137 results about "Fish fin" patented technology

A multi-combination push type flexible bionic robotic fish comprises a head, a body, a tail and fins. The multi-combination push type flexible bionic robotic fish is characterized in that the body comprises a flexible shaft, flexible skeletons and body artificial muscles with a flexible electrode, the flexible skeletons are of an annular frame structure and is fixed to the flexible shaft, the body artificial muscles are symmetrically arranged between the flexible skeletons in a tensioning state, when the artificial muscles on one side are powered on, the tensile stress is reduced, and the artificial muscles on the other side contracts, so that the flexible shaft and the body bends continuously, and are matched with the tail and the fins to form the body/fin push mode; the head and the tail are arranged at the two ends of the flexible shaft respectively and are connected with the first flexible skeleton and the last flexible skeleton respectively. The flexible structure and flexible drive are adopted, the multi-combination push type flexible bionic robotic fish simulates the motion function of bionic fishes to form gradient flexible shape changing of the whole robotic fish, the flexible body/tail fin push mode and the flexible middle fin/pair-fin push mode are achieved, and movement is flexible.

The invention discloses a design method of a combined wing section blade of a horizontal shaft tidal current energy water turbine. The method comprises the steps of researching the hydrodynamic performance of a conventional wing section and the hydrodynamic performance of a bionic wing section separately, combining a conventional blade wing section with the bionic wing section according to the function of all blade elements in the blade, and designing out a combined wing section blade which is superior in performance; obtaining a three-dimensional digital model of a fish fin, selecting section contours of different positions of the fish fin as bionic fish-fin wing sections, selecting a bionic fish-fin wing section through analysis software, exporting the bionic fish-fin wing section and required two-dimensional coordinates of the conventional wing section, optimizing blade elements of the designed blade, obtaining parameters of each blade element, making the bionic wing section and the required conventional wing section correspond to the blade elements, converting the three-dimensional coordinates of the wing section into three-dimensional coordinate data, importing the three-dimensional coordinate data into three-dimensional design software, conducting setting-out treatment, and finally generating the combined wing section blade. By means of the design method, the hydrodynamic performance of the combined wing section blade is made to be superior, and the energy-obtaining efficiency of the water turbine is remarkably improved.

A tool, an attachment head and a power tool system, each for working on contoured surfaces, are disclosed. The numerous embodiments of the designs are made possible through the use of flexible structures that exhibit a phenomenon known as the “fin ray” mechanism because it was first observed when studying the motion of fish. Similar to the fish fin, the working surface of the disclosed tools behave unexpectedly when a lateral force is applied: they do not bend away, but curve toward the applied force. Generally, each “fin ray” tool includes at two flexing sidewalls or members joined at their tips to form an acute triangle. A plurality of struts hold the members apart while allowing elastic movement. The curve of the working surface allows the tools to provide greater contact on contoured surfaces.

The invention discloses a pulse jet type underwater robot based on a tubular origami structure, which is composed of a pulse jet mechanism and two steering propulsion mechanisms, wherein the pulse jetmechanism realizes the repetitive process of water storage-water spray-water storage-water spray by impulse jet propulsion. The structure of the two steering propulsion mechanisms is the same, the first steering propulsion mechanism realizes turning to the right and the second steering propulsion mechanism realizes turning to the left; the pulse jet mechanism realizes the functions of water storage and water spraying through the axial expansion and contraction of the tubular origami structure; the tubular origami structure is driven by the rack and pinion mechanism to realize the axial expansion and contraction of the tubular origami structure, the steering propulsion mechanism is driven by the streamlined semi-circular fish fin structure to perform the reciprocating swing to achieve thesteering propulsion function, and the fish fin structure is driven by the swing guide rod mechanism to achieve the reciprocating swing. The invention is a novel underwater robot and has the advantagesof simple structure, fast propulsion speed, flexible steering and the like.

