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CN-121990146-A - Multifunctional bionic robot fish for monitoring marine new pollutants

CN121990146ACN 121990146 ACN121990146 ACN 121990146ACN-121990146-A

Abstract

The application discloses a multifunctional bionic robot fish for monitoring marine new pollutants, which relates to the technical field of underwater robots and comprises a fish body, a swinging assembly and a fish tail with adjustable rigidity, wherein a channel cavity is arranged at the front end of the fish body and is provided with an electromagnetic valve and a storage part for collecting new pollutant fragment samples with different depths, meanwhile, a drainage channel is built in to assist in water circulation, a camera and a pectoral fin driven by a motor are arranged on two sides of the fish body, the swinging assembly adopts a multi-section annular outer bone and inner bone hinged structure, a pull rope system with a clamping ball is pulled by a rotating motor to realize flexible swinging, a pressure sensor is arranged in the fish tail, an inflatable bag body is arranged in the fish tail, and the rigidity of the tail fin can be dynamically changed to adapt to a complex ocean current environment by combining the air pressure adjusting functions of an air storage box and a miniature air pump in the fish body, so that the driving energy consumption is reduced.

Inventors

  • ZHANG JU
  • ZHENG WENXIN
  • Lin Daomin
  • XIE PENGFEI
  • WU DONGHAI
  • WANG SAI
  • Zou Chujun
  • YANG DASHENG
  • Wang Deci
  • WANG TUANTUAN
  • OU HUILONG
  • Huang Jiajiu
  • YAO HAIXIA

Assignees

  • 岸芷汀兰生态环境(海南)有限公司
  • 海南国为亿科环境有限公司

Dates

Publication Date
20260508
Application Date
20260409

Claims (9)

  1. 1. A multifunctional bionic robot fish for monitoring marine new pollutants comprises a fish body (100), and is characterized in that one end of the fish body (100) is connected with a swinging component (200), the swinging component (200) is further connected with a fish tail (300) embedded with a pressure sensor and capable of adjusting rigidity, the fish tail (300) is composed of a front tail fin (301), a middle tail fin (302) and a rear tail fin (303), a channel cavity (101) separated by a separation plate (103) is formed in a fish mouth of the fish body (100), a gas storage tank (320) is further arranged in the channel cavity (101) of the fish body (100), the two sides of the gas storage tank (320) are far away from the fish tail (300), a first micro dual-purpose gas pump (321) is arranged on two sides of the gas storage tank (320), the front tail fin (301), the middle tail fin (302) and two sides of the rear tail (303) are symmetrically fixed with a first bag body (310), the swinging component (200) comprises a plurality of annular outer bones (210), the gas storage tank (320) further comprises a gas pipe (322), one end of the gas pipe (322) is communicated with the first micro gas pump (321) and the other end of the gas storage tank (322) is communicated with the first micro gas pump (321) and penetrates through the first micro air pump (210) to the first micro air pump (310) to reduce the rigidity and the first micro-air pump (300) to expand and expand to reduce the high energy, the low rigidity can generate larger thrust by utilizing flexible fluctuation, and the channel cavity (101) is internally symmetrically provided with two monitoring devices (112) and a plurality of storage pieces (110) provided with electromagnetic valves (111) for monitoring pollutants in different sea environments.
  2. 2. The multifunctional bionic robot fish for monitoring marine new pollutants according to claim 1, wherein the fish body (100) further comprises cameras (120) connected to two side ends, the fish body (100) is further provided with a drainage channel (102) communicated with the channel cavity (101), and pectoral fins (130) are arranged at two side ends, close to the bottom, of the fish body (100) and driven by a motor.
  3. 3. The multifunctional bionic robot fish for monitoring marine new pollutants according to claim 1, wherein a cross-shaped inner bone (211) is fixed on the inner annular surface of the outer bone (210), a socket piece (212) is fixed on one end of the inner bone (211), a connecting piece (213) is fixed on the other end of the inner bone, the connecting piece (213) of one outer bone (210) is rotatably connected in the socket piece (212) of the other outer bone (210), and clamping sleeves (214) are symmetrically fixed on the inner bone (211) close to the socket piece (212).
  4. 4. The multifunctional bionic robot fish for monitoring marine new pollutants according to claim 3, wherein a supporting plate (215) is fixed at one end, close to a swinging assembly (200), of the fish body (100), a rotating motor (220) is symmetrically fixed on the supporting plate (215), the rotating motor (220) further comprises a pull rope (216), one end of the pull rope (216) is fixed on the rotating motor (220), the other end of the pull rope (216) penetrates through a plurality of inner bones (211) and a plurality of clamping sleeves (214), the tail ends of the two pull ropes (216) are connected through elastic ropes (218), a plurality of clamping balls (217) are fixed on the pull rope (216), and one clamping ball (217) is arranged on the pull rope (216) between the two inner bones (211).
  5. 5. The multifunctional bionic robot fish for monitoring marine new pollutants according to claim 3, wherein a connecting piece (213) is fixed at the other end of the front tail fin (301), the front tail fin is rotatably connected with a socket piece (212) on one of the inner bones (211) through the connecting piece (213), a middle tail fin (302) is hinged to the other end of the connecting piece (213), and the rear tail fin (303) is hinged to the other end of the middle tail fin (302).
  6. 6. The multifunctional bionic robot fish for monitoring marine new pollutants according to claim 5, wherein the first frame body (230) and the second frame body (250) are symmetrically fixed on two sides of the outer arc-shaped surface of the fish body (100), the first through grooves (2301) communicated with the channel cavity (101) are formed in the second frame body (250) of the first frame body, sealing rings are arranged at the edges of the opening surfaces of the first through grooves (2301), a plurality of fixing holes are formed in the first frame body (230) and the second frame body (250) along the outer edges of the first through grooves (2301), the fixing plates (231) are respectively arranged on the second frame body (250), and the fixing plates (231) are fixed on the first frame body (230) and the second frame body (250) in a matched mode through bolts and the fixing holes.
  7. 7. The multifunctional bionic robot fish for monitoring marine new pollutants according to claim 6, wherein a plurality of elastic fish scales (232) are further fixed on the fixing plate (231), and a box body (240) is fixed in the channel cavity (101) and is close to the swinging assembly (200).
  8. 8. The multifunctional bionic robot fish for monitoring marine new pollutants according to claim 7, wherein the box body (240) is also symmetrically fixed with a first miniature water pump (241), the first miniature water pump (241) further comprises a first hose (2331), water bags (233) are further fixed on the fixing plate (231) and correspond to fish scales (232) in position and number one by one, one end of the first hose (2331) is communicated with the first miniature water pump (241), and the other end of the first hose is communicated with the water bags (233).
  9. 9. The multifunctional bionic robot fish for monitoring marine new pollutants according to claim 8, wherein a second bag body (260) and a third bag body (270) are respectively arranged at the upper part and the lower part in the fish body (100), a second micro dual-purpose air pump (261) is fixed on the air storage box (320), the air storage box (320) comprises a second hose (262), one end of the second hose (262) is communicated with the second micro dual-purpose air pump (261), the other end of the second hose is communicated with the second bag body (260), the second micro water pump (271) is fixed on the box body (240), the box body (240) comprises a third hose (272), one end of the third hose (272) is communicated with the second micro water pump (271), and the other end of the third hose (272) is communicated with the third bag body (270).

