The invention provides a flexible electric bionic fish fin which comprises a fin part and a motor driving part, the fin part is installed on a main body frame of a bionic robot through a base, the fin part comprises a frame structure, a fin part swing mechanism and a fin part twisting mechanism, the fin part swing mechanism is driven by two elastic belts with toughness, and the fin part twisting mechanism is driven by two elastic belts with toughness. The two elastic belts are synchronously driven by an electric driving part mounted on the base and do reciprocating motion at opposite speeds and directions in the fin direction, a frame structure is hinged between the two elastic belts, and the fin twisting mechanism comprises a universal joint in the fin and a long shaft connected through the universal joint; a long shaft connected with the universal joint is driven by an electric driving part arranged on the base, so that the fin part is twisted around the root part. The multi-section universal joint couplings are adopted to drive the fins to twist, meanwhile, the variable cross-section elastic belts enable the swing rigidity of the bionic fin device to be better attached to the rigidity of the real fins, the twisting and swing superposition effect enables movement to be more bionic, the fin swing power is improved, and the swimming speed of bionic fishes is increased.

    本发明提供一种柔性电动仿生鱼鳍,包括鳍部和电机驱动部,通过基座安装到仿生机器人的主体框架上,鳍部包括框架结构、鳍部摆动机构和鳍部扭动机构,鳍部摆动机构由两条具有韧性的弹性带驱动,两条弹性带由安装在基座的电动驱动部同步驱动,分别沿着鳍方向以相反的速度和方向往复运动,两条所述弹性带之间铰接有框架结构,鳍部扭动机构包括鳍部内的万向节和通过万向节连接的长轴,万向节连接的长轴由安装在基座的电动驱动部驱动,使鳍部绕根部扭转。本发明采用多段万向节联轴器驱动鱼鳍扭动,同时变截面弹性带使仿生鱼鳍装置摆动刚度更加贴合真实鱼鳍刚度,扭动与摆动叠合作用使得运动更加仿生,提高了鳍部摆动功率,提升了仿生鱼的游动速度。


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    Titel :

    Flexible electric bionic fin


    Weitere Titelangaben:

    一种柔性电动仿生鱼鳍


    Beteiligte:
    LYU HAO (Autor:in) / WANG MENG (Autor:in) / GAO CUNQIANG (Autor:in) / SU ZONGSHUAI (Autor:in) / WANG BAOXIN (Autor:in) / FANG XUELIN (Autor:in) / HUI ZHISHAN (Autor:in) / GAO CHAO (Autor:in) / XU YANYUN (Autor:in) / ZHU XIUFENG (Autor:in)

    Erscheinungsdatum :

    27.10.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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