The invention relates to the field of underwater vehicles, specifically to a driving and driven hybrid fishtail-like underwater propulsion device. A driving motion part of the driving and driven hybrid fishtail-like underwater propulsion device comprises a plurality of joints, flexible plastic plates, a flexible rod and driving lines; a driven part of the driving and driven hybrid fishtail-like underwater propulsion device is a fishtail made by injection molding of a flexible material; and the driven part of the driving and driven hybrid fishtail-like underwater propulsion device has deformation and returning capacity. Through holes are formed in the joints; two ends of the joints are cylindrical surfaces which are rotationally linked; line holes are formed in the left and right external sides of the joints; and clamping grooves are formed in the upper and lower external sides of the joints. The joints are connected with each other in series through the flexible rod; and the driving lines in a pair pass through the line holes in the left and right external sides of the joints and are connected to the last joint. The flexible plastic plates are similar to fish fins in shape and fixed on the upper and lower external sides of the joints through the clamping grooves. The driving part is driven by the driving lines to perform reciprocating swing, and the driven part moves with the driving part and generates a delay to form S-shaped motion. The driving and driven hybrid fishtail-like underwater propulsion device has the advantages of high propelling efficiency, small noise, lessdrivers and low cost and is very suitable for small- and medium-sized underwater vehicles or water surface vehicles.

The invention discloses a water pollution monitoring and early warning device based on fish behaviors, and an early warning method of the water pollution monitoring and early warning device based on the fish behaviors. The early warning device comprises an experiment reaction box and a control device, wherein the experiment reaction box is provided with a biological early warning unit and a waterquality checking unit in the water flow direction in sequence, and the biological early warning unit is separated from the water quality checking unit through a water blockage device; the control device comprising a central processing unit and a collection unit connected with the central processing unit, the collection unit is composed of a fin sensor, a CCD camera, a photoelectric sensor and an impacting sensor, the collection unit transmits a collected data signal to the central processing unit, and the central processing unit contrasts the collected average swimming speed, average turning frequency, average activity water depth and total impacting frequency of fishes in the biological early warning unit with a constructed fish behavior reaction-water pollution degree black-box model, and therefore the degree of water pollution is judged quantitatively.

The invention discloses a cam rope drive robotic fishtail swing device with a shaft replacement door type mechanism. The device comprises the shaft replacement door type mechanism, a door frame A, a door frame B, a disc-shaped cam drive mechanism, springs and pull ropes. The door frame A is installed on one side of the shaft replacement door type mechanism and the door frame B is installed on the other side of the shaft replacement door type mechanism. The springs and the pull ropes are installed on the two sides of a first door. Under the condition that a direct-current motor drives a disc-shaped cam to rotate, the profile of a flange of the disc-shaped cam makes contact with a sliding block B sleeved with the corresponding pull rope, meanwhile, the profile of a base circle of the disc-shaped cam does not make contact with a sliding block A sleeved with the corresponding pull rope, and therefore the first door swings in a reciprocating manner under the effect of a sliding bearing. By the adoption of the device, the variable structure of the disc-shaped cam is combined with the springs and the pull ropes, so that rotary shaft movement of the shaft replacement door type mechanism is achieved. By the adoption of the device, a complex robotic fish fin control problem is converted into a structure and appearance design problem of the disc-shaped cam, so that the complexity of a robotic fish control system is effectively reduced.

The invention relates to a method for preparing a dried full-fish slice from fish bone, minced fish flesh, fish skin, fish fins, fish scales and the like which are leftovers and are not sufficiently used in conventional aquatic product processing. The method comprises the following steps: putting pre-processed fish bone, minced fish flesh, fish skin, fish fins, fish scales, suet, etc. into a mincing machine; carrying out bare blending, salt blending and seasoning blending so as to prepare full-fish suet mixed full-fish glue; and then successively carrying out spreading, drying, baking, slicing, inner packing, disinfection and outer packing so as to prepare the dried full-fish slice. The dried full-fish slice is leisure food developed on the basis of excavation, reorganization and learning of the ancient dish Yuyangxian; preparation steps for the dried full-fish slice are simple and reasonable; the prepared dried full-fish slice inherits nutritional, body-building and nourishing effects of both fish and suet, eliminates a fishy smell and a muttony smell, has delicious taste, is rich in calcium and collagen and has dietotherapic health care effects like calcium supplement, beauty treatment, blood nourishing and activation, kidney tonification, essence securing, liver nourishing, blood vessel softening, blood fat reduction, brain tonification and aging delaying.

The invention discloses a method for automatically identifying species of common freshwater fish based on images. The method comprises the following steps: firstly, extracting a fish outline, sequentially carrying out complanation, length unification and fish head identification treatment on the obtained outline, then extracting an included angle of the head of a fish body, a vertice of the included angle, a height of a tail caudal peduncle, and a middle point of the tail caudal peduncle, further calculating a characteristic value of the included angle of the fish head and the width-length ratio of the fish, and finally, identifying four common freshwater fish of parabramis pekinensis, crucian carps, silver carps and grass carps by taking the included angle of the fish head and the width-length ratio of the fish as characteristics. The method provided by the invention is more reliable than a method of utilizing color characteristics obviously influenced by surroundings and illuminationor utilizing fish back outline characteristics obviously influenced by fins deformation to identify the fish species.

