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Bionic robot fish

A technology of robotic fish and fish body, applied in the field of bionic robotic fish, can solve the problems of complex mechanism, combination of pectoral fins and tail fins, difficulty in realizing underwater suspension and precise depth control, etc., and achieves compact structure, high mobility, and realistic appearance. Effect

Active Publication Date: 2008-10-08
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0005] At present, bionic robot fish at home and abroad mainly rely on two-degree-of-freedom pectoral fins or tail fins to achieve corresponding movements, without combining pectoral fins and tail fins; ascending and diving mainly rely on pectoral fins, changing the center of gravity or water storage tanks, of which the first two methods It is difficult to achieve suspension in water and precise depth control, and the latter method has a complicated mechanism, which will affect the maneuverability of the robotic fish

Method used

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Embodiment

[0044] According to the mechanical structure and control circuit structure described in the present invention, a bionic robot fish is produced. The shell is made of fiberglass hand lay-up process, the tail of the robot fish is fixed on it, the pectoral and caudal fins are made of nylon, and the fish skin is made of latex. After installing and fixing all the mechanisms and connecting all the control lines, the connection between the upper and lower shells is sealed with a labyrinth, and the joints between the shell and the pectoral fin, tail, and buoyancy adjustment device are sealed with O-rings, and then the upper and lower shells are connected with screws. , put the fish skin on the fish shell and seal it with rubber glue to obtain the real object. The control circuit implements as Figure 8 , using AVR single-chip microcomputer as a microcontroller, using a lithium rechargeable battery as a power source for control circuits, motors, sensors, etc. 3 channels of infrared an...

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Abstract

A bionic mechanical fish is composed of casing consisting of upper and lower halves, chest fins driven by step motor, tail unit consisting of tail fin, skin, frame, and fixing plate, and driven by linear motor, detecting unit consisting of miniature camera head, infrared sensor and pressure sensor, control unit comprising microcontroller, information acquisition module, motor driver and communication module, and float regulating unit consisting of linear motor and piston-cylinder reciprocating unit.

Description

technical field [0001] The invention relates to an electromechanical integration device, in particular to a bionic robot fish imitating the movement of fish. Background technique [0002] Before the 1990s, the research on fish bionics mainly focused on theory. With the in-depth study of fish propulsion mechanism and the development of robot technology, MIT's M. Triantafyllou research group successfully developed the world's first truly bionic robot fish in 1994. Since then, combined with new developments in bionics, electronic technology, material science and control technology, the research on bionic robotic fish has gradually become a research hotspot in the field of robotics. [0003] In addition to the bionic robot tuna developed by the MIT research group for the study of fish mobility and eddy current control abroad, the representative achievement is the wave propulsion developed by the Marine Science Center of Northeastern University in the United States using shape m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H1/36
Inventor 曹志强谭民王硕王龙周超沈志忠
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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