CN113955057A

CN113955057A - Underwater bionic dolphin machine device and system

Info

Publication number: CN113955057A
Application number: CN202111357755.3A
Authority: CN
Inventors: 王梓豪
Original assignee: Individual
Current assignee: Shanghai Yusi Youth Computing Science Development Center
Priority date: 2021-11-16
Filing date: 2021-11-16
Publication date: 2022-01-21
Anticipated expiration: 2041-11-16
Also published as: CN113955057B

Abstract

The invention relates to a bionic dolphin robot device and a bionic dolphin robot system for underwater use. The system comprises a bionic dolphin machine device and a remote control device. The floating and sinking type suspension device has the advantages that through the floating and sinking unit, the self weight is increased, meanwhile, the sealing structure of the main body unit is utilized to compress the air in the main body unit, so that the effect of changing the self weight is achieved, the buoyancy is changed, and the suspension is realized; the gravity center is changed through the gravity center adjusting unit, so that the floating and sinking actions are realized; the floating and sinking unit and the gravity center adjusting unit are matched, so that the freedom degree and flexibility of the bionic dolphin machine device in water are improved; the gravity center of the bionic dolphin robot device is arranged on the lower half portion, and balance can be achieved under the condition that water enters at any angle.

Description

Underwater bionic dolphin machine device and system

Technical Field

The invention relates to the technical field of ocean engineering, in particular to an underwater bionic dolphin machine device and system.

Background

When exploration, monitoring and sampling are carried out in rivers, lakes and seas, underwater operation is needed, and workers are generally allowed to dive for work. But when the wind is strong, the water level rises and the flood comes, the potential safety hazard is easy to appear.

When the underwater operation is involved, the driving of a professional ship or the use of manpower for the underwater operation wastes time and labor, and the traditional propeller underwater robot is easily influenced by waterweeds, gravels and the like.

In order to solve the problems, scientific research institutes and enterprises develop a plurality of underwater robots to complete the work.

A novel bionic dolphin robot system with mechanical fin limbs is developed in an intelligent bionic robot laboratory of Beijing university institute of Industrial science. The back-abdomen type exercise is realized by a serial multi-joint up-and-down swinging mechanism, and the maneuvering exercise is realized by a left-and-right swinging turning mechanism and a two-freedom-degree moving fin-limb mechanism. The project simulates the control mode of the tail when the dolphin swims with five degrees of freedom. And the pectoral fins are controlled by controlling the pull rope and the rotating shaft through the stepping motor. However, the system does not float up or submerge, can only enter water at a specific angle, and has the problems of difficult balance, falling and the like when entering water at other angles.

A robot dolphin based on body shape and motion bionics is developed in a complex system of the Chinese academy of sciences automation institute and an intelligent scientific laboratory. The three-degree-of-freedom fin limb is adopted to realize ascending and descending motions and braking, and an independent turning mechanism is adopted to realize the steering of the robotic dolphin. Similarly, the system can only enter water at a specific angle, and cannot easily balance and cause problems of dumping and the like when entering water at other angles.

At present, no effective solution is provided for the problems that floating and submerging can not be realized, water can only enter at a specific angle, balance can not be kept and the like in the related technology.

Disclosure of Invention

The invention aims to provide a bionic dolphin machine device and a bionic dolphin machine system used under water, aiming at overcoming the defects in the prior art, and solving the problems that floating and submerging cannot be realized, only water enters at a specific angle, balance cannot be kept and the like in the related technology.

In order to achieve the purpose, the invention adopts the technical scheme that:

in a first aspect, the present invention provides a biomimetic dolphin robotic device for use underwater, comprising:

a main body unit;

a tail fin unit detachably provided at a tail end of the body unit;

the pectoral fin units are symmetrically and detachably arranged on two sides of the main body unit;

the floating and sinking unit is arranged inside the main body unit and is used for adjusting the weight of the main body unit;

a center of gravity adjusting unit provided inside the main body unit for adjusting the center of gravity of the main body unit;

and the control unit is arranged in the main body unit and is respectively connected with the tail fin unit, the pectoral fin unit, the floating and sinking unit and the gravity center adjusting unit.

In some of these embodiments, the body unit comprises:

a first housing element;

a first mounting element disposed at a trailing end of the first housing element and connected to the tail fin unit;

second mounting elements symmetrically arranged at both sides of the first housing element and connected with the corresponding pectoral fin units;

a through hole element disposed on a surface of the first housing element for connecting the tail fin unit and the pectoral fin unit with the control unit through the through hole element and communicating the sinking and floating unit with the outside;

a second housing member detachably provided at an upper portion of the first housing member and sealing the first housing member;

a waterproof member provided at a connecting position of the first case member and the second case member;

a connecting element that is detachably connected in sequence with the second housing element, the first housing element.

In some of these embodiments, the first housing element comprises:

a lower housing removably connected to the second housing element;

a first opening provided at an upper surface of the lower case;

a plurality of first connection holes arranged around the first opening and detachably connected with the connection element;

a stiffener disposed at a bottom of an interior of the lower housing element.

In some of these embodiments, the second housing element comprises:

an upper housing removably connected to the first housing element;

a second opening provided in a lower surface of the upper housing;

the second connecting holes are arranged around the second opening and are detachably connected with the connecting element;

the back fin is arranged on the upper surface of the upper shell.

In some of these embodiments, the waterproofing element comprises:

a waterproof groove provided on an upper surface of the first case member;

the waterproof sealing ring is detachably arranged on the waterproof groove.

In some of these embodiments, the tail fin unit comprises:

the first driving element is detachably connected with the tail end of the main body unit and is connected with the control unit;

and the tail fin element is fixedly connected with the first driving element and is used for swinging up and down under the action of the first driving element.

In some of these embodiments, the first drive element comprises:

the first bracket is detachably connected with the tail end of the main body unit;

the second bracket is rotatably connected with the first bracket;

the first driving motor is fixedly connected with the second support and is rotatably connected with the first support;

and the third bracket is fixedly connected with the second bracket and the tail fin element respectively.

In some of these embodiments, the number of the first driving elements is n, where n is an integer greater than or equal to 2;

the n first driving elements are connected in sequence, the first driving element positioned at the head end is connected with the tail end of the main body unit, and the first driving element positioned at the tail end is connected with the tail fin element.

In some of these embodiments, the skeg element comprises:

a tail fin;

the first connecting bracket is respectively connected with the tail fin and the first driving element.

In some of these embodiments, the tail fin unit further comprises:

and the fourth driving element is connected with the first driving element and the tail fin element respectively, or the fourth driving element is connected with the tail end of the main body unit and the first driving element respectively, is connected with the control unit and is used for driving the tail fin element to rotate.

In some of these embodiments, the fourth drive element comprises:

and the fourth driving motor is respectively connected with the first driving element and the tail fin element, or the fourth driving element is respectively connected with the tail end of the main body unit and the first driving element, is connected with the control unit and is used for driving the tail fin element to rotate.

In some of these embodiments, the fourth drive element further comprises:

a fourth support connected to the first drive element and the fourth drive motor, respectively.

In some of these embodiments, the tail fin unit further comprises:

a third housing element, which is connected to the tail end of the main unit and the tail fin element, respectively, and the first driving element is disposed inside the third housing element.

In some of these embodiments, the pectoral fin unit comprises:

a second driving element detachably connected to a side of the main body unit and connected to the control unit;

a pectoral fin element connected with the second drive element for rotation by the second drive element.

In some of these embodiments, the second drive element comprises:

a second driving motor connected with a side of the main body unit and connected with the control unit.