The invention discloses bionic robot fish, which comprises a fish head and a fish body connected with the fish head, wherein the fish head comprises an upper jaw and a lower jaw; fish eyes are arranged on the upper jaw; the fish body comprises a body framework, a tail framework and a fish fin arranged on the body framework; the fish fin comprises a fin framework; the bionic robot fish also comprises an opening and closing mechanism, an eye part driving mechanism, a fish body swinging device, a fin part swinging device, a fin part rotating device, a floating and diving mechanism and a control system; the opening and closing mechanism is connected with the upper jaw and the lower jaw and is used for driving the upper jaw to do opening and closing action relative to the upper jaw; the eye part driving mechanism is arranged in the fish head and is used for driving the fish eyes to rotate; the fish body swinging device is arranged in the body framework and is used for driving the body framework and the tail framework to swing; the fin part swinging device is used for driving the fish fin framework to swing; the fin part rotating device is used for driving the fin framework to rotate; the floating and diving mechanism is used for driving the fish head and the fish body to float and dive; the control system is used for controlling the opening and closing mechanism, the eye part driving mechanism, the fish body swinging device, the fin part swinging device, the fin part rotating device and the floating and diving mechanism to act.

The invention discloses a bidirectional-spaced flexible fin-leg promoting device. A leg promoting device comprises a driving coupling module, spacing blocks and an elastic plate. Rigidity of a flexible leg can be adjusted via changes of rigidity of the elastic plate; and experiments prove that the rigidity of the flexible leg has great effect on promoting performance of a robot. The flexible fin-leg device can be applied to amphibious robots; when a robot walks on the land, legs can be passively switched between a primary straight plate state and a final arc-shaped state to adapt to various complicated land forms due to actions of the elastic plate and the spacing blocks; and when the robot promotes in waters, the flexible leg acts like a fish fin and produce promoting force via swinging of the flexible leg. Advantaged promoting methods can be achieved under two environments via passive flexible deformation; and the structure is simple and reliable; and besides, a final bending state of the flexible leg can be determined via actions of the spacing blocks, so loading capacity of the flexible leg is enhanced.

The invention provides a vision-based multi-fin cooperation drive robotic fish which comprises a shell, a fishtail power module, a fin auxiliary module, a camera module, a gravity center adjusting module, a control module and a power module. The control module is used for controlling movement of the robotic fish. The camera module comprises a camera, and a two-axis pan-tilt assembly used for driving the camera to rotate up and down and left and right is mounted on one side of the camera. The gravity center adjusting module comprises a left-and-right gravity center block and a front-and-back gravity center block, and a left-and-right gravity center adjusting steering engine used for driving the left-and-right gravity center block to swing left and right is arranged on one side of the left-and-right gravity center block. A driving belt wheel and a driven belt wheel are arranged on the two sides of the front-and-back gravity center block. The driving belt wheel is connected with the driven belt wheel through a first synchronous toothed belt. The upper side of the driving belt wheel is connected with a front-and-back gravity center adjusting steering engine. A linear rail is arranged on the lower side of the first synchronous toothed belt. The front-and-back gravity center block is in sliding connection with the linear rail. The functions that shaking is prevented, and the roboticfish ascends, dives and flexibly turns are achieved, and swimming flexibility is improved.

The invention relates to a method for extracting collagen, and in particular to a method for extracting collagen from Mahi-mahi leftovers. According to the technical scheme, the method for extracting collagen from Mahi-mahi leftovers comprises the following steps: with fish skin, fishbone and fins of Mahi-mahi as raw materials, a, crushing the raw materials with a special device, and mixing the crushed raw materials with water to obtain slurry; b, adding an acidic material to the slurry, and carrying out acidification; c, carrying out ultrasonic treatment on the acidified slurry; d, carrying out digestion on the slurry subjected to ultrasonic treatment; e, filtering; f, desalinating; g, freezing; and h, drying. With adoption of the technical scheme, the provided method for extracting collagen from Mahi-mahi leftovers has the advantages of high material utilization rate, improved product extraction rate as well as little pollution and environmental friendliness in extraction processes.

