The invention discloses a four-joint bionic robotic fish based on a Bricard mechanism. The appearance of the four-joint bionic robotic fish is a shark. The novel health care pillow consists of a head part (1), a waist part (2) and a tail part (3). A battery, a circuit board and a pair of pectoral fins are arranged in the head part (1). The waist part (2) is divided into three joints which are respectively driven by an underwater steering engine; and the tail part (3) is based on a triple symmetric Bricard mechanism and consists of a connecting rod I (3-3-1), a connecting rod II (3-3-2), a connecting rod III (3-3-3), a connecting rod IV (3-3-4), a connecting rod V (3-3-5), a cylindrical pin (3-3-6) and a connecting rod VI (3-3-7). The first connecting rod and the sixth connecting rod are fixed to the third waist joint through hinges, and the other connecting rods are connected through hinges pairwise. Each joint of the robotic fish swings according to a preset rule by controlling a single steering engine, the movement speed and direction are changed by controlling the rotating speed and the rotating angle of the motor, and the robotic fish floats or dives by controlling the steering direction, the speed and the rotating angle of the underwater steering engine. The shape and the motion mode of the robotic fish imitate sharks, so that the robotic fish has unique advantages in the fields of biological research, ecological monitoring and the like.

    一种基于Bricard机构的四关节仿生机器鱼,外形为鲨鱼。由头部(1)、腰部(2)和尾部(3)组成。头部(1)内置电池和电路板,装有一对胸鳍。腰部(2)分为三个关节,由水下舵机分别驱动。尾部(3)以三重对称Bricard机构为基础,由连杆一(3‑3‑1)、连杆二(3‑3‑2)、连杆三(3‑3‑3)、连杆四(3‑3‑4)、连杆五(3‑3‑5)、圆柱销(3‑3‑6)和连杆六(3‑3‑7)组成。连杆一和连杆六通过铰链固定在腰部第三关节,其他连杆两两通过铰链互连。机器鱼通过控制单个舵机使每个关节根据预设规律摆动,通过控制电机转速,转角改变运动速度和方向,通过控制水下舵机转向,速度和转角使其上浮或下潜。机器鱼外形和运动方式均模仿鲨鱼,使其在生物学研究、生态学监测等领域独具优势。


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    Titel :

    Four-joint bionic robotic fish based on Bricard mechanism


    Weitere Titelangaben:

    一种基于Bricard机构的四关节仿生机器鱼


    Beteiligte:
    LIU CHAO (Autor:in) / SUN SHAOYANG (Autor:in) / SUN YUN (Autor:in)

    Erscheinungsdatum :

    27.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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