The invention relates to a driving device for a bionic robotic fish and belongs to the technical field of automatic underwater vehicles. The driving device comprises a fish head shell, a fish tail shell, a tail fin, a sphere moving device, a tail fin swinging and flapping device and a water hitting angle adjusting device; the sphere moving device drives the central shaft of the fish tail shell torotate around an x axis and rotate around a y axis for a whole circle, so that the symmetric axis of the reciprocating motion of the tail fin is located at any position in the semispherical surface ofa fish tail; the reciprocating flapping of the tail fin with the controllable water hitting angle is also used, so that the reciprocating swing of the robotic fish in a semispherical surface motion domain is achieved, and therefore, the maneuvering requirements of turning, rising and diving and the like of the robotic fish are met. According to the driving device, the spherical moving device is adopted for achieving the swinging of the tail fin of the bionic robotic fish or the movement of a flapping axis in a hemispherical surface; the driving device is simple in structure; the miniaturization and light weight of the driving device are achieved conveniently; the mechanism principle and structure composition of the device are simple; and the driving device is used as a driving device of an underwater automatic vehicle.

    本发明涉及一种仿生机器鱼驱动装置,属于水下自动航行器技术领域;包括鱼头壳体、鱼尾壳体、尾鳍、球体运动装置、尾鳍摆动拍动装置和击水角调整装置;球体运动装置带动鱼尾壳体中心轴绕x轴转动和绕y轴整周旋转,使尾鳍往复运动的对称轴位于鱼尾半球面内的一个任意位置,配合可控击水角的尾鳍的往复拍打,实现机器鱼在半球面运动域内的往复摆动,适应机器鱼转弯和升潜等机动需求。本发明采用球体运动装置来实现仿生机器鱼尾鳍摆动或拍动轴线在半球面内的运动,结构简单,便于实现微型化、轻量化的机器鱼装置,机构原理与结构组成简单,适用于水下自动航行器的驱动装置。


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    Title :

    Driving device for bionic robotic fish


    Additional title:

    一种仿生机器鱼驱动装置


    Contributors:
    WANG SHUYAN (author) / YUAN ZHUOJUN (author) / GUO DONGXIANG (author) / YANG CHAOFAN (author)

    Publication date :

    2020-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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