The invention discloses a method for preparing quick-freeing concentrated fish soup using ictalurus punctatus trunk bones. The method is as follows: slicing ictalurus punctatus, removing the fish head, fish tail and fish fins from the fish skeleton to obtain a trunk bone about 15 cm in length, washing, draining off, bagging, quick freezing and storing in a freezing manner for later use; then placing the trunk bone in a 0-4 DEG C refrigerator for unfreezing, frying with oil slightly, draining off oil, adding a certain proportion of water, cooking with big fire until boiling, stewing with medium fire, and filtering; taking and cooking the filtrate with soft fire to a certain concentration, adding salt, wei jia xian, monosodium glutamate and cassava modified starch, mixing uniformly, cooling, quick freezing, and storing in a freezing manner. The quick-freeing concentrated fish soup prepared using the method provided by the invention has the advantages of being instant, fresh, delicious, nutritive and convenient to eat, the comprehensive utilization value of the ictalurus punctatus is effectively improved, industrial production is facilitated.

The invention relates to a method of fine processing of puffer fish. Firstly, puffer fish is cleaned and treated to remove blood, and then the detoxication treatment is performed by cutting off the fish fins, the mouth, the skin, the eyes, the gill and the viscera. Secondly, the edible part treatment is performed and comprises head, body and bone treatments. Further, the blood, the mucosa, the mucilage, the subcutaneous tissue, the fin, the skin, the mouth, the eyes, the gill and the viscera produced in the process are collected and placed in a dish for inedible parts. Finally, the treated muscle, head, rib and spinal bone are soaked in clear water for 3-6 hours at 0-2 DEG C (the soaking water is replaced for 3 times) and then placed in a dish for edible parts. The method reduces tetrodotoxin and inedible parts to the greatest extent, ensures the safety and sanitation of the processed puffer fish products, and ensures the safety and stability in edibility of puffer fish after long-term preservation.

The invention provides a preparation method of fish fin tissues for extracting genomic DNA (deoxyribonucleic acid) of fish, relating to a preparation method of animal tissues for extracting the genomic DNA (deoxyribonucleic acid). The preparation method is used for solving the problems that an existing preparation method of a fish fin tissue sample of the fish requires high preservation conditions, and is unfit for field sampling and the carrying is inconvenient. The preparation method comprises the following steps: (1) collecting the fresh fish fin tissues; (2) flatly putting the fish fin tissues on filter paper, and covering the fish fin tissues by another piece of filter paper; (3) putting the fish fin tissues covered by the filter paper at a cool and ventilation place until the sample is totally dried; (4) carrying out damp-proof preservation on the sample under the room temperature. The preparation method has the advantages that the prepared fish fin tissue sample can be preserved for a long time under the normal temperature and does not need a low-temperature environment, so that the occupied space is reduced, and the preservation cost is lowered; the operation process is concise, the sample is convenient to carry, the workload can be reduced particularly when the quantity of the samples is relative large, the working efficiency is increased, and meanwhile, the experimental quality is guaranteed.

The invention discloses a spray and overflow proof energy-saving closestool capable of achieving water control.The closestool comprises a water tank, a closestool body and a flushing control mechanism, wherein a fish fin-shaped protection shield is arranged at the front end of an upper opening edge of the closestool, a rotary valve rotates downwards by 90 degrees to achieve discharging when a split footboard is treaded down, the other end of a cross connecting rod rises, and water flows in from the water tank and conducts flushing from the top end of the closestool to achieve flushing cleaning; when a split type pedal is treaded down at the same time, two water valve plugs rise at the same time to achieve a more than doubled flushing effect, and cleaning is more thorough; when waste in the closestool is completely discharged, the rotary valve seals the inner wall of the closestool, a pipe orifice and the inner wall of a discharging pipeline, and there is no need to conduct water storage so as to prevent odor overflow like traditional closestools, so that the situation that water is splashed onto skin to cause insanitation is avoided.Through scientific and ingenious design, the problems of splashing, overflowing and water waste of traditional closestools are perfectly solved, and the closestool has the advantages of being novel, practical, capable of being controlled freely, easy to operate, sanitary, attractive, capable of saving energy and protecting the environment and the like.

