阅读说明：本技术 一种气动摆尾仿生鱼 (Pneumatic tail-swinging bionic fish ) 是由 王延杰 徐望舒 陈子豪 杨志威 骆敏舟 朱灯林 于 2020-07-31 设计创作，主要内容包括：本发明公开了一种气动软体仿生鱼尾结构,包括依次连接的头部结构、尾部结构和尾鳍结构；所述头部结构内设置有空腔；所述空腔内安装有气泵；所述尾部结构包括限制层、导气孔、左侧气腔结构和右侧气腔结构；所述左侧气腔结构和右侧气腔结构分别安装在限制层的两侧；所述导气孔设置在左侧气腔结构和右侧气腔结构的前部；气腔结构中具有“丰”字型的空腔；所述气泵通过气管连接导气孔。本发明结构以BCF(身体/尾鳍)运动模式为基础,模拟了鱼类的摆尾运动,具有较好的仿生性,该仿生鱼结构具有操纵简单、普及性高、水下适应性良好等特点。(The invention discloses a pneumatic soft bionic fish tail structure, which comprises a head structure, a tail structure and a tail fin structure which are sequentially connected; a cavity is arranged in the head structure; an air pump is arranged in the cavity; the tail structure comprises a limiting layer, an air guide hole, a left air cavity structure and a right air cavity structure; the left air cavity structure and the right air cavity structure are respectively arranged on two sides of the limiting layer; the air guide holes are arranged in the front parts of the left air cavity structure and the right air cavity structure; the air cavity structure is provided with a hollow cavity shaped like a Chinese character feng; the air pump is connected with the air guide hole through an air pipe. The bionic fish structure simulates the tail swinging motion of fish on the basis of a BCF (body/tail fin) motion mode, has better bionic property, and has the characteristics of simple operation, high popularity, good underwater adaptability and the like.)

1. A pneumatic tail-swinging bionic fish is characterized by comprising a head structure, a tail structure and a tail fin structure which are sequentially connected; a cavity is arranged in the head structure; an air pump is arranged in the cavity; the tail structure comprises a limiting layer, an air guide hole, a left air cavity structure and a right air cavity structure; the left air cavity structure and the right air cavity structure are respectively arranged on two sides of the limiting layer; the air guide holes are arranged in the front parts of the left air cavity structure and the right air cavity structure; the air pump is connected with the air guide hole through an air pipe.

2. The pneumatic fishtailing bionic fish according to claim 1, wherein a plurality of opposite transverse air cavities are arranged on two sides of the interiors of the left air cavity structure and the right air cavity structure; the middle of the opposite transverse air cavities is provided with a longitudinal air cavity which mutually communicates the transverse air cavities.

3. The pneumatic tail-swaying bionic fish according to claim 1, wherein the aspect ratio of the tail fin mechanism is 3-4: 1.

4. the pneumatic fishtailing bionic fish according to claim 1, wherein the material of the limiting layer is non-woven cloth; the left air cavity structure and the right air cavity structure are made of silicon rubber.

5. The pneumatic fishtailing bionic fish according to claim 1, wherein the left air cavity structure and the right air cavity structure are manufactured by casting and are bonded with the limiting layer through silica gel.

6. The pneumatic tail-swaying bionic fish according to claim 1, wherein the integral structure of the head structure, the tail structure and the tail fin structure is a streamline structure.

Technical Field

The invention relates to the field of bionic fish, in particular to a pneumatic tail-swaying bionic fish.

Background

With the development of the times, the demands of human beings on various natural resources are increasing day by day, and under the condition that part of land resources are exhausted due to over exploitation, the human beings turn targets underwater under the support of scientific technology, and in the process, the underwater robot plays an indispensable role.

The traditional underwater robot is generally of a rigid structure, is propelled by a propeller, and not only is energy consumption increased and propulsion efficiency reduced, but also noise is generated and concealment is reduced due to the structure. In addition, the operation of the conventional underwater robot in a complicated water area is also greatly limited by the structure of the conventional underwater robot. Therefore, the bionic robot fish which has various advantages of high propulsion efficiency, flexibility, low disturbance amount and the like by taking the fish as a reference for swimming becomes a research object of a plurality of students.