Description

Multifunctional bionic robot fish for monitoring marine new pollutants Technical Field The invention relates to the technical field of underwater robots, in particular to a multifunctional bionic robot fish for monitoring new marine pollutants. Background The monitoring of marine new pollutants (such as medicines, personal care products, perfluorinated compounds, microplastics and the like) faces the challenges of distributed dispersion, low concentration, complex environmental behaviors and the like, the existing underwater craft which is subjected to laboratory analysis or is carried with a universal sensor after multi-dependent fixed-point sampling has the problems of low space coverage rate, poor instantaneity, possibility of disturbing the original environment of a water body to be tested in the sampling process, difficulty in tracking pollution plumes in complex habitats (such as coral reefs and estuaries) and the like, the line-driven bionic fish technology realizes high-efficiency swimming through swinging of bionic tail fins, a built-in servo motor and a flexible cable transmission system of the line-driven bionic fish technology can accurately simulate a fish fluctuation propulsion mode, and the line-driven bionic fish wave-simulating device has the characteristics of low noise, high maneuverability and strong environmental adaptability. Publication number CN118494728B discloses a bionic robot fish, which comprises a head cabin module, a driving transmission mechanism module and a tail joint cabin module, wherein the driving transmission mechanism module comprises a driving submodule, a first transmission submodule and a second transmission submodule, the tail joint cabin module comprises a tail fin, the first transmission submodule is connected with the tail fin through a first stay wire, the second transmission submodule is connected with the tail fin through a second stay wire, the driving submodule can realize reciprocating motion of the tail fin by continuously rotating, the driving submodule can realize change of swing amplitude of the tail fin by rotating in a first direction or rotating in a direction opposite to the first direction, and change of swing frequency of the tail fin by adjusting rotation speed of the driving submodule. The bionic robot fish has relatively fixed rigidity in the actual use process, and cannot track the required frequent speed change according to the complex ocean currents and the new pollutants, so that the energy consumption is too high in long-term and large-range cruising monitoring, and the application efficiency of the bionic robot fish in the research of tracing and diffusing the new pollutants is limited. Disclosure of Invention The multifunctional bionic robot fish for monitoring the marine new pollutants solves the technical problems that in the prior art, the rigidity of a fish fin is relatively fixed and cannot be well adapted to the flow velocity in the sea, the first bag body is inflated or pumped and contracted by the first miniature dual-purpose air pump, the energy loss caused by deformation can be reduced by increasing the rigidity of the fish tail when the fish moves at a high speed, and the technical effects of generating larger thrust and reducing the energy consumption by utilizing flexible fluctuation when the rigidity is reduced at a low speed are achieved. The application provides a multifunctional bionic robot fish for monitoring new marine pollutants, which comprises a fish body, wherein one end of the fish body is connected with a swinging assembly, the swinging assembly is also connected with a fish tail which is embedded with a pressure sensor and can adjust rigidity, the high rigidity can reduce energy loss caused by deformation, the low rigidity can generate larger thrust by utilizing flexible fluctuation, a channel cavity separated by a separation plate is formed at the fish mouth of the fish body, and two monitoring devices and a plurality of storage pieces provided with electromagnetic valves are symmetrically arranged in the channel cavity and are used for monitoring the pollutants in different sea environments. The fish body further comprises cameras connected to two side ends and used for observing sea area environments, the fish body is further provided with a drainage channel communicated with the channel cavity and used for drainage, pectoral fins are arranged at two side ends, close to the bottom, of the fish body and driven by the motor and used for controlling running directions. The swinging assembly comprises a plurality of annular outer bones, wherein a cross-shaped inner bone is fixed on the inner annular surface of each outer bone, a sleeve joint piece is fixed at one end of each inner bone, a connecting piece is fixed at the other end of each inner bone, one connecting piece of each outer bone is rotatably connected in the sleeve joint piece of the other outer bone, clamping sleeves are symmetrically fixed on the