A biomimetic fish with adjustable buoyancy

Abstract

This utility model discloses an adjustable buoyancy bionic fish, including a shell, a buoyancy adjustment component, a center of gravity adjustment component, and a control module. The shell has the shape of a bionic fish. The buoyancy adjustment component is located at the lower end inside the shell and is used to inject or discharge water into the shell, adjusting buoyancy by utilizing changes in gravity. The center of gravity adjustment component is located on the buoyancy adjustment component and is used to adjust the posture changes caused by instability of the center of gravity when water is injected or discharged from the shell. The center of gravity adjustment component can keep the center of gravity stable, avoiding significant changes in the overall shape of the bionic fish. This device, through two sets of mutually symmetrical buoyancy adjustment components, can simultaneously inject water to submerge or discharge water to rise, ensuring the stability of the overall center of gravity during buoyancy adjustment while accelerating the adjustment rate and quickly achieving height adjustment.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic fish technology, specifically relating to a biomimetic fish with adjustable buoyancy. Background Technology

[0002] Bionic fish play a vital role in underwater exploration, ecological observation, and marine engineering. However, existing bionic fish still face numerous technical bottlenecks in their core functional modules—buoyancy adjustment and power compartment sealing—making it difficult to meet the long-term stable operation requirements of complex underwater environments. From the perspective of buoyancy adjustment technology, traditional solutions mainly fall into two categories: one uses a gas adjustment method combining high-pressure gas cylinders and solenoid valves, changing buoyancy by altering the volume of gas inside the chamber. However, this method suffers from limited cylinder capacity, frequent refilling and maintenance, and the high-pressure components are prone to sealing failure in deep water. The other category uses a gravity adjustment method that utilizes a motor to drive a counterweight. While this avoids liquid or gas leakage, the counterweight structure occupies a large space, the adjustment speed is slow, and continuous and precise buoyancy control is difficult to achieve, leading to attitude instability when the bionic fish rapidly ascends and descends. Furthermore, while some solutions incorporate liquid extraction structures, they lack effective water filtration components. Mud and plankton from the external water can easily clog pipes or damage extraction components, reducing the equipment's lifespan. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, the purpose of this utility model is to solve the problems in the prior art and provide a bionic fish with adjustable buoyancy. It adopts a dual liquid pumping structure, which can quickly inject and discharge liquid, thereby achieving precise adjustment of buoyancy and maintaining the stability of the bionic fish's posture during the adjustment process.

[0004] This utility model is achieved through the following technical solution:

[0005] A biomimetic fish with adjustable buoyancy includes a shell. Both lower sides of the shell, near the tail, have connecting openings with filters. Inside the lower part of the shell, two buoyancy adjustment components are located for controlling the inflow and outflow of liquid. Each buoyancy adjustment component is connected to one of the connecting openings. Each buoyancy adjustment component includes an adjustment cavity and a buoyancy adjustment element. The adjustment cavity is located near the connecting opening, and one end of the adjustment cavity is connected to the connecting opening. The telescopic end of the buoyancy adjustment element is located inside the adjustment cavity at the end away from the connecting opening. The fixed end of the buoyancy adjustment element is located at the front end inside the shell. The telescopic end of the buoyancy adjustment element is connected to a center of gravity adjustment component, which can move synchronously with the telescopic end of the buoyancy adjustment element. A sealed cavity is located above the buoyancy adjustment element, and a control module is located within the sealed cavity. The control module is electrically connected to the buoyancy adjustment element.

[0006] To optimize the above technical solution, the specific measures also include:

[0007] Furthermore, a filter chamber is provided between the connecting port and the regulating chamber. The filter chamber is located above the regulating chamber. One end of the filter chamber is connected to the connecting port, and the other end of the filter chamber is connected to the top of the regulating chamber on the side away from the buoyancy regulating component through a pipe. The port where the filter chamber connects to the connecting port has an inclined rectangular structure.

[0008] Furthermore, the buoyancy adjustment component includes a servo motor, the fixed end of which is disposed inside the housing, the output end of which is connected to a lead screw, a piston is disposed on the lead screw, the piston is slidably disposed within the adjustment cavity, the side of the lead screw away from the servo motor is rotatably disposed on the side wall of the adjustment cavity, the center of gravity adjustment component is slidably disposed on both side walls of the adjustment cavity, the center of gravity adjustment component is magnetically connected to the piston, the center of gravity adjustment component can move synchronously with the piston, and the servo motor is electrically connected to the control module.