Generally, the propulsion modes of fish can be divided into two main types, which are divided into a Body/tail fin (BCF) propulsion mode and a middle fin/pair fin (MPF) propulsion mode according to the propulsion mode and the different parts of the Body. Lindsey, a related research scholars in 1978, has given the propulsion mechanism and mode of action of various fishes according to the classification method. For the propulsion mode of the MPF, the motion mode is complex, the consideration factors are more, and the design aspect has certain difficulty. For BCF, the propulsive force of the fishes swimming in the BCF mode is mainly generated by the fluctuation of bodies in water and/or the swing of tail fins, most fishes in the world swim in the BCF mode, and the BCF swimming device has the characteristics of high efficiency, high speed and the like. In 1994, MIT developed the first biomimetic robotic fish Robo Tuna in the world, designed by prototype Tuna in BCF propulsion mode, with a maximum speed of up to 2 m/s.

Most of the existing driving modes of the fishtail structure adopt servo motors for driving, the fishtail structure has the characteristics of large weight and volume, high noise, high efficiency, high equipment accuracy and the like, and the requirement on the environment is strict in underwater motion.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide a pneumatic tail-swaying bionic fish to solve the problem of poor adaptability in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme:

a pneumatic tail-swinging bionic fish comprises a head structure, a tail structure and a tail fin structure which are sequentially connected; a cavity is arranged in the head structure; an air pump is arranged in the cavity; the tail structure comprises a limiting layer, an air guide hole, a left air cavity structure and a right air cavity structure; the left air cavity structure and the right air cavity structure are respectively arranged on two sides of the limiting layer; the air guide holes are arranged in the front parts of the left air cavity structure and the right air cavity structure; the air pump is connected with the air guide hole through an air pipe. The air guide holes are used for introducing air to obtain driving force. The head structure where the air pump is arranged is designed to be streamline, and the aim is to reduce the resistance in swimming. The air pump structure is mainly used for providing air pressure and controlling the size of the air pressure. The main motion structure is a pneumatic tail-swinging structure, an inner structure is provided with a left cavity structure and a right cavity structure, and left and right swinging motion can be realized after air pressure is introduced into different layers. The tail fin structure is more similar to fish in order to simulate the whole structure;

because the air pump needs power of electric power, the outside of the air pump is provided with a layer of silica gel structure, and the silica gel structure has better insulativity and air tightness due to the material characteristics of the silica gel structure, so that the problems of power utilization safety, current leakage and the like are avoided; the required atmospheric pressure of afterbody drive is less, and the model that the air pump was selected is also less, can place in fish head structure, and if the fish tail size is great, required atmospheric pressure is great, and the air pump model is also great, can get rid of head structure, moves the air pump structure to the outside, links to each other with the pendulum tail structure through pneumatic linkage unit and trachea, still can drive, does not take place the influence to the functional characteristic of structure.

Furthermore, a plurality of opposite transverse air cavities are arranged on two sides of the inner parts of the left air cavity structure and the right air cavity structure; a longitudinal air cavity is arranged in the middle of the opposite transverse air cavity.

The whole left side air cavity structure or the right side air cavity structure is provided with a hollow cavity shaped like a Chinese character feng; the middle of the left air cavity structure and the right air cavity structure is provided with a limiting layer, and after air pressure is introduced into a hollow cavity shaped like a Chinese character feng in the air cavity structure, the hollow cavity expands; because pneumatic tail-swinging mechanism has two air cavity structures about, consequently when letting in the gas of certain atmospheric pressure towards the air cavity structure on the left side, whole tail-swinging mechanism swings towards the right, and whole tail-swinging mechanism swings towards the left side when letting in the gas of certain atmospheric pressure towards the air cavity structure on the right to realize the motion state of horizontal hunting, realize the motion of tail-swinging.

Further, the aspect ratio of the tail fin mechanism is 3-4: 1.

further, the material of the limiting layer is non-woven cloth; the left air cavity structure and the right air cavity structure are made of silicon rubber.

Further, the left air cavity structure and the right air cavity structure are manufactured in a casting mode and are adhered to the limiting layer through silica gel.

Furthermore, the overall structure formed by the head structure, the tail structure and the tail fin structure is a streamline curve structure.

