The invention discloses a reconfigurable bionic robotic fish and a combined bionic fish, the reconfigurable bionic robotic fish comprises a main body mechanism and a tail mechanism, the main body mechanism comprises a sealed shell and an electric control permanent magnet device which are connected with each other, and the electric control permanent magnet device has a magnetizing state and a demagnetizing state; the tail mechanism is used for driving the sealing shell to move. The tail mechanism can drive the main body mechanism to realize movement of at least one degree of freedom, and when the electric control permanent magnet device is in a magnetizing state, the tail mechanism can be connected with other reconfigurable bionic robotic fishes or other driving parts through the electric control permanent magnet device, so that the spliced structure can realize flexible movement in multiple movement directions; when the reconfigurable bionic robotic fish is in a narrow use environment, the electric control permanent magnet device can be controlled to be in a degaussing state, so that components magnetically connected with the electric control permanent magnet device are removed, and the reconfigurable bionic robotic fish is restored to the original size to meet the use requirements of the narrow environment.
本发明公开了一种可重构仿生机器鱼和组合仿生鱼,该可重构仿生机器鱼包括主体机构和尾部机构,主体机构包括相互连接的密封外壳和电控永磁铁装置,电控永磁铁装置包括充磁状态和消磁状态;尾部机构用以带动密封外壳移动。尾部机构能够带动主体机构实现至少一自由度的运动,当电控永磁铁装置处于充磁状态时,可以通过电控永磁铁装置与其他可重构仿生机器鱼连接或与其他驱动部件连接,以使拼接完成后的结构能够实现多运动方向的灵活运动;当面对狭窄使用环境时,可控制电控永磁铁装置处于消磁状态,从而解除与电控永磁铁装置通过磁性连接的部件,进而使可重构仿生机器鱼恢复至原有大小,以适应狭窄环境的使用需求。
Reconfigurable bionic robotic fish and combined bionic fish
可重构仿生机器鱼和组合仿生鱼
2023-09-29
Patent
Elektronische Ressource
Chinesisch