In some of these embodiments, the pectoral fin element comprises:

chest fins;

and the second connecting bracket is respectively connected with the chest fin and the second driving element.

In some of these embodiments, the pectoral fin unit further comprises:

and the fifth driving element is connected with the second driving element and the pectoral fin element respectively, or the fifth driving element is connected with the side part of the main body unit and the second driving element respectively, is connected with the control unit and is used for driving the pectoral fin element to swing up and down.

In some of these embodiments, the second drive element further comprises:

and the fifth support is respectively connected with the fifth driving element and the second driving motor.

In some of these embodiments, the fifth drive element comprises:

a sixth bracket detachably connected to a side of the main body unit;

the seventh bracket is rotatably connected with the sixth bracket;

the fifth driving motor is fixedly connected with the seventh support and is rotatably connected with the sixth support;

and the eighth bracket is fixedly connected with the seventh bracket and the second driving element respectively.

In some of these embodiments, the fifth drive element comprises:

a sixth support rotationally coupled to the second drive element;

the seventh bracket is rotatably connected with the sixth bracket;

and the eighth bracket is fixedly connected with the seventh bracket and the pectoral fin element respectively.

In some of these embodiments, the pectoral fin unit further comprises:

a fourth housing element connected to the lateral portion of the body unit and the pectoral fin element, respectively, the second driving element being disposed inside the fourth housing element.

In some of these embodiments, the sink-float unit comprises:

the swimming bladder element is arranged inside the main body unit;

the first liquid conveying element is arranged inside the main body unit, one end of the first liquid conveying element is connected with the swim bladder element, the other end of the first liquid conveying element is communicated with the outside of the main body unit and is connected with the control unit, and the first liquid conveying element is used for conveying liquid outside the main body unit to the inside of the swim bladder element and conveying liquid inside the swim bladder element to the outside of the main body unit.

In some of these embodiments, the center of gravity adjusting unit includes:

a third driving element provided inside the main body unit and connected to the control unit;

the sliding element is connected with the third driving element and is used for performing linear reciprocating motion under the action of the third driving element;

a weight member connected with the sliding member for performing a linear reciprocating motion by the sliding member to adjust the center of gravity of the main unit.

In some of these embodiments, further comprising:

and the image acquisition unit is arranged on the main body unit, is connected with the control unit and is used for acquiring the surrounding environment image of the bionic dolphin machine device.

In some of these embodiments, the image acquisition unit comprises:

the visual sensing element is arranged on the outer side of the main body unit, is connected with the control unit and is used for acquiring a surrounding environment image of the bionic dolphin machine device;

and the distance monitoring element is arranged on the outer side of the main body unit, is connected with the control unit and is used for acquiring the surrounding environment distance of the bionic dolphin machine device.

In some of these embodiments, further comprising:

and the sample acquisition unit is arranged at the bottom of the main body unit, is connected with the control unit and is used for acquiring surrounding environment substances of the bionic dolphin machine device.

In some of these embodiments, the sample acquisition unit comprises:

an accommodating member provided at a bottom of the body unit;

the second liquid conveying element is arranged on the side part of the accommodating element, is communicated with the accommodating element, is connected with the control unit and is used for conveying the liquid in the accommodating element to the outside of the accommodating element;

the filter element is arranged in the accommodating element, is positioned at the upstream of the second liquid conveying element, and is used for carrying out solid-liquid separation on the accommodating element so as to enable the solid to stay in the accommodating element;

a valve element disposed at a side of the receiving member and connected with the control unit.

In some of these embodiments, the containment element comprises:

the accommodating cavities are sequentially arranged inside the accommodating elements and are communicated with each other, the filtering element is arranged between every two adjacent accommodating cavities, and each accommodating cavity is correspondingly provided with one valve element;

wherein, in the case of operation of the second liquid conveying element, at least one of the valve elements is opened.

In a second aspect, the present invention provides a biomimetic dolphin machine system for use underwater, comprising:

a biomimetic dolphin robotic device as described in the first aspect;

and the remote control device is in communication connection with the bionic dolphin machine device and is used for sending a control instruction to the bionic dolphin machine device.

By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:

according to the underwater bionic dolphin machine device and system, the self weight is increased through the floating and sinking unit, meanwhile, the sealing structure of the main body unit is utilized to compress the air in the main body unit, so that the effect of changing the self weight is achieved, the buoyancy is changed, and hovering is realized; the gravity center is changed through the gravity center adjusting unit, so that the floating and sinking actions are realized; the floating and sinking unit and the gravity center adjusting unit are matched, so that the freedom degree and flexibility of the bionic dolphin machine device in water are improved; the gravity center of the bionic dolphin robot device is arranged on the lower half portion, and balance can be achieved under the condition that water enters at any angle.

Drawings

FIG. 1 is a schematic view of a biomimetic dolphin robotic device according to an embodiment of the present invention;

FIG. 2 is a block diagram (I) of the electrical connections of the biomimetic dolphin robotic device according to an embodiment of the present invention;

FIGS. 3 a-3 e are schematic views of a body unit according to an embodiment of the invention;

FIGS. 4 a-4 d are schematic diagrams of a tail fin unit according to an embodiment of the present invention;

FIGS. 5 a-5 c are schematic diagrams of pectoral fin units according to embodiments of the present invention;

FIG. 6 is a schematic diagram of a sink-float unit according to an embodiment of the present invention;

FIG. 7 is a schematic view of a center of gravity adjustment unit according to an embodiment of the present invention;

FIG. 8 is a block diagram of the electrical connections of a biomimetic dolphin machine system according to an embodiment of the present invention;

FIGS. 9 a-9 b are schematic diagrams of a tail fin unit according to an embodiment of the present invention;

FIGS. 10 a-10 b are schematic diagrams of a pectoral fin unit according to an embodiment of the present invention;

FIG. 11 is a block diagram of the electrical connections of the biomimetic dolphin robotic device according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of an image acquisition unit according to an embodiment of the invention;

FIG. 13 is a block diagram of the electrical connections of a biomimetic dolphin robotic device according to an embodiment of the present invention;

fig. 14 a-14 b are cross-sectional views of a sample acquiring unit according to an embodiment of the present invention.

Wherein the reference numerals are: 1000. a biomimetic dolphin robotic device;

1100. a main body unit; 1110. a first housing element; 1111. a lower housing; 1112. a first opening; 1113. a first connection hole; 1114. reinforcing ribs; 1120. a first mounting element; 1130. a second mounting element; 1140. a through-hole element; 1150. a second housing element; 1151. an upper housing; 1152. a second opening; 1153. a second connection hole; 1154. a back fin; 1160. a waterproof member; 1161. a waterproof groove; 1162. a waterproof sealing ring; 1170. a connecting element;

1200. a tail fin unit; 1210. a first drive element; 1211. a first bracket; 1212. a second bracket; 1213. a first drive motor; 1214. a third support; 1220. a tail fin element; 1221. a tail fin; 1222. a first connecting bracket; 1230. a fourth drive element; 1231. a fourth drive motor; 1232. a fourth bracket;

1300. a pectoral fin unit; 1310. a second drive element; 1311. a second drive motor; 1312. a fifth support; 1320. a pectoral fin element; 1321. chest fins; 1322. a second connecting bracket; 1330. a fifth drive element; 1331. a sixth support; 1332. a seventh support; 1333. a fifth drive motor; 1334. an eighth bracket;

1400. a floating and sinking unit; 1410. swim bladder elements; 1420. a first liquid transport element;