[0009] Furthermore, the piston has several limiting strips circumferentially arranged on its side wall, and several limiting grooves are arranged on the inner wall of the adjustment cavity. The limiting strips and limiting grooves are matched in size, and the limiting strips are slidably arranged in the limiting grooves. The side wall of the piston abuts against the inner wall of the adjustment cavity. Planar connecting ends are arranged on both sides of the piston, and the center of gravity adjustment component is magnetically connected to the planar connecting ends.

[0010] Furthermore, a first magnet is provided inside the planar connecting end of the piston, and the first magnet abuts against the inner side wall of the adjustment cavity. The center of gravity adjustment assembly includes a slider, and a second magnet is provided on the side of the slider near the planar connecting end. A dovetail groove is provided on the outer side wall of the adjustment cavity. The second magnet is partially disposed inside the slider and partially slidably disposed in the dovetail groove. The first magnet and the second magnet are magnetically connected. The slider is made of non-magnetic metal, and the piston is made of rubber.

[0011] Furthermore, the slider has protruding edges on both the upper and lower sides of the end near the dovetail groove. The protruding edges are trapezoidal in shape and are slidably disposed on the upper and lower sides of the dovetail groove.

[0012] Furthermore, rollers are rotatably provided at both ends of the slider near the dovetail groove, and the rollers rotate and abut against the inside of the dovetail groove.

[0013] Furthermore, the wall thickness on both sides of the adjustment cavity is less than the maximum effective distance between the first magnet and the second magnet for magnetic attraction.

[0014] Furthermore, sealing caps are provided at both ends of the sealing cavity, and mounting holes are provided on both sides of the housing. The sealing caps are disposed in the mounting holes and detachably connected to the sealing cavity. A propulsion assembly is provided on the outside of the sealing caps, and the propulsion assembly is electrically connected to the control module.

[0015] Furthermore, the propulsion assembly includes a cylindrical body disposed outside the sealing cover, a support is disposed inside the cylindrical body, an electric propeller is disposed on the support, and the electric propeller is electrically connected to the control module.

[0016] The beneficial effects of this application are:

[0017] This device features two symmetrical buoyancy adjustment components at the lower end of a bionic fish, with two corresponding connecting ports on the side wall of the fish's tail. The symmetrically arranged buoyancy adjustment components move synchronously, allowing for simultaneous injection for submersion or dewatering for buoyancy surfacing. This ensures the stability of the overall center of gravity during buoyancy adjustment. Furthermore, compared to a single adjustment component, two buoyancy adjustment components can accelerate the adjustment rate and quickly achieve height adjustment.

[0018] This device is also equipped with a center of gravity adjustment component. When liquid is injected or discharged into the adjustment chamber, the overall center of gravity of the bionic fish will change. The overall center of gravity is balanced by moving the center of gravity adjustment component, so that the bionic fish maintains the stability of the overall center of gravity during buoyancy adjustment. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the bionic fish of this application;

[0020] Figure 2 yes Figure 1 Schematic diagram of the middle section of the structure;

[0021] Figure 3 yes Figure 2 A partial structural diagram of the buoyancy adjustment component;

[0022] Figure 4 yes Figure 3 A partial decomposition diagram;

[0023] Figure 5 yes Figure 4 A magnified schematic diagram of the local structure;

[0024] Figure 6 yes Figure 5 Schematic diagram of the middle piston;

[0025] Figure 7 yes Figure 2 Schematic diagram of the fit between the central sealing cavity and the propulsion assembly;

[0026] Figure 8 yes Figure 6 A schematic diagram of the planar structure.