Compared with the prior art, the invention has the beneficial effects that:

the pneumatic bionic fish has the advantages that the air pump is used for driving the fish tail structure, the pneumatic driven fish tail structure has the capabilities of continuously swimming, turning, floating, submerging and the like the traditional bionic machine fish, and compared with the rigid bionic fish driven by the motor, the pneumatic bionic fish has no noise generated by the motor; in addition, compared with a rigid fish tail structure driven by a motor, the pneumatic fish tail structure is mostly a soft structure, has strong adaptability and high flexibility, is suitable for various complex environments, avoids the limitation of a rigid fish body in narrow environments, and has stronger activity.

Drawings

Fig. 1 is a sectional view of the head, tail fin structure and function of a pneumatic tail-swaying bionic fish provided by the invention.

Fig. 2 is a schematic diagram of a pneumatic tail-swaying structure of the tail of the pneumatic tail-swaying bionic fish provided by the invention.

Fig. 3 is a schematic diagram of the swing change of the pneumatic tail-swinging bionic fish tail according to the invention, wherein (a) is a diagram without change, (b) is a diagram with expansion on the left side and bending to the right, and (c) is a diagram with expansion on the right side and bending to the left.

Reference numerals: 1-head structure, 2-tail structure, 3-tail fin structure, 4-air pump mechanism, 5-pneumatic tail swinging mechanism, 6-tail fin mechanism, 7-cavity with air pump, 8-limiting layer, 9-air guide hole, 10-left air cavity structure, 11-right air cavity structure, 12-left air cavity shaped like Chinese character feng, and 13-right air cavity shaped like Chinese character feng.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments, but the embodiments of the present invention are not limited thereto.

Referring to fig. 1-3, a pneumatic tail-swaying bionic fish. As shown in fig. 1, the bionic soft fish tail structure is structurally divided into three parts, namely a head structure 1, a tail structure 2 and a tail fin structure 3, and is also functionally divided into three parts, namely an air pump structure 4, a pneumatic tail swing structure 5 and a tail fin mechanism 6. The three parts in structure and function are respectively in one-to-one correspondence. Specifically, there is a cavity in the head structure 1, which is the cavity 7 for the air pump, and the air pump is placed in this space and connected to the pneumatic tail-wagging structure 5 through a pneumatic connection and an air pipe. If need carry out the integration with air pump structure 4 and pneumatic tail-swaying structure 5 and be connected, then can link these two as an organic wholely through silica gel, if need take out the air pump alone, then can remove overall structure with air pump mechanism 4 alone, do not have any influence to pneumatic tail-swaying mechanism 5. Head structure 1 at air pump place has great quality, and its purpose is in order to strengthen the lateral stability of whole fish tail structure, and the quality increases, and the swing of head is corresponding cuts also to have reduced, and the purpose is in order to avoid causing extra energy loss.

Preferably, the whole head structure 1 and the tail structure 2 both adopt streamline structures, so that the efficiency of motion in water is better, and the resistance is smaller. Tail fin mechanism 3 is formed by silica gel preparation, because the stationarity of whole structure motion can be guaranteed to the tail fin, the tail fin has big more aspect ratio, then the fish tail structure has better propulsive efficiency, and the aspect ratio design of the shape of tail fin mechanism 3 is at 3: 1 and 4:1, preferably 3.25:1, on the one hand, the balance and stability of the whole mechanism are ensured, and on the other hand, the propelling efficiency of the movement of the whole mechanism is enhanced.

As shown in fig. 2, the pneumatic fishtailing mechanism 5 includes a limiting layer 8, an air guide hole 9, a left air chamber structure 10 and a right air chamber structure 11. The line of the whole pneumatic tail-swinging mechanism 5 is in the form of a streamline mechanism, and the line formula of the curve can be expressed as follows:

. Wherein the content of the first and second substances,

，

，

，

. The streamline curve has better efficiency of movement in water and smaller resistance.

The front parts of the left air cavity structure 10 and the right air cavity structure 11 are respectively provided with an air guide hole 9, the air guide hole 9 is connected with an air pump through an air pipe, and a limiting layer 8 is arranged between the left air cavity structure 10 and the right air cavity structure 11. The limiting layer 8 is made of non-woven fabric, the shape of the limiting layer cannot be changed along with the change of air pressure, and the left air cavity structure 10 and the right air cavity structure 11 are made of silicon rubber, so that the limiting layer has the characteristic of low Young modulus and is easy to deform.