1500. a center-of-gravity adjusting unit; 1510. a third drive element; 1520. a sliding element; 1530. a weight element;

1600. a control unit;

1700. an image acquisition unit; 1710. a visual sensing element; 1720. a distance monitoring element;

1800. a sample acquisition unit; 1810. a containment element; 1811. an accommodating chamber; 1820. a second liquid transport element; 1830. a filter element; 1840. a valve element;

2000. and a remote control device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

Example 1

As shown in fig. 1 to 2, a bionic dolphin robot device 1000 for underwater use includes a main body unit 1100, a tail fin unit 1200, a pectoral fin unit 1300, a floating and sinking unit 1400, a center of gravity adjusting unit 1500, and a control unit 1600. The tail fin unit 1200 is detachably disposed at the tail end of the main body unit 1100, and swings at least up and down to move the main body unit 1100 forward; the pectoral fin unit 1300 is symmetrically and detachably disposed at both sides of the main body unit 1100, and at least rotates to change the moving direction of the main body unit 1100; the sinking and floating unit 1400 is disposed inside the body unit 1100, and is used to adjust the weight of the body unit 1100, so that the body unit 1100 floats or sinks; the center of gravity adjusting unit 1500 is disposed inside the main body unit 1100, and is configured to adjust the center of gravity of the main body unit 1100, so that the head end of the main body unit 1100 is kept horizontal, tilted up or tilted down; the control unit 1600 is connected to the tail fin unit 1200, the pectoral fin unit 1300, the sink-float unit 1400 and the center of gravity adjusting unit 1500, respectively, for controlling the actions of the above units.

In some of these embodiments, the biomimetic dolphin robotic device 1000 has an overall length of 864mm and a width of 407 mm.

As shown in fig. 3a, the main body unit 1100 includes a first housing element 1110, a first mounting element 1120, a second mounting element 1130, a through-hole element 1140, a second housing element 1150, a waterproof element 1160, and a connection element 1170. Wherein, the first mounting element 1120 is disposed at the tail end of the first shell element 1110 and connected to the tail fin unit 1200; the second mounting elements 1130 are symmetrically disposed at both sides of the first shell element 1110 and connected to the corresponding pectoral fin units 1300; the through hole element 1140 is disposed on the surface of the first casing element 1110, and is used for connecting the tail fin unit 1200 and the pectoral fin unit 1300 with the control unit 1600 through the through hole element 1140, and communicating the sinking and floating unit 1400 with the outside; the second casing member 1150 is detachably provided to the upper portion of the first casing member 1110, and seals the first casing member 1110; the waterproof element 1160 is disposed at a connection position of the first shell element 1110 and the second shell element 1150; the connecting element 1170 in turn detachably connects the second housing element 1150 and the first housing element 1110.

As shown in fig. 3 b-3 c, the first casing element 1110 comprises a lower casing 1111, a first opening 1112 and a number of first connection holes 1113. Wherein, the floating and sinking unit 1400, the center of gravity adjusting unit 1500 and the control unit 1600 are arranged inside the lower shell 1111 and detachably connected with the second shell element 1150; a first opening 1112 is provided on an upper surface of the lower housing 1111 for removing or placing the sink-float unit 1400, the center-of-gravity adjusting unit 1500, and the control unit 1600 from the first opening 1112; a plurality of first connecting holes 1113 are disposed around the first opening 1112 and are detachably connected to the connecting element 1170.

The lower housing 1111 (i.e. the first housing element 1110) is of a streamlined design and has the same shape as a dolphin, so as to reduce the resistance of the main unit 1100 during swimming, increase the swimming speed and reduce the energy consumption.

The cross section of the first opening 1112 is disposed in an oval shape, and the size of the first opening 1112 can ensure the placement and removal of the sink-float unit 1400, the center-of-gravity adjusting unit 1500, and the control unit 1600.

The first opening 1112 protrudes from the upper surface of the lower housing 1111.

The first connecting hole 1113 is a first threaded hole.

In some embodiments, the number of the first connection holes 1113 is 4 to 12. Preferably, the number of the first connection holes 1113 is 6 to 10. More preferably, the number of the first connection holes 1113 is 8.

Further, the first casing element 1110 further comprises a reinforcing rib 1114, and the reinforcing rib 1114 is arranged at the bottom of the inside of the lower casing 1111 and is used for improving the water pressure bearing capacity of the lower casing 1111 and preventing the lower casing 1111 from being broken to cause water leakage in deep submergence. In addition, the reinforcing ribs 1114 are disposed at the bottom of the lower housing 1111 to shift the center of gravity of the main body unit 1100 (the biomimetic dolphin robot apparatus 1000) downward, so as to ensure that the main body unit 1100 (the biomimetic dolphin robot apparatus 1000) can be kept in balance when entering water from any angle.

Wherein, the strengthening rib 1114 is designed like a fishbone, and the transverse width of the strengthening rib 1114 decreases from the middle part to the two ends thereof.

In some of these embodiments, there are 4-12 rows of ribs 1114. Preferably, the reinforcing ribs 1114 are in 6-10 rows. More preferably, the ribs 1114 are in 8 rows.

In some of these embodiments, the width of the ribs 1114 is 1-5 mm. Preferably, the width of the reinforcing ribs 1114 is 2 to 4 mm. More preferably, the width of the ribs 1114 is 3 mm.

In some of these embodiments, the upper surface of the stiffener 1114 is a horizontal surface for mounting and securing at least the center of gravity adjustment unit 1500 and the control unit 1600.

The first mounting element 1120 is disposed in the middle of the tail end of the lower housing 1111, and is rectangular to facilitate the fixed mounting of the skeg unit 1200.

The first mounting element 1120 and the tail fin unit 1200 may be clamped and bolted.

Wherein the horizontal length of the first mounting element 1120 is greater than the vertical height of the first mounting element 1120.

In some of these embodiments, the first mounting element 1120 is a mounting block, the surface of which is provided with a threaded hole.

In some embodiments, the first mounting element 1120 is a mounting slot, and the sidewall thereof is provided with a threaded hole and a clamping hole.

The second mounting elements 1130 are disposed on two sides of the lower housing 1111 and disposed near a head end of the lower housing 1111, and are rectangular to facilitate fixing and mounting the pectoral fin unit 1300.

Wherein the second mounting element 1130 and the pectoral fin unit 1300 can be clamped and bolted.

Wherein the horizontal length of the second mounting element 1130 is greater than the vertical height of the second mounting element 1130.

In some of these embodiments, the second mounting element 1130 is a mounting slot with a threaded hole and a snap hole in its sidewall.

In some of these embodiments, the second mounting element 1130 is a mounting block, the surface of which is provided with a threaded hole.

The through-hole element 1140 is disposed at least at the rear end of the lower housing 1111, so that the cables of the skeg unit 1200 and the cables of the skeg unit 1300 are connected to the control unit 1600 inside the lower housing 1111 through the through-hole element 1140, and the floating and sinking unit 1400 is communicated with the outside of the lower housing 1111 through the through-hole element 1140.

In some of these embodiments, the through-hole element 1140 is one, which is located on the upper portion of the first mounting element 1120.

In some embodiments, the through hole element 1140 is further disposed at two sides of the lower housing 1111 and is in communication with the second mounting element 1130 (i.e., located inside the second mounting element 1130), so that the cable of the pectoral fin unit 1300 is connected to the control unit 1600 inside the lower housing 1111 through the through hole element 1140.