[0027] Reference numerals: 10. Housing 11. Connecting port 11. Filter screen 12. Mounting hole 13. Buoyancy adjustment component 20. Adjustment cavity 21. Limiting groove 211. Dovetail groove 212. Filter cavity 22. Servo motor 23. Lead screw 24. Piston 25. Planar connecting end 251. Limiting strip 26. Center of gravity adjustment component 30. First magnet 31. Slider 32. Second magnet 33. Protrusion 34. Roller 35. Control module 40. Sealing cavity 50. Sealing cover 51. Propulsion component 60. Cylinder 61. Support 62. Electric propeller 63. Filter grid 64. Power module 70. Detailed Implementation

[0028] To clarify the technical solution and working principle of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0029] like Figures 1 to 8 As shown, this application discloses an adjustable buoyancy bionic fish, including a shell 10, a buoyancy adjustment component 20, a center of gravity adjustment component 30, and a control module 40. The shell 10 has the shape of a bionic fish. The buoyancy adjustment component 20 is located at the lower end inside the shell 10 and is used to inject or discharge external water (seawater or lake water) into or out of the shell 10, using gravity changes to adjust buoyancy. The center of gravity adjustment component 30 is located on the buoyancy adjustment component 20 and is used to adjust the posture changes caused by the instability of the center of gravity when water is injected into or discharged from the shell 10. The center of gravity adjustment component 30 can keep the center of gravity stable and avoid large changes in the overall shape of the bionic fish.

[0030] A connecting port 11 is provided at the lower ends of both sides of the shell 10 near the tail. A filter screen 12 is provided at each connecting port 11. Two buoyancy adjustment components 20 are provided at the lower end of the shell 10 to control the inflow and outflow of liquid. Each buoyancy adjustment component 20 is connected to a connecting port 11. The filter screen 12 is used to block particulate impurities in the water and prevent impurities from entering the buoyancy adjustment component 20, thereby affecting the operation of the buoyancy adjustment component 20.

[0031] Each buoyancy adjustment component 20 includes an adjustment cavity 21 and a buoyancy adjustment element. The adjustment cavity 21 is located near the connecting port 11 and is used to store the injected water. One end of the adjustment cavity 21 is connected to the connecting port 11. A filter cavity 22 is also provided between the connecting port 11 and the adjustment cavity 21. The filter cavity 22 is located above the adjustment cavity 21. One end of the filter cavity 22 is connected to the connecting port 11, and the other end of the filter cavity 22 is connected to the top of the side of the adjustment cavity 21 away from the buoyancy adjustment element through a pipe. The port of the filter cavity 22 connected to the connecting port 11 has a sloping rectangular structure. The sloping structure of the port can increase the cross-sectional area of ​​the water inlet or outlet, so that the water is injected or discharged faster. A sealing cavity 50 is provided above the buoyancy adjustment element. A control module 40 is provided in the sealing cavity 50. The control module 40 is electrically connected to the buoyancy adjustment element.

[0032] The telescopic end of the buoyancy adjuster is located inside the adjustment cavity 21 at the end away from the communication port 11, and the fixed end of the buoyancy adjuster is located inside the front end of the housing 10. The buoyancy adjuster includes a servo motor 23, the fixed end of the servo motor 23 is located inside the housing 10, the output end of the servo motor 23 is connected to a lead screw 24, a piston 25 is provided on the side of the lead screw 24 near the output end of the servo motor 23, the piston 25 is slidably located inside the adjustment cavity 21, and the side of the lead screw 24 away from the servo motor 23 is rotatably located on the side wall of the adjustment cavity 21, and the servo motor 23 is electrically connected to the control module 40. Meanwhile, to ensure that the piston 25 remains stable during movement, several limiting strips 26 are circumferentially arranged on the side wall of the piston 25, and several limiting grooves 211 are arranged on the inner wall of the adjusting cavity 21. The dimensions of the limiting strips 26 and the limiting grooves 211 are matched, and the limiting strips 26 are slidably arranged in the limiting grooves 211. The side wall of the piston 25 abuts against the inner wall of the adjusting cavity 21. The cross-sectional structure of the inner wall of the adjusting cavity 21 is consistent with the cross-sectional structure of the piston 25, which can ensure that the piston 25 and the inner wall of the adjusting cavity 21 are tightly fitted.