The left side air cavity structure 10 and the right side air cavity structure 11 are respectively provided with a left side air cavity 12 shaped like a Chinese character feng and a right side air cavity 13 shaped like a Chinese character feng, the structure of the air cavity shaped like a Chinese character feng is an air cavity with one strip in the transverse direction, an air cavity communicated with the transverse air cavity is longitudinally arranged, the state of the whole air cavity is similar to that of the Chinese character feng, the structure is generally called as a multi-air-cavity structure, once gas with certain air pressure is introduced towards the air cavity, the whole structure can expand, and the longitudinal length and the transverse length can be increased. The function of the confinement layer is to suppress expansion of the air cavity structure 10, 11.

Specifically, when the air pump lets in the gas of certain atmospheric pressure towards left side air cavity structure 10 through air guide hole 9, left side "feng" style of calligraphy air cavity 12 of left side air cavity structure 10 inside receives the extrusion of atmospheric pressure, take place the inflation, radial and fore-and-aft size all takes place the increase, but owing to pasted restriction layer 8 on left side air cavity structure 10's right side, restriction layer 8 does not receive the influence of atmospheric pressure, can not change, consequently, the inflation can not take place for the right side one side at left side air cavity structure 10, the size does not change, only the inflation takes place for left side one side of left side air cavity structure 10, consequently left side air cavity structure 10 takes place to buckle towards one side of restriction layer 8.

Preferably, the left air cavity structure 10 and the right air cavity structure 11 are both manufactured in a mode of mold casting, and firstly, a 3D printing mode is adopted to print a casting mold and then pour silica gel. After the left air cavity structure 10 and the right air cavity structure 11 are adhered to the middle limiting layer 8 through silica gel, the tail structure 2 is usually secondarily cast by using silica gel, so that a complete silica gel protective layer is formed, on one hand, the integrity of the whole structure is ensured, and on the other hand, the air tightness of the tail structure 2 is also ensured, so that the leakage of air is prevented. The silica gel materials are all Ecoflex 00-50 of Smooth-On company.

The tail-swinging motion mode of the whole pneumatic tail-swinging mechanism is as follows, as shown in fig. 3 (b), when an air pump leads air with certain air pressure into the left air cavity structure 10 through an air guide hole 9, because a left-side air cavity 12 in the left air cavity structure 10 exists, the left air cavity structure 10 can generate expansion, the radial and longitudinal sizes can be increased, the right side of the left air cavity structure 10 is provided with a limiting layer, the shape can not be changed, only the left side of the left air cavity structure 10 is deformed, and the whole pneumatic tail-swinging mechanism 5 swings towards the right side; when the air pump introduces air with a certain air pressure to the right air cavity structure 11 through the air guide hole 9 as shown in fig. 3 (c), because the right air cavity structure 11 is internally provided with the right air cavity 13 shaped like a Chinese character feng, the right air cavity structure 11 can expand, the radial and longitudinal sizes can be increased, the left side of the right air cavity structure 11 is provided with the limiting layer, the shape can not be changed, only the right side of the right air cavity structure 11 is deformed, the whole pneumatic tail swinging mechanism 5 swings towards the left side, and the left-right swinging movement mode is finally realized.

Preferably, the amplitude of the oscillation may be adjusted by adjusting the magnitude of the air pressure, the greater the amplitude of the oscillation. The swinging frequency can be adjusted by adjusting the on-off frequency of the two air guide holes 9, and the larger the on-off frequency is, the larger the swinging frequency of the fish tail is.

The invention adopts silicon rubber as the material, and has the characteristics of no toxic or harmful phenomenon, low cost and easy acquisition of manufacturing materials; the structure is streamline, the speed of motion in water is high, the efficiency is high, and potential safety hazards such as electric leakage and the like are not easy to occur; the air pump can be placed in the head structure and integrated with the integral structure, or the head structure can be removed from the integral structure and placed on the water surface independently, so that the detachable air pump has the characteristic of being detachable and easy to troubleshoot and replace and overhaul the air pump; the invention has simple structure, high softness, strong compliance, low rigidity, small destructiveness and good environmental adaptability, and is suitable for the fields of underwater detection, reconnaissance, search and rescue and the like.

The bionic fish structure simulates the tail swinging motion of fish on the basis of a BCF (body/tail fin) motion mode, has better bionic property, and has the characteristics of simple operation, high popularity, good underwater adaptability and the like.

The foregoing is a preferred embodiment of the present invention, and is not intended to limit the invention in any way, but rather, to cover all modifications and equivalents of the invention as may fall within the spirit and scope of the appended claims.