel (409) and a counterweight (410) fixedly connected to the outside of the vertical shaft (408), a mounting seat (406) fixedly connected to the top of the adjusting seat (403), a worm (407) rotatably connected to the inside of the mounting seat (406), and the worm (407) is engaged with the worm wheel (409), and a second adjusting motor (405) fixedly connected to the top of the adjusting seat (403), and the worm (407) is rotatably connected to the output end of the second adjusting motor (405).

2. The attitude adjusting device of the biomimetic robotic fish according to claim 1, wherein The driving mechanism (500) comprises a mounting frame (501) fixedly connected to the bottom of the inner cavity of the shell (100) and a fixed rod (504) fixedly connected to the tail of the inner cavity of the shell (100), a driving motor (502) fixedly connected to the inside of the mounting frame (501), a rotating disc (503) fixedly connected to the output end of the driving motor (502), a connecting rod (510) rotatably connected to the top edge of the rotating disc (503), a rotating shaft (505) rotatably connected to the inside of the fixed rod (504), a gear (506) and a driving rod (507) fixedly connected to the outside of the rotating shaft (505), and the driving tail (200) is rotatably connected to the free end of the driving rod (507), a sliding seat (508) fixedly connected to the top of the fixed rod (504), a rack (509) slidably connected to the inside of the sliding seat (508), and the rack (509) is engaged with the gear (506), and one end of the rack (509) towards the rotating disc (503) is rotatably connected to the free end of the connecting rod (510).

3. The attitude adjusting device of the biomimetic robotic fish according to claim 1, wherein Slotted holes are formed in the two sides of the sliding rail (401), and two rollers (403a) are rotatably connected to the inner walls of the adjusting seat (403), and the rollers (403a) roll in the corresponding slotted holes.

4. The attitude adjusting device of the biomimetic robotic fish according to claim 1, wherein The counterweight (410) comprises a cantilever (410a) fixedly connected to the outside of the vertical shaft (408), and a lead block (410b) is fixedly connected to the end of the cantilever (410a) away from the vertical shaft (408).

5. The attitude adjusting device of the biomimetic robotic fish according to claim 4, wherein, The top of the adjusting seat (403) is fixedly connected with a semicircular guide rail (411), the inside of the cantilever (410a) is provided with a mounting opening (410c), the inside of the mounting opening (410c) is rotatably connected with a guide wheel (412), and the guide wheel (412) rolls on the top of the guide rail (411).

6. The attitude adjusting device of the biomimetic robotic fish according to claim 5, wherein, The top of the guide rail (411) is fixedly connected with a stop block (411a) at both ends.

7. The attitude adjusting device of the biomimetic robotic fish according to claim 2, characterized in that, The upper and lower sides of the rack (509) are both provided with grooves, and the two grooves are both coated with lubricating oil.

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