[0033] In the initial state, the piston 25 is located on the side away from the lead screw 24 and away from the servo motor 23. Then, the buoyancy adjustment component 20 switches between the first working mode and the second working mode in sequence:

[0034] In the first working mode - liquid injection, the servo motor 23 is activated, and the servo motor 23 drives the lead screw 24 to rotate, causing the piston 25 to move from the side of the adjustment chamber 21 away from the servo motor 23 to the side closer to the servo motor 23. Then the water body passes through the filter chamber 22 and is injected into the adjustment chamber 21. At this time, the overall mass of the bionic fish increases, and the overall structure will submerge. As the piston 25 moves to the end closer to the servo motor 23, the bionic fish submerges to the lowest position.

[0035] The second working mode is water discharge. When the bionic fish needs to float, the servo motor 23 and the lead screw 24 are driven to rotate in the opposite direction, causing the piston 25 to move from the side of the adjustment chamber 21 closer to the servo motor 23 to the side farther away from the servo motor 23. Then the water is squeezed out of the adjustment chamber 21, reducing the overall mass of the bionic fish and causing the overall structure to float. As the piston 25 moves to the end of the adjustment chamber 21 away from the servo motor 23, the bionic fish floats to the highest position.

[0036] To reduce instability in the biomimetic fish's center of gravity during water injection or discharge, a center of gravity adjustment component 30 is connected to the telescopic end of the buoyancy adjustment component. The center of gravity adjustment component 30 can move synchronously with the telescopic end of the buoyancy adjustment component. Specifically, the center of gravity adjustment component 30 is slidably mounted on both side walls of the adjustment cavity 21, and is magnetically connected to the piston 25, meaning the center of gravity adjustment component 30 can move synchronously with the piston 25.

[0037] Planar connecting ends 251 are provided on both sides of the piston 25. A first magnet 31 is provided inside the planar connecting ends 251 of the piston 25. The first magnet 31 is embedded in the planar connecting ends 251 and abuts against the inner side wall of the adjustment cavity 21. The center of gravity adjustment assembly 30 includes a slider 32. A second magnet 33 is provided on the side of the slider 32 near the planar connecting ends 251. A dovetail groove 212 is provided on the outer side wall of the adjustment cavity 21. The second magnet 33 is partially disposed in the slider 32 and partially slidably disposed in the dovetail groove 212. The first magnet 31 and the second magnet 33 are magnetically connected. At the same time, the wall thickness on both sides of the adjustment cavity 21 is less than the maximum effective distance between the first magnet 31 and the second magnet 33 for magnetic attraction. This ensures that the first magnet 31 and the second magnet 33 can always be magnetically connected, so that the slider 32 always moves with the piston 25. That is, the center of gravity adjustment component 30 is attached to the outer wall of the adjustment cavity 21, and the center of gravity adjustment component 30 is magnetically connected to the planar connection end 251. The first magnet 31 and the second magnet 33 form a non-contact synchronous motion overall structure.

[0038] Both the upper and lower sides of the slider 32 near the dovetail groove 212 are provided with protruding edges 34, which are trapezoidal in shape and slidably disposed on the upper and lower sides of the dovetail groove 212. Rollers 35 are rotatably disposed at both ends of the slider 32 near the dovetail groove 212, and the rollers 35 rotatably abut against the sidewall of the adjusting cavity 21 within the dovetail groove 212. The slider 32 is made of a non-magnetic metal, such as aluminum, copper, or lead, and the adjusting cavity 21 is made of a non-magnetic material, such as austenitic stainless steel. The specific material selection is not limited in this embodiment and can be chosen according to actual conditions. The piston 25 is made of rubber. Adding rollers 35 to the slider 32 can increase the movement speed of the slider 32.

[0039] The working process of the center of gravity adjustment component 30 is as follows:

[0040] When the piston 25 moves, the first magnet 31 and the second magnet 33 are magnetically connected. Therefore, the first magnet 31 on the piston 25 attracts and drives the second magnet 33 on the slider 32 to move. At this time, the second magnet 33 drives the slider 32 to move synchronously with the first magnet 31. The two rollers 35 on the slider 32 drive the entire slider 32 to move within the dovetail groove 212. Since the slider 32, the second magnet 33, and the first magnet 31 move as a whole, and this part of the structure has a certain mass, the mass distribution within the bionic fish changes when this part of the structure moves, thus adjusting the center of gravity and maintaining the overall stability of the bionic fish. Simultaneously, the protruding edge 34 on the slider 32 serves as a protective structure to prevent the slider 32 from detaching from the dovetail groove 212 in extreme cases where the first magnet 31 and the second magnet 33 separate.