In some embodiments, there are three through-hole elements 1140, one through-hole element 1140 is disposed at the rear end of the lower housing 1111 and located at the upper portion of the first mounting element 1120, and two through-hole elements 1140 are disposed at two sides of the lower housing 1111 and respectively communicate with the second mounting elements 1130 (i.e., located inside the second mounting elements 1130).

In some embodiments, there are four through-hole elements 1140, one through-hole element 1140 is disposed at the rear end of the lower housing 1111 and located at the upper portion of the first mounting element 1120 for the sink-and-float unit 1400, one through-hole element 1140 is disposed at the rear end of the lower housing 1111 and communicated with the first mounting element 1120 (i.e., located inside the first mounting element 1120) for the skeg unit 1200, and two through-hole elements 1140 are disposed at both sides of the lower housing 1111 and respectively communicated with the second mounting element 1130 (i.e., located inside the second mounting element 1130).

As shown in fig. 3d to 3e, the second housing element 1150 includes an upper housing 1151, a second opening 1152 and a plurality of second connection holes 1153. Wherein the upper housing 1151 is removably coupled to the first housing member 1110; a second opening 1152 is provided at a lower surface of the upper case 1151; a plurality of second coupling holes 1153 are provided around the second opening 1152 and are detachably coupled to the coupling member 1170.

Specifically, the upper housing 1151 is detachably connected to the lower housing 1111, the second opening 1152 corresponds to the first opening 1112, and the plurality of second connection holes 1153 corresponds to the plurality of first connection holes 1113. Here, in the case where the upper housing 1151 seals the lower housing 1111, the second opening 1152 seals the first opening 1112.

Wherein, upper housing 1151 is the sealed lid for sealed lower housing 1111 to make upper housing 1151 and lower housing 1111 form the airtight space, avoid water to get into the inside of lower housing 1111.

Here, the second opening 1152 is recessed inward, that is, in a case where the upper housing 1151 is coupled to the lower housing 1111, the first opening 1112 extends into the second opening 1152. I.e., the outer edge of the first opening 1112 is disposed against the inner edge of the second opening 1152.

The longitudinal section of the second opening 1152 is stepped, the inner edge of the upper opening end thereof abuts against the outer edge of the first opening 1112, and the lower opening end thereof abuts against the waterproof element 1160.

The second opening 1152 has an oval cross-section and is sized to fit the first opening 1112.

Wherein the second connection hole 1153 is a second threaded hole.

In some embodiments, the number of the second connection holes 1153 is 4 to 12. Preferably, the number of the second connection holes 1153 is 6 to 10. More preferably, the number of the second connection holes 1153 is 8.

Further, the second housing element 1150 also includes back fins 1154, and the back fins 1154 are disposed on the upper surface of the upper housing 1151.

As shown in fig. 3 b-3 c, the water-proof element 1160 includes a water-proof groove 1161 and a water-proof sealing ring 1162. Wherein the waterproof groove 1161 is provided on the upper surface of the first casing member 1110; waterproof sealing ring 1162 is detachably disposed in waterproof groove 1161.

Specifically, a water-repellent groove 1161 is provided around the first opening 1112.

With the lower housing 1111 connected to the upper housing 1151, the upper surface of the waterproof seal ring 1162 abuts against the upper surface of the lower open end/the lower surface of the upper open end of the second opening 1152.

In some of these embodiments, the inner edge of the lower opening end of second opening 1152 is located outside the outer edge of chute 1161, i.e., at the location where second opening 1152 is connected to chute 1161, the lower opening end is at a right angle to the longitudinal cross-section of chute 1161.

Correspondingly, the longitudinal section of the waterproof sealing ring 1162 is right-angled. That is, the waterproof sealing ring 1162 is inserted into the waterproof groove 1161 and abuts against the upper surface of the lower housing 1111.

The connection element 1170 is connected to the corresponding second connection hole 1153 and first connection hole 1113 in turn to connect the upper housing 1151 and the lower housing 1111.

The number of the connecting elements 1170 is the same as the number of the first connecting holes 1113 and the second connecting holes 1153.

Wherein, the connecting element 1170 is a screw.

As shown in fig. 4a, the tail fin unit 1200 comprises at least a first driving element 1210 and a tail fin element 1220. Wherein the first driving element 1210 is detachably connected to the rear end of the first body unit 1100, and is connected to the control unit 1600; the tail fin element 1220 is fixedly connected to the first driving element 1210 for up and down swinging movement under the action of the first driving element 1210.

Specifically, the first driving element 1210 is detachably connected with the first mounting element 1120.

The ratio of the length of the tail fin unit 1200 to the length of the main body unit 1100 is greater than or equal to 1 and less than or equal to 2.

Preferably, the ratio of the length of the tail fin unit 1200 to the length of the body unit 1100 is 1 to 1.5. More preferably, the ratio of the length of the tail fin unit 1200 to the length of the body unit 1100 is 1 to 1.2. More preferably, the ratio of the length of the tail fin unit 1200 to the length of the body unit 1100 is 1.05 to 1.1.

In some of these embodiments, the length of the tail fin unit 1200 is 360mm and the length of the body unit 1100 is 336 mm.

As shown in fig. 4b, the first driving element 1210 includes a first bracket 1211, a second bracket 1212, a first driving motor 1213, and a third bracket 1214. Wherein the first support 1211 is detachably connected to the first mounting element 1120; the second holder 1212 is rotatably connected to the first holder 1211; the first driving motor 1213 is fixedly connected with the second bracket 1212 and rotatably connected with the first bracket 1211; the third bracket 1214 is fixedly connected to the second bracket 1212 and the skeg element 1220, respectively.

In some embodiments, the first mount 1211, the second mount 1212, and the third mount 1214 are made of a metal material, such as an aluminum alloy.

In some of these embodiments, the first drive motor 1213 is a deep water steering engine, which has good waterproof capabilities.

In some of these embodiments, the first drive motor 1213 is a CY-T4 steering engine.

The first support 1211 is a U-shaped support, and includes a first vertical plate, a second vertical plate, and a first horizontal plate, the first vertical plate and the second vertical plate are symmetrically disposed on two sides of the first horizontal plate, the first horizontal plate is connected to the first mounting element 1120, the first vertical plate is rotatably connected to the second support 1212, and the second vertical plate is rotatably connected to an output shaft of the first driving motor 1213.

Wherein, the second support 1212 is two U-shaped supports, two U formation L shape settings, it includes the third riser, the fourth riser, fifth riser and second diaphragm, third riser and fourth riser symmetry set up in one side of second diaphragm, the relative third riser/fourth riser of fifth riser set up in the opposite side of second diaphragm, third riser and fourth riser are connected with second driving motor 1311's both sides respectively, and block second driving motor 1311, the fifth riser rotates with the first riser of first support 1211 to be connected, the second diaphragm carries out fixed connection with first driving motor 1213, third support 1214 respectively.

The third bracket 1214 is an L-shaped bracket, and includes a third cross plate and a sixth vertical plate, the third cross plate is fixedly connected with the second cross plate of the second bracket 1212, and the sixth vertical plate is fixedly connected with the skeg element 1220.

Specifically, the second holder 1212 rotates around the connection with the first holder 1211 by the first driving motor 1213.

In some embodiments, the number of the first driving elements 1210 is n, where n is an integer greater than or equal to 2.

As shown in fig. 4c, n first driving elements 1210 are connected in sequence (head-to-tail connection), the first driving element 1210 at the head end is connected with the tail end of the main unit 1100 (first mounting element 1120), and the first driving element 1210 at the tail end is connected with the tail fin element 1220.

