The invention discloses a two-joint pressure-driven flexible bionic robot fish, which comprises a fish head structure and a fish body structure, wherein the fish head structure comprises a fish head shell and a sealing box, and the fish body structure comprises a flexible fish body composed of a first joint and a second joint and a flexible tail fin moving passively; four protruding keys are arranged at the front end of the fish body structure and are in clearance fit with a groove in the tail end of the fish head structure, and four evenly-distributed positioning holes are formed to ensure that connection is tight and relative sliding does not occur. By adopting the shark-imitated appearance, the swimming resistance of the robot fish is reduced, and the swimming performance is improved; aflexible driving mode is adopted, so that the robot fish swings more smoothly, the environmental adaptability of the robot fish is enhanced, and disturbance and noise to the surrounding environment are reduced; internal water pressure driving is adopted, so that the cost is reduced, pollution is reduced, and the environment is protected; two-joint flexible driving is adopted, S-shaped swing of the robot fish is achieved, the moving posture of the robot fish is closer to the fish, the swimming speed is increased, and the propelling efficiency is improved.

    本发明公开了一种两关节压力驱动柔性仿生机器鱼,包括鱼头结构和鱼身结构,所述鱼头结构包括鱼头外壳和密封箱,所述鱼身结构包括由第一关节和第二关节构成的柔性鱼体和被动运动的柔性尾鳍;所述鱼身结构的前端有四个凸起键,与所述鱼头结构末端的凹槽间隙配合,并有四个均匀分布的定位孔保证连接紧密不发生相对滑动。本发明采用仿鲨鱼外形,减小了机器鱼的游动阻力,提高了游动性能;采用柔性驱动的方式,使得机器鱼的摆动更加柔顺流畅,增强了机器鱼的环境适应性,降低了对周围环境的扰动和噪音;采用内部水压驱动,降低了成本,减除了污染,对环境绿色环保;采用两关节柔性驱动,实现机器鱼S形摆动,使其运动姿态更加贴近鱼类,增大了游动速度,提高了推进效率。


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    Title :

    Two-joint pressure-driven flexible bionic robot fish


    Additional title:

    一种两关节压力驱动柔性仿生机器鱼


    Contributors:
    ZHANG KAISHENG (author) / LU SHUNYI (author) / JIAO LIU (author) / WU YETAO (author) / YANG SHIHAO (author) / ZHANG TONG (author) / ZHANG BAOCHENG (author) / WANG QIANG (author) / ZHAO BO (author)

    Publication date :

    2020-11-06


    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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