The invention provides a tandem type flexibly-driven bionic robotic fish. The fish comprises a fish head, a fish tail, a sealed cabin and a power cabin. The fish head and the fish tail are provided with a first cavity and a second cavity; the sealed cabin and the power cabin are arranged in the first cavity and/or the second cavity; a posture adjusting mechanism, a lithium battery and a control device are arranged in the sealed cabin; and a front steering engine set and a rear steering engine set are arranged in the power cabin, one end of the front steering engine set is connected with the rear steering engine set, the other end of the front steering engine set is connected with the posture adjusting mechanism, the other end of the rear steering engine set is connected with the fish tail,and the control device is electrically connected with the posture adjusting mechanism and the lithium battery and makes the posture adjusting mechanism and the power cabin move so as to drive the fish tail to move. Harmful left-right shaking of the fish head during flexible driving is reduced, a purposes of improving propelling flexible driving efficiency and increasing power are achieved, a bionic effect is good, and stability is good; and the posture adjusting mechanism is simple in structure and small in size, a pitching posture of the fish head is rapidly adjusted, and rapid floating anddiving swimming is achieved in cooperation with fish tail driving.
本发明提供一种串联式柔性驱动的仿生机器鱼,包括鱼头、鱼尾、密封舱及动力舱,鱼头和鱼尾分别具有第一腔体和第二腔体,密封舱和动力舱设置于第一腔体和/或第二腔体,密封舱内设置有姿态调节机构、锂电池及控制装置,动力舱内设置有前舵机组及后舵机组,前舵机组一端连接后舵机组、另一端连接姿态调节机构,后舵机组另一端连接鱼尾,控制装置与姿态调节机构、锂电池电连接,控制装置控制姿态调节机构运动,控制动力舱运动,进而带动鱼尾运动;本发明减小柔性驱动时鱼头有害的左右晃动、提高推进柔性驱动效率和增大动力的目的,仿生效果好,平稳性好;姿态调节机构结构简单体积小,快速调节鱼头俯仰姿态,配合鱼尾驱动,实现快速上浮下潜游动。
Tandem type flexibly-driven bionic robotic fish
一种串联式柔性驱动的仿生机器鱼
2020-10-30
Patent
Electronic Resource
Chinese
European Patent Office | 2023
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