Specifically, first leg 1211 of first drive element 1210 is fixedly coupled to first mounting element 1120, first leg 1211 of second first drive element 1210 is fixedly coupled to third leg 1214 of first drive element 1210, first leg 1211 of nth first drive element 1210 is fixedly coupled to third leg 1214 of nth-1 first drive element 1210, and third leg 1214 of nth first drive element 1210 is fixedly coupled to skeg element 1220.

By arranging the n first driving elements 1210, the angle range of the tail fin element 1220 swinging up and down can be increased, and the dolphin swimming can be simulated more accurately through the angle combination of different first driving elements 1210, so that the swimming efficiency is improved.

Preferably, n is 2 to 6. More preferably, n is 3 to 5. Most preferably, n is 3.

As shown in fig. 4d, the tail fin element 1220 includes a tail fin 1221 and a first connecting bracket 1222. The first connecting bracket 1222 is fixedly connected to the tail fin 1221 and the tail end of the first driving element 1210, respectively.

In particular, the first connecting bracket 1222 is fixedly connected with the third bracket 1214 of the first driving element 1210.

The profile (shape) of the tail fin 1221 is the same as the dolphin tail (i.e. the tail is scaled down or enlarged) to ensure the water-flapping thrust of the tail fin element 1220.

In some of these embodiments, the tail fin 1221 is made of a flexible material, such as rubber, silicone, or the like, and has a certain thickness.

The first connecting bracket 1222 is at least L-shaped, and includes a seventh vertical plate and a fourth horizontal plate, the seventh vertical plate is fixedly connected to the sixth vertical plate of the third bracket 1214, and the fourth horizontal plate is fixedly connected to the tail fin 1221.

In some embodiments, the first connecting bracket 1222 is a combination of a U shape and an L shape, and includes a seventh vertical plate, a fourth horizontal plate and a fifth horizontal plate, the fourth horizontal plate and the fifth horizontal plate are symmetrically disposed, and the fourth horizontal plate and the fifth horizontal plate are respectively and fixedly connected to two sides of the tail fin 1221, that is, the fourth horizontal plate and the fifth horizontal plate clamp the tail fin 1221.

In some embodiments, the first connecting bracket 1222 is made of a hard material, such as plastic, acrylic, or the like.

Further, the tail fin unit 1200 further includes a third shell member, a head end of which is connected to the tail end of the first shell member 1110, and a tail end of which is connected to the tail fin member 1220, and a first driving member 1210 is provided inside thereof for preventing the first driving member 1210 from contacting water.

Wherein the third housing element is made of a flexible material, such as rubber, silicone. In the case of a rotation of the first drive element 1210, the third housing element is bent accordingly.

As shown in fig. 5a, the pectoral fin unit 1300 comprises two second driving elements 1310 and two pectoral fin elements 1320. Wherein, the two second driving elements 1310 are symmetrically disposed at two sides of the main body unit 1100, detachably connected to the side of the main body unit 1100, and connected to the control unit 1600; the pectoral fin elements 1320 are each rotatably coupled to a corresponding second drive element 1310 for rotation by the second drive element 1310.

Specifically, the two second driving elements 1310 are detachably connected with the corresponding second mounting elements 1130.

As shown in fig. 5b, the second drive element 1310 comprises a second drive motor 1311, the second drive motor 1311 being connected to the second mounting element 1130, the output of which is connected to a corresponding pectoral fin element 1320.

In some of these embodiments, the second drive motor 1311 is a deep water steering engine, which has good waterproof capabilities.

In some of these embodiments, the second drive motor 1311 is a CY-T4 steering engine.

As shown in fig. 5c, pectoral fin element 1320 includes pectoral fin 1321 and second attachment bracket 1322. The second connecting bracket 1322 is fixedly connected to the pectoral fin 1321 and the output end of the second driving element 1310, respectively.

Specifically, the second connecting bracket 1322 is fixedly connected to an output end of the second driving motor 1311.

The outline (shape) of the pectoral fin 1321 is the same as the dolphin fin (i.e. the pectoral fin is arranged in a scaled-down or enlarged manner in the same proportion as the dolphin fin), so that the paddling thrust of the pectoral fin element 1320 is ensured, and the fast turning is ensured.

In some of these embodiments, the pectoral fins 1321 are made of a flexible material, such as rubber, silicone, etc., and have a certain thickness.

The second connecting bracket 1322 is at least L-shaped, and includes an eighth vertical plate and a sixth horizontal plate, the eighth vertical plate is fixedly connected to the sixth vertical plate of the third bracket 1214, and the sixth horizontal plate is fixedly connected to the pectoral fin 1321.

In some embodiments, the second connecting bracket 1322 is a combination of a U-shape and an L-shape, and includes an eighth vertical plate, a sixth transverse plate and a seventh transverse plate, the sixth transverse plate and the seventh transverse plate are symmetrically disposed, and the sixth transverse plate and the seventh transverse plate are respectively fixedly connected to two sides of the chest fin 1321, that is, the sixth transverse plate and the seventh transverse plate clamp the chest fin 1321.

In some embodiments, the second connecting support 1322 is made of a hard material, such as plastic, acrylic, or the like.

Further, the pectoral fin unit 1300 further includes a fourth housing element, a head end of which is connected to a side of the first housing element 1110, and a tail end of which is connected to the pectoral fin element 1320, and a second driving element 1310 is provided inside thereof for preventing the second driving element 1310 from contacting water.

Wherein the fourth housing element is made of a flexible material, such as rubber, silicone. In case the second drive element 1310 is rotated, the fourth housing element is bent accordingly.

As shown in fig. 6, the sink-float unit 1400 includes a bladder element 1410 and a first liquid transport element 1420. Wherein, the swim bladder element 1410 is disposed inside the main body unit 1100; the first liquid conveying element 1420 is disposed inside the main body unit 1100, one end of the first liquid conveying element 1420 is connected to the bladder element 1410, and the other end of the first liquid conveying element 1420 is communicated with the outside of the main body unit 1100 and is connected to the control unit 1600, so as to convey the liquid outside the main body unit 1100 to the inside of the bladder element 1410 and the liquid inside the bladder element 1410 to the outside of the main body unit 1100.

Specifically, the swim bladder element 1410 and the first liquid transport element 1420 are both disposed inside the lower housing 1111, and the other end of the first liquid transport element 1420 communicates with the outside of the lower housing 1111 through the through-hole element 1140.

In some of these embodiments, the bladder element 1410 is made of a flexible material, such as rubber, that can flex and not break under some pressure.

In some of these embodiments, first liquid transport element 1420 is a peristaltic pump.

In some of these embodiments, first fluid delivery element 1420 is NKP-DE-B08B.

In the present invention, the peristaltic pump is selected instead of the vane pump and the centrifugal pump for the following reasons:

1. no pollution: the fluid only contacts the pump pipe and does not contact the pump body;

2. the precision is high: the repeatability precision and the stability precision are high;

3. low shear force: the device is an ideal tool for conveying shear-sensitive and highly-erosive fluid;

4. the leakproofness is good: the self-priming pump has good self-priming capability, can idle and prevent backflow;

5. the maintenance is simple: no valve and seal;

6. the bidirectional equal flow conveying capacity is realized; no damage is caused to any part of the pump under the condition of no liquid idle running; can generate 98% vacuum degree; there are no valves, mechanical seals and packing seals, and there are no such leakage and maintenance concerns; the solid, liquid or gas-liquid mixed phase fluid can be easily conveyed, and the diameter of the solid contained in the fluid is allowed to reach 40% of the inner diameter of the tubular element; can convey various materials with grinding, corrosion and oxygen sensitive characteristics, various foods and the like; only the hose is a part needing to be replaced, and the replacement operation is extremely simple; the conveyed product does not come into contact with any parts other than the hose.