[0041] Meanwhile, the volume or size of the adjustment cavity 21 is determined according to the height at which the bionic fish needs to rise and dive. In this embodiment, the volume or size of the adjustment cavity 21 is not specifically limited. At the same time, the material, size and mass of the slider 32 of the center of gravity adjustment component, as well as the size and mass of the second magnet 33, are also selected based on the overall stability of the bionic fish during the adjustment process. In this embodiment, no specific limitation is made. Moreover, the size of the dovetail groove 212 on the side wall of the adjustment cavity 21 can be adapted to the size of the slider 32.

[0042] Sealing caps 51 are provided at both ends of the sealing cavity 50. Mounting holes 13 are provided on both side walls of the housing 10. The sealing caps 51 are disposed within the mounting holes 13 and detachably connected to the sealing cavity 50. In this embodiment, a threaded connection is used. A sealing ring is provided between the sealing caps 51 and the sealing cavity 50. The specific connection method between the sealing caps 51 and the sealing cavity 50 is not limited in this solution. A propulsion assembly 60 is provided on the outside of the sealing caps 51. The propulsion assembly 60 is electrically connected to the control module 40. The propulsion assembly 60 includes a cylinder 61, which is disposed on the outside of the sealing caps 51. A support 62 is provided inside the cylinder 61, and an electric propeller 63 is mounted on the support 62. The electric propeller 63 is electrically connected to the control module 40. A filter grid 64 is provided at the water inlet end of the cylinder 61. The teardrop-shaped structure of the cylinder 61 reduces running resistance, while the filter grid 64 prevents larger debris from entering and colliding with the electric propeller 63, ensuring the normal operation of the electric propeller 63. The control module 40 uses a microprocessor.

[0043] The implementation principle of this application is as follows:

[0044] First, place the device on the water surface. Under the action of gravity, part of the structure at the bottom of the bionic fish will be submerged underwater. At the same time, the overall gravity of the device will cause the connecting port 11 of the bionic fish to be partially or completely submerged underwater. At this time, water will enter the filter chamber 22 from the connecting port 11 and fill the filter chamber 22.

[0045] Then, when it is time to dive, the servo motor 23 is activated, driving the piston 25 to move towards the side closer to the servo motor 23. Water is then drawn from the filter chamber 22 into the regulating chamber 21. As the amount of water in the regulating chamber 21 increases, the overall weight of the bionic fish increases, and it gradually dives. Simultaneously, as the piston 25 moves, it also drives the sliders 32 on both sides of the regulating chamber 21 to move synchronously, adjusting the center of gravity of the bionic fish and preventing it from tipping over during the dive. When the bionic fish dives to the set depth, the servo motor 23 is stopped, the piston 25 remains stationary, the amount of liquid in the regulating chamber 21 remains stable, and the bionic fish floats at that depth. At this time, the electric propeller 63 can be driven, and the speed of the bionic fish can be controlled by adjusting the rotation speed of the electric propeller 63.

[0046] When it is necessary to rise, the servo motor 23 is activated to rotate in the opposite direction, driving the piston 25 to move away from the servo motor 23. Then, the water is squeezed out of the regulating chamber 21 and discharged to the outside. As the water in the regulating chamber 21 decreases, the overall weight of the bionic fish decreases and it gradually rises.

[0047] To ensure the power needs of this device, a power module 70 is also installed inside the bionic fish to store and provide electrical energy. The power module 70 is used to supply power to the control module 40, the servo motor 23 and the electric propeller 63.

[0048] The above are merely preferred embodiments of this application. The scope of protection of this application is not limited to the above embodiments. All technical solutions falling within the scope of this application's concept are within the scope of protection of this application. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of this application should be considered within the scope of protection of this application.

