Robotic Fish Attitude Adjustment With Counterweights And Ballast Control
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Solution Overview
Problem
Existing robotic fish designs face issues with unreliable, slow, and inflexible attitude adjustment systems, which hinder their ability to mimic the flexible and efficient swimming of real fish.
Innovation Solution
An attitude adjustment apparatus for robotic fish incorporating a center-of-gravity adjustment assembly with a screw-slider mechanism and a suction and drainage system to quickly adjust the fish's center of gravity and weight, enabling rapid changes in pitching and heaving states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single motor drives the tail to swing back and forth, then the robotic fish can achieve basic propulsion, but the motor utilization is low and the attitude adjustment effect is poor
Solution Approach 1:
The patent divides the attitude adjustment system into multiple independent modules: a pitch adjustment mechanism with counterweights that can be independently controlled, and a depth adjustment mechanism with ballast tanks. This segmentation allows each module to perform its specific function reliably without interfering with other systems, resolving the contradiction between reliability and complexity by organizing complexity into manageable, functionally-independent segments.
Solution Approach 2:
The patent employs dynamic adjustment mechanisms where counterweights can be repositioned along the body axis to change pitch attitude, and ballast tanks can be filled or emptied to adjust depth. This dynamic capability enables real-time attitude adjustment during swimming, improving reliability by allowing the system to adapt to changing conditions rather than relying on fixed, pre-programmed movements.
2Speed
If traditional attitude adjustment systems are used, then the structure is relatively simple, but the response is slow and flexibility is poor
Solution Approach 1:
The patent uses counterweights that can be rapidly repositioned to adjust pitch attitude. By moving mass along the body axis, the system achieves quick changes in rotational inertia and center of gravity, enabling fast pitch adjustments. This counterweight mechanism provides both speed and flexibility, as the counterweights can be positioned anywhere along the rail to achieve different attitude angles.
Solution Approach 2:
The patent employs a water-based ballast system where tanks can be rapidly filled or emptied to adjust depth. This hydraulic approach enables fast weight changes and rapid depth transitions, achieving both quick response and flexible control. The fluid-based system allows smooth, continuous adjustment of buoyancy for versatile depth control.
3Loss of time
If the robotic fish needs to quickly adjust diving and ascending, then the response time is reduced, but the energy consumption increases
Solution Approach 1:
The patent positions counterweights and ballast tanks in advance to prepare for anticipated attitude changes. By pre-positioning mass elements and having ballast tanks ready to be filled or emptied, the system can execute rapid attitude adjustments when needed without requiring continuous energy input. This preliminary preparation reduces both response time and overall energy consumption.
Solution Approach 2:
The patent replaces continuous mechanical propulsion for attitude adjustment with intermittent use of counterweight repositioning and ballast water transfer. Instead of constantly powering thrusters or motors for attitude control, the system uses gravity and buoyancy forces created by repositioning mass elements, thereby reducing energy consumption while maintaining fast response capability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus allows for efficient and flexible underwater locomotion, including diving and ascending, by rapidly adjusting the robotic fish's attitude, mimicking the agility of real fish.
Implementation Method 1
a screw rod connected to the mover, and a stepping motor for driving the screw rod to rotate
Implementation Method 2
the water outlet pipe of the water pump may be connected to the ballast tank to feed water into the ballast tank; the ballast tank may be connected to a drain pipe to drain water in the ballast tank
Implementation Method 3
the drain pipe may be provided with a one-way valve
Data Source
AI summary
An attitude adjustment apparatus for a self-propelled bio-inspired robotic fish includes a fish body, where the fish body includes: a housing; a center-of-gravity adjustment assembly, located in the housing to adjust a center of gravity of the fish body, and including at least one counterweight and a screw-slider mechanism that drives the counterweight to move in a head-to-tail direction; and a suction and drainage system, located in the housing to adjust a weight of the fish body, and including a ballast tank and a water control assembly for controlling a water level in the ballast tank. The center-of-gravity adjustment assembly is combined with the suction and drainage system to rapidly change the weight and center of gravity of the fish body, so as to quickly adjust the pitching attitude and heaving state of the robotic fish.