As shown in fig. 7, the center of gravity adjustment unit 1500 includes a third driving element 1510, a sliding element 1520, and a weight element 1530. Wherein, the third driving element 1510 is disposed inside the main body unit 1100 and connected to the control unit 1600; the sliding element 1520 is connected to the third driving element 1510 for linear reciprocating motion by the third driving element 1510; the weight member 1530 is connected to the sliding member 1520 for linear reciprocation under the action of the sliding member 1520 to adjust the center of gravity of the body unit 1100.

Specifically, the third driving element 1510, the sliding element 1520, and the weight element 1530 are disposed inside the lower housing 1111.

The third driving unit 1510 includes a third driving motor, which is disposed inside the lower housing 1111 and is mounted on the upper surface of the reinforcing rib 1114.

In some of these embodiments, the third drive motor is a stepper motor.

In some of these embodiments, the third drive motor is a two-phase 4-wire micro stepper motor.

In the present invention, the reason why the stepping motor is selected is as follows:

1. easy control and high accuracy

2. The power factor is high: the advantage is related to the working principle of the application of the motor, because the working raw materials are very scientific, the motor can reach a high power factor, and the motor can obtain good performance in the aspect of functions.

3. The operation efficiency is high: by means of the applied scientific working principle and relatively advanced product technology, the stepping motor has the advantage of high operation efficiency, so that the motor is very efficient in function, can perform efficient functions and fully optimizes the operation of equipment.

4. The stability is good: the motor is very stable in performance and structure, can stably play a function while keeping a stable structure in use, and keeps uniform operation effect and function insurance.

5. The motor can keep stable running speed in use and stable running effect all the time under the condition of constant rotating speed, so that the motor can be very stable in function.

In some of these embodiments, the sliding element 1520 is a screw slide.

In some of these embodiments, the weight element 1530 is a weight block.

The control unit 1600 is disposed inside the lower housing 1111 and mounted on the upper surface of the reinforcing rib 1114.

In some embodiments, the control unit 1600 is an MCU, a raspberry pi, a single chip, a circuit board, an Arduino board, or the like.

In some of these embodiments, the control unit 1600 is integrated with control elements, communication elements, positioning elements, power supply elements, and the like.

As shown in fig. 8, a biomimetic dolphin robotic system for use underwater includes a biomimetic dolphin robotic device 1000 as described above and a remote control device 2000. The remote control device 2000 is in communication with the biomimetic dolphin robot device 1000, and is configured to send a control command to the biomimetic dolphin robot device 1000.

The connection between the remote control device 2000 and the biomimetic dolphin robot apparatus 1000 includes, but is not limited to, mobile data connection (e.g. 4G, 5G), and bluetooth communication connection.

In some embodiments, the remote control device 2000 is a smart terminal, including but not limited to a mobile phone, a tablet computer, a notebook computer, a cloud platform/cloud server.

The use method of the bionic dolphin machine system comprises the following steps:

the remote control device 2000 sends a control instruction to the biomimetic dolphin robotic device 1000;

in the case where the control command is "+" (the swimming speed increases), the control unit 1600 controls the rotational frequency of the first driving motor 1213 to increase the swing speed of the tail fin element 1220, thereby performing an acceleration motion;

in the case where the control instruction is "-" (reduction in the swimming speed), the control unit 1600 controls the rotational frequency of the first drive motor 1213 to be reduced to reduce the swing speed of the tail fin element 1220, thereby performing the deceleration motion;

in the case where the control command is "0" (the swimming speed is 0), the control unit 1600 controls the first drive motor 1213 to stop the swinging of the tail fin element 1220;

in case that the control command is "u" (float), the control unit 1600 controls the first liquid transporting element 1420 to be activated to discharge the water of the bladder element 1410 outward by a certain amount, and the control unit 1600 controls the third driving motor to drive the sliding element 1520 to move the weight element 1530 toward the rear of the lower housing 1111, thereby performing the float motion;

in case that the control command is "d" (sinking), the control unit 1600 controls the first liquid feeding element 1420 to be activated to inject a certain amount of water into the inside of the bladder element 1410, and the control unit 1600 controls the third driving motor to drive the sliding element 1520 so that the weight element 1530 moves toward the front of the lower housing 1111, thereby performing the sinking motion;

in the case where the control instruction is "s" (hovering), the control unit 1600 controls the third driving motor to drive the sliding element 1520 so that the weight element 1530 is located at the middle of the lower housing 1111, thereby performing hovering motion;

in the case where the control command is "l" (turn left), the control unit 1600 controls the second driving motor 1311 to drive the pectoral fin element 1320 to rotate clockwise, thereby performing a left-turn motion;

in the case where the control command is "r" (turn right), the control unit 1600 controls the second driving motor 1311 to drive the pectoral fin element 1320 to rotate counterclockwise, thereby performing a right turn motion;

in the case where the control instruction is "h", the control unit 1600 resets.

The invention has the advantages that through the floating and sinking unit, the self weight is increased, and simultaneously, the sealing structure of the main body unit is utilized to compress the internal air of the main body unit, thereby achieving the effect of changing the self weight, changing the buoyancy and realizing hovering; the gravity center is changed through the gravity center adjusting unit, so that the floating and sinking actions are realized; the floating and sinking unit and the gravity center adjusting unit are matched, so that the freedom degree and flexibility of the bionic dolphin machine device in water are improved; the gravity center of the bionic dolphin robot device is arranged on the lower half portion, and balance can be achieved under the condition that water enters at any angle.

Example 2

This embodiment is a modification of embodiment 1. This example differs from example 1 in that: the tail fin unit 1200 is structurally different.

In the first embodiment of this embodiment, the tail fin unit 1200 further includes a fourth driving element 1230, and the fourth driving element 1230 is connected to the first driving element 1210 and the tail fin element 1220, respectively, and connected to the control unit 1600 for driving the tail fin element 1220 to rotate.

In particular, the fourth driving element 1230 is fixedly connected to the third bracket 1214 of the first driving element 1210, and the output end of the fourth driving element 1230 is connected to the first connecting bracket 1222.

As shown in fig. 9a, the fourth driving element 1230 includes a fourth driving motor 1231, the fourth driving motor 1231 is fixedly connected to the third support 1214, and the output end of the fourth driving motor 1231 is connected to the first connecting support 1222.

In some of these embodiments, the fourth drive motor 1231 is a deep water steering engine, which has good waterproof capabilities.

In some of these embodiments, the fourth drive motor 1231 is a CY-T4 steering engine.

In the second embodiment of this embodiment, the tail fin unit 1200 further includes a fourth driving element 1230, and the fourth driving element 1230 is respectively connected to the tail end of the main body unit 1100 and the first driving element 1210, and connected to the control unit 1600 for driving the tail fin element 1220 to rotate.

Specifically, fourth drive element 1230 is coupled to first mounting element 1120, and an output end of fourth drive element 1230 is rotatably coupled to first leg 1211 of first drive element 1210.

As shown in fig. 9b, the fourth driving element 1230 includes a fourth driving motor 1231 and a fourth bracket 1232. Wherein, the output end of the fourth driving motor 1231 is connected to the first connecting bracket 1222; the fourth bracket 1232 is fixedly connected to the first mounting element 1120 and the fourth driving motor 1231, respectively.

