The invention discloses a bionic robotic fish based on bionic fin and pump combined propulsion, which is used for oil-immersed transformer internal inspection. The bionic robotic fish comprises a headsection shell, a middle section shell and a tail section shell which are connected in sequence, wherein the head section shell is provided with an inspection camera, the two sides of the head sectionshell are symmetrically provided with two-degree-of-freedom bionic fin mechanisms respectively, the middle section is a sinking and floating control mechanism, the upper end of the sinking and floating control mechanism is provided with a balance control rudder bin, and the rear end of the tail section shell is provided with a pump type propeller. According to the two-degree-of-freedom bionic finmechanism, various complex combined motion modes such as advancing, retreating, ascending, diving and turning can be conveniently achieved, thereby being closer to the swimming state of a real fish,improving the swimming speed and maneuverability of the bionic fish at the same time, and improving he adaptability of the bionic fish to the narrow space.
本发明公开了一种基于仿生鳍和泵结合推进的仿生机器鱼,用于油浸式变压器内部巡检,包括顺序连接的头段壳体、中段和尾段壳体,头段壳体设置有巡检摄像头,其中,在头段壳体两侧对称分别设置有两自由度仿生鳍机构,中段为沉浮控制机构,沉浮控制机构上端设置有平衡控制舵仓,在尾段壳体后端设置有泵式推进器;本发明的两自由度仿生鳍机构,可以方便的实现前进、后退、上升、下潜、转弯等多种复杂的组合运动模式,更加接近真实鱼类的游动状态,同时提高了仿生鱼的游动速度与机动性,增加了仿生鱼狭小空间的适应能力。
Bionic robotic fish based on bionic fin and pump combined propulsion
一种基于仿生鳍和泵结合推进的仿生机器鱼
2020-10-09
Patent
Elektronische Ressource
Chinesisch
Reconfigurable bionic robotic fish and combined bionic fish
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