Claims

1. An adjustable buoyancy biomimetic fish, characterized by: The device includes a shell, with connecting ports on both lower sides near the tail. A filter screen is installed at each connecting port. Two buoyancy adjustment components for controlling liquid inflow and outflow are located inside the lower part of the shell. Each buoyancy adjustment component is connected to a connecting port. Each buoyancy adjustment component includes an adjustment cavity and a buoyancy adjustment element. The adjustment cavity is located near the connecting port, and one end of the adjustment cavity is connected to the connecting port. The telescopic end of the buoyancy adjustment element is located inside the adjustment cavity at the end away from the connecting port. The fixed end of the buoyancy adjustment element is located inside the front end of the shell. The telescopic end of the buoyancy adjustment element is connected to a center of gravity adjustment component, which can move synchronously with the telescopic end of the buoyancy adjustment element. A sealing cavity is located above the buoyancy adjustment element, and a control module is located within the sealing cavity. The control module is electrically connected to the buoyancy adjustment element.

2. The buoyancy-adjustable bionic fish according to claim 1, characterized in that: A filter chamber is also provided between the connecting port and the regulating chamber. The filter chamber is located above the regulating chamber. One end of the filter chamber is connected to the connecting port, and the other end of the filter chamber is connected to the top of the regulating chamber on the side away from the buoyancy regulating component through a pipe. The port where the filter chamber connects to the connecting port has an inclined rectangular structure.

3. The buoyancy-adjustable biomimetic fish according to claim 2, wherein: The buoyancy adjustment component includes a servo motor, the fixed end of which is disposed inside the housing, and the output end of which is connected to a lead screw. A piston is disposed on the lead screw and is slidably disposed within the adjustment cavity. The side of the lead screw away from the servo motor is rotatably disposed on the side wall of the adjustment cavity. The center of gravity adjustment component is slidably disposed on both side walls of the adjustment cavity and is magnetically connected to the piston. The center of gravity adjustment component can move synchronously with the piston. The servo motor is electrically connected to the control module.

4. The buoyancy-adjustable biomimetic fish according to claim 3, characterized in that: The piston has several limiting strips circumferentially arranged on its side wall, and several limiting grooves are arranged on the inner wall of the adjustment cavity. The limiting strips are matched with the dimensions of the limiting grooves, and the limiting strips are slidably arranged in the limiting grooves. The side wall of the piston abuts against the inner wall of the adjustment cavity. Planar connecting ends are arranged on both sides of the piston, and the center of gravity adjustment component is magnetically connected to the planar connecting ends.

5. The buoyancy-adjustable biomimetic fish according to claim 4, characterized in that: A first magnet is provided inside the planar connecting end of the piston. The first magnet abuts against the inner side wall of the adjustment cavity. The center of gravity adjustment assembly includes a slider. A second magnet is provided on the side of the slider near the planar connecting end. A dovetail groove is provided on the outer side wall of the adjustment cavity. The second magnet is partially disposed inside the slider and partially slidably disposed in the dovetail groove. The first magnet and the second magnet are magnetically connected. The slider is made of non-magnetic metal and the piston is made of rubber.

6. The buoyancy-adjustable biomimetic fish according to claim 5, characterized in that: The slider has protruding edges on both the upper and lower sides of the end near the dovetail groove. The protruding edges are trapezoidal in shape and are slidably disposed on the upper and lower sides of the dovetail groove.

7. The buoyancy-adjustable biomimetic fish according to claim 6, characterized in that: Both ends of the slider near the dovetail groove are equipped with rollers that rotate and abut against the dovetail groove.

8. The buoyancy-adjustable biomimetic fish according to claim 5, wherein: The wall thickness on both sides of the adjustment cavity is less than the maximum effective distance between the first magnet and the second magnet for magnetic attraction.

9. The buoyancy-adjustable biomimetic fish according to claim 1, wherein: Both ends of the sealed cavity are provided with sealing caps, and both sides of the housing are provided with mounting holes. The sealing caps are placed in the mounting holes and are detachably connected to the sealed cavity. A propulsion assembly is provided on the outside of the sealing caps, and the propulsion assembly is electrically connected to the control module.

10. The buoyancy-adjustable biomimetic fish according to claim 9, characterized in that: The propulsion assembly includes a cylindrical body disposed outside the sealing cover, a support frame disposed inside the cylindrical body, an electric propeller disposed on the support frame, and the electric propeller being electrically connected to the control module.

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