The fourth bracket 1232 is at least L-shaped, and includes a ninth vertical plate and a seventh horizontal plate, the ninth vertical plate is fixedly connected to the first mounting element 1120, and the seventh horizontal plate is fixedly connected to the fourth driving motor 1231.

In some embodiments, the fourth bracket 1232 may also be U-shaped, and includes a ninth vertical plate, a seventh horizontal plate, and an eighth horizontal plate, the seventh horizontal plate and the eighth horizontal plate are symmetrically disposed on two sides of the ninth vertical plate, the ninth vertical plate is fixedly connected to the first mounting element 1120, and the seventh horizontal plate and the eighth horizontal plate are fixedly connected to two sides of the fourth driving motor 1231, respectively.

The advantage of this embodiment is that on the basis of carrying out the luffing motion, the tail fin unit can also rotate, further simulates the motion mode of dolphin, improves the motion efficiency.

Example 3

This embodiment is a modification of embodiments 1 to 2. The present embodiment is different from embodiments 1-2 in that: pectoral fin unit 1300 differs in structure.

In the first embodiment of this embodiment, the pectoral fin unit 1300 further comprises a fifth driving element 1330, and the fifth driving element 1330 is connected to the side portion of the main body unit 1100, the second driving element 1310, and the control unit 1600, respectively, for driving the pectoral fin element 1320 to swing up and down.

Specifically, the fifth drive element 1330 is rotatably coupled to the second drive element 1310 and fixedly coupled to the pectoral fin element 1320.

As shown in fig. 10a, the second driving element 1310 includes a second driving motor 1311 and a fifth bracket 1312. The fifth bracket 1312 is fixedly connected to the fifth driving element 1330 and the second driving motor 1311, respectively.

The fifth bracket 1312 is at least L-shaped and includes a tenth vertical plate and a ninth horizontal plate, the tenth vertical plate is fixedly connected to the fifth driving element 1330, and the ninth horizontal plate is fixedly connected to the second driving motor 1311.

In some embodiments, the fifth bracket 1312 may also be U-shaped, and includes a tenth vertical plate, a ninth horizontal plate and a tenth horizontal plate, the ninth horizontal plate and the tenth horizontal plate are symmetrically disposed on two sides of the tenth vertical plate, the tenth vertical plate is fixedly connected to the fifth driving element 1330, and the ninth horizontal plate and the tenth horizontal plate are respectively fixedly connected to two sides of the second driving motor 1311.

As shown in fig. 10b, fifth drive element 1330 includes a sixth bracket 1331, a seventh bracket 1332, a fifth drive motor 1333, and an eighth bracket 1334. Wherein the sixth support 1331 is detachably connected to a side of the main unit 1100; the seventh bracket 1332 is rotatably connected to the sixth bracket 1331; the fifth driving motor 1333 is fixedly connected with the seventh bracket 1332 and rotatably connected with the sixth bracket 1331; the eighth bracket 1334 is fixedly connected to the seventh bracket 1332 and the second driving element 1310.

Specifically, the sixth bracket 1331 is removably coupled to the first mounting element 1120, and the eighth bracket 1334 is fixedly coupled to the fifth bracket 1312.

The sixth support 1331 is a U-shaped support, and includes an eleventh vertical plate, a twelfth vertical plate and an eleventh transverse plate, the eleventh vertical plate and the twelfth vertical plate are symmetrically disposed on two sides of the eleventh transverse plate, the eleventh transverse plate is connected to the first mounting element 1120, the eleventh vertical plate is rotatably connected to the seventh support 1332, and the twelfth vertical plate is rotatably connected to an output shaft of the fifth driving motor 1333.

Wherein, seventh support 1332 is two U-shaped supports, two U formation L shape settings, it includes the thirteenth riser, the fourteenth riser, fifteenth riser and twelfth diaphragm, thirteenth riser and fourteenth riser symmetry set up in one side of twelfth diaphragm, the relative thirteenth riser/fourteenth riser of fifteenth riser set up in the opposite side of twelfth diaphragm, thirteenth riser and fourteenth riser are connected with second driving motor 1311's both sides respectively, and block second driving motor 1311, the fifteenth riser carries out the rotation with the eleventh riser of sixth support 1331 and is connected, the twelfth diaphragm carries out fixed connection with fifth driving motor 1333, eighth support 1334 respectively.

The eighth bracket 1334 is an L-shaped bracket, and includes a thirteenth cross plate and a sixteenth vertical plate, the thirteenth cross plate is fixedly connected to the twelfth cross plate of the seventh bracket 1332, and the sixteenth vertical plate is fixedly connected to the tail fin element 1220.

Specifically, the seventh support 1332 rotates around the connection with the sixth support 1331 by the fifth driving motor 1333.

In a second embodiment of this embodiment, the pectoral fin unit 1300 further includes a fifth driving element 1330, and the fifth driving element 1330 is respectively connected to the second driving element 1310 and the pectoral fin element 1320, and is connected to the control unit 1600 for driving the pectoral fin element 1320 to swing up and down.

In particular, fifth drive element 1330 is rotationally coupled to second drive motor 1311.

The structure of the fifth driving element 1330 is the same as that of the first embodiment of this embodiment.

The sixth support 1331 is rotatably connected to the output of the second drive motor 1311, and the eighth support 1334 is fixedly connected to the pectoral fin element 1320.

The advantage of this embodiment is that on the basis of rotating, pectoral fin unit can also carry out the luffing motion, further simulates the motion mode of dolphin, improves the motion efficiency.

Example 4

This embodiment is a modification of embodiments 1 to 3. The present embodiment is different from embodiments 1 to 3 in that: the biomimetic dolphin robotic device 1000 further includes an image acquisition unit 1700.

As shown in fig. 11, an image acquiring unit 1700 is disposed on the main body unit 1100 and connected to the control unit 1600 for acquiring the image of the surrounding environment of the biomimetic dolphin robot apparatus 1000.

As shown in fig. 12, the image acquisition unit 1700 includes a vision sensing element 1710 and a distance monitoring element 1720. The visual sensing element 1710 is disposed outside the main body unit 1100, connected to the control unit 1600, and configured to acquire an image of an environment around the biomimetic dolphin robot apparatus 1000; the distance monitoring element 1720 is disposed outside the main body unit 1100, and is connected to the control unit 1600 for acquiring a surrounding distance of the biomimetic dolphin robot apparatus 1000.

Specifically, the visual sensing elements 1710 are disposed at the head end and both side portions of the lower housing 1111, and the distance monitoring elements 1720 are disposed at the head end and both side portions of the lower housing 1111.

In some of these embodiments, the vision sensing element 1710 is a monocular vision sensor or a binocular vision sensor.

In some of these embodiments, distance monitoring element 1720 is a lidar.

The bionic dolphin robot device has the advantages that the image acquisition unit is used for acquiring the surrounding environment image of the bionic dolphin robot device, so that the bionic dolphin robot device can be controlled better, and damage to the bionic dolphin robot device is avoided.

Example 5

This embodiment is a modification of embodiments 1 to 4. The present embodiment is different from embodiments 1 to 4 in that: the biomimetic dolphin robotic device 1000 further comprises a sample acquisition unit 1800.

As shown in fig. 13, the sample acquiring unit 1800 is disposed at the bottom of the main body unit 1100, and is connected to the control unit 1600 for acquiring the surrounding environment material of the biomimetic dolphin robot apparatus 1000.