The invention discloses water quality monitoring equipment available for all waters. The equipment comprises a monitoring equipment shell, a water sample collection device, a power device and more than two groups of snorkeling devise; the monitoring equipment shell is a hollow elliptic cylinder; a fish fin plate is arranged at the upper part of the monitoring equipment shell; the water sample collection device is arranged in the monitoring equipment shell; the power device is fixedly connected with a tail part of the monitoring equipment shell; the power device comprises a power case, a tail plug and a steering engine; the power case comprises a fixed casing and a connecting casing; one end of the connecting casing is connected with the fixed casing, and the other end is connected with themonitoring equipment shell; one end of the tail plug is located at the tail part of an inner cavity of the monitoring equipment shell; the steering engine is arranged in the tail plug, a steering engine rocker arm is connected with the steering engine, and the steering engine rocker arm is connected with the connecting casing through a flexible connecting part; the snorkeling devices are respectively located at two sides of the bottom of the monitoring equipment shell. The invention further discloses a water quality monitoring system available for all waters. The problem that the existing monitoring equipment is ground or rolled over at the shallow water and cannot detect the water quality at the deep water is solved.

The invention relates to a control apparatus, particularly relates to a bionic fish seabed detection control apparatus, and is used for solving the technical problem of providing a bionic fish seabed detection control apparatus which is convenient to control, rich in functions and simple to operate. In order to solve the technical problem, the invention provides a bionic fish seabed detection control apparatus. The bionic fish seabed detection control apparatus comprises an electric push rod, a baffle plate, a camera, a first connecting rod, a controller, a spring, a support, a storage pipe, fish food, a second connecting rod, a connecting block, a fish-fin-like plate, a water tank, a water pump, a first hard pipe, a second slide rail, a second slide block, a supporting rod, a second hard pipe, a guide plate, a fifth connecting rod and a third connecting rod, wherein the motor is arranged on the left rear inner wall of the bionic fish, and a gear is arranged above the motor. By adopting the bionic fish seabed detection control apparatus, effects of convenience in control, rich function and simplicity in operation are achieved; and moreover, a purpose of protecting the marine environment can be achieved.

The invention discloses a feed additive for control of the goldfish fin rot disease and a preparation method thereof. The feed additive is mainly made from the following raw materials by weight: 5-10 parts of plantain, 1-2 parts of roxburgh anoectochilus terminal bud, 3-5 parts of Houttuynia, 15-25 parts of Bupleurum, 3-5 parts of Bezoar, 7-15 parts of honeysuckle, 3-7 parts of lily, 3-7 parts of rhubarb, 3-7 parts of ofloxacin, 1-3 parts of erythromycin and 4-6 parts of amoxicillin. The feed additive for control of the goldfish fin rot disease can improve the immune and antiviral ability of the goldfish, reduce the infection rate of the bacterial virus of the fin rot disease and improve the prevention and control effect of the fin rot disease. The feed additive has the advantages of convenient medication, high absorption rate, no drug residue, and no toxic or side effects.

Provided is a carbocycle sealing structure similar to the surface texture of the dorsal carapace of a desert beetle. One axial side of the carbocycle sealing structure is designed for sealed liquid, and the other side is designed for insulated gas, the pressure of the insulated gas is about 0.05-0.15 MPa lower than that of the sealed liquid; the inner diameter side surface of the carbocycle sealing structure and the surface of a rotating shaft of a sealed machine form a sealing pair; the inner diameter side surface is composed of a smooth hydrophilic surface 1, a fin-like stream guiding protrusion 2 and an upstream spiral pumping groove with a hydrophobic surface 3 which are evenly arranged in a circumferential direction; the fin-like stream guiding protrusion 2 is arranged between the smooth hydrophilic surface 1 and the upstream spiral pumping groove with the hydrophobic surface 3; the bottom surface of the upstream spiral pumping groove with the hydrophobic surface 3 is coated with hydrophobic paint and provided with a segment-type hydrophilic micro protrusion.

The invention discloses a bionic robot fish. The bionic robot fish comprises a fish head and a fish body connected with the fish head, wherein the fish body comprises a trunk framework connected with the fish head, a tail framework connected with the trunk framework and fish fins arranged on the trunk framework; each of the fish fins comprises a fish fin framework and a fin bracket connected with the corresponding fish fin framework; each of the fish fins also comprises a fin rotating device for driving the corresponding fish fin framework to swing, wherein each of the fin rotating devices comprises a fin rotating motor and a connecting rod; each of the fin rotating motors is fixedly connected with the corresponding fin bracket; the connecting rods are fixedly connected with a framework base plate; and each of the connecting rods is connected with the rotating shaft part of the corresponding fin rotating motor. According to the bionic robot fish disclosed by the invention, the structure of the fish fins is simple, the fish fins can be moved, and the bionic robot fish disclosed by the invention has a vivid bionic effect.