As shown in fig. 14a, the sample acquiring unit 1800 comprises a containing element 1810, a second liquid transporting element 1820, a filter element 1830 and a valve element 1840. Wherein, the accommodating element 1810 is disposed at the bottom of the body unit 1100; the second liquid conveying element 1820 is arranged on the side of the containing element 1810, is communicated with the containing element 1810, and is connected with the control unit 1600 for conveying the liquid inside the containing element 1810 to the outside of the containing element 1810; the filter element 1830 is disposed inside the containing element 1810 and upstream of the second fluid transport element 1820 for solid-liquid separation of the containing element 1810 so that the solids stay inside the containing element 1810; the valve member 1840 is disposed at a side of the receiving member 1810 and is connected to the control unit 1600.

Specifically, the receiving member 1810 is provided at the bottom of the lower housing 1111.

In some of these embodiments, the receiving element 1810 is disposed at a middle portion of the bottom of the lower housing 1111.

In some of these embodiments, second fluid transfer element 1820 is a peristaltic pump with which positive and negative fluid transfers can be performed.

Specifically, when the peristaltic pump is rotated forward, valve element 1840 opens, eventually leaving a solid inside containment element 1810; upon reversal of the peristaltic pump, valve element 1840 closes, eventually leaving the interior of containment element 1810 with liquid; when the peristaltic pump is not operating, valve element 1840 opens for a period of time and closes, eventually leaving a mixture of liquid and solid inside containment element 1810.

In some embodiments, the second fluid transport element 1820 is NKP-DE-B08B.

In some of these embodiments, the filter element 1830 is a filter membrane that passes only water to block solids.

In some of these embodiments, the valve element 1840 is a solenoid valve.

The method of use of this embodiment is as follows:

upon taking the solid, control unit 1600 controls valve element 1840 to open to let the solid and liquid enter the interior of containment element 1810;

the control unit 1600 controls the valve element 1840 to close;

the control unit 1600 controls the second liquid conveying element 1820 to work, so that the liquid inside the containing element 1810 is discharged after being filtered by the filtering element 1830;

the control unit 1600 controls the second liquid feeding member 1820 to stop working.

Or

Upon taking the solid, control unit 1600 controls valve element 1840 to open and controls second liquid conveying element 1820 to work to make the solid and liquid enter the interior of containing element 1810;

the control unit 1600 controls the valve element 1840 to close;

the second fluid transportation element 1820 filters the fluid inside the containing element 1810 through the filtering element 1830 and then discharges the filtered fluid;

In some of these embodiments, second fluid transport element 1820 may also be inoperative, such that the temple portion of containment element 1810 stores both solids and liquids.

As shown in fig. 14b, the containing element 1810 includes several containing cavities 1811, several containing cavities 1811 are sequentially disposed inside the containing element 1810 and are communicated with each other, a filter element 1830 is disposed between two adjacent containing cavities 1811, and each containing cavity 1811 is correspondingly provided with a valve element 1840; wherein at least one valve element 1840 is opened in case of operation of the second fluid conveying element 1820.

The method of use of this embodiment is as follows:

when a solid is captured in the first position, the control unit 1600 controls the first valve element 1840 to open, so that the solid and liquid enter the interior of the corresponding containing cavity 1811 of the valve element 1840;

the control unit 1600 controls the valve element 1840 to close;

the control unit 1600 controls the second liquid conveying element 1820 to work, so that the liquid in the accommodating cavity 1811 is filtered by the filtering element 1830 and then discharged;

the control unit 1600 controls the second liquid conveying element 1820 to stop working;

when solid is captured in the second position, control unit 1600 controls second valve element 1840 to open so that solid and liquid enter the interior of corresponding containing cavity 1811 of valve element 1840;

the control unit 1600 controls the valve element 1840 to close;

the above steps are repeated until all the inside of the containing cavity 1811 has solids.

Or

When solid is obtained at the first position, the control unit 1600 controls the first valve element 1840 to be opened and controls the second liquid conveying element 1820 to work, so that solid and liquid enter the inside of the corresponding containing cavity 1811 of the valve element 1840;

the control unit 1600 controls the valve element 1840 to close;

the second liquid conveying element 1820 filters the liquid in the containing cavity 1811 by the filtering element 1830 and then discharges the filtered liquid;

when solid is obtained at the second position, the control unit 1600 controls the second valve member 1840 to be opened and controls the second liquid conveying member 1820 to work, so that solid and liquid enter the inside of the corresponding containing cavity 1811 of the valve member 1840;

the control unit 1600 controls the valve element 1840 to close;

The advantage of this embodiment lies in, when using bionical dolphin machine device to carry out underwater exploration, utilizes sample acquisition unit can separate solid-liquid fast high-efficiently to obtain solid (solid and liquid), be convenient for carry out follow-up research.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims

1. A biomimetic dolphin robotic device for use underwater, comprising:

a main body unit;

a tail fin unit detachably provided at a tail end of the body unit;

2. The biomimetic dolphin machine device according to claim 1, wherein the main body unit includes:

a first housing element;

3. The biomimetic dolphin machine device of claim 1 or 2, wherein the tail fin unit comprises:

the tail fin element is fixedly connected with the first driving element and is used for swinging up and down under the action of the first driving element; and/or

The pectoral fin unit includes:

4. The biomimetic dolphin machine device of claim 3, wherein the tail fin unit further comprises:

the fourth driving element is connected with the first driving element and the tail fin element respectively, or the fourth driving element is connected with the tail end of the main body unit and the first driving element respectively, is connected with the control unit and is used for driving the tail fin element to rotate; and/or

A third housing element, which is connected with the tail end of the main body unit and the tail fin element, respectively, and the first driving element is arranged inside the third housing element;

and/or

The pectoral fin unit further comprises:

the fifth driving element is connected with the second driving element and the pectoral fin element respectively, or the fifth driving element is connected with the side part of the main body unit and the second driving element respectively, is connected with the control unit and is used for driving the pectoral fin element to swing up and down; and/or

5. The biomimetic dolphin machine device according to claim 3 or 4, wherein the number of the first driving elements is n, where n is an integer greater than or equal to 2;

6. A biomimetic dolphin machine device according to any of claims 3-5, wherein the first drive element includes:

the second bracket is rotatably connected with the first bracket;

7. A biomimetic dolphin robotic device according to any one of claims 1-6, wherein the sink-float unit includes:

the swimming bladder element is arranged inside the main body unit;

the first liquid conveying element is arranged inside the main body unit, one end of the first liquid conveying element is connected with the swim bladder element, the other end of the first liquid conveying element is communicated with the outside of the main body unit and is connected with the control unit, and the first liquid conveying element is used for conveying liquid outside the main body unit to the inside of the swim bladder element and conveying liquid inside the swim bladder element to the outside of the main body unit; and/or

The center of gravity adjusting unit includes:

8. A biomimetic dolphin robotic device according to any one of claims 1-7, further comprising:

the image acquisition unit is arranged on the main body unit, is connected with the control unit and is used for acquiring the surrounding environment image of the bionic dolphin machine device; and/or

And the sample acquisition unit is arranged on the main body unit, is connected with the control unit and is used for acquiring surrounding environment substances of the bionic dolphin machine device.

9. The biomimetic dolphin machine device according to claim 8, wherein the image acquisition unit includes:

the distance monitoring element is arranged on the outer side of the main body unit, is connected with the control unit and is used for acquiring the surrounding environment distance of the bionic dolphin machine device; and/or

The sample acquiring unit includes:

an accommodating member provided at a bottom of the body unit;

10. A biomimetic dolphin machine system for use underwater, comprising:

a biomimetic dolphin robotic device as recited in any of claims 1-9;