The invention relates to a bionic robotic mudskipper. The bionic robotic mudskipper comprises a fish body mechanism, a crawling mechanism, a fishtail mechanism, a power supply, and a control device. The crawling mechanism is arranged on the front side of the fish body mechanism, the crawling mechanism comprises a set of L-shaped pectoral fins which are symmetrically arranged, the widths of the L-shaped pectoral fins are gradually increased from top to bottom, and the L-shaped pectoral fins are driven by the corresponding double-shaft series driving mechanisms to achieve planing towards the outer rear side in a circulating mode; the fishtail mechanism is arranged on the rear side of the fish body mechanism, and the fishtail mechanism is driven by a tail fin steering engine to achieve cyclicswinging; the power supply is used for providing power for the double-shaft series driving mechanism and a tail fin steering engine; and the control device is used for controlling the actions of thedouble-shaft series driving mechanism and the tail fin steering engine. The bionic robotic mudskipper is simple in structure, and the action frequency of the moving mechanism can be effectively reduced on the premise that walking is not unbalanced, so that abrasion is reduced, and power consumption is reduced; and cross-phase motion from land to water and from water to land can be well realized.

    本发明涉及一种仿生弹涂机器鱼,包括鱼身机构;爬行机构,装置于所述鱼身机构的前侧,所述爬行机构包含一组对称设置的L型胸鳍,所述L型胸鳍的宽度从上往下逐步递增设置,L型胸鳍分别由相应的双轴串联驱动机构进行驱动实现循环向外后侧刨动;鱼尾机构,装置于所述鱼身机构的后侧,所述鱼尾机构由尾鳍舵机进行驱动实现循环摆动;电源,用于为双轴串联驱动机构和尾鳍舵机进行供电;控制装置,用于控制双轴串联驱动机构和尾鳍舵机的动作。本发明结构简易,且能够有效在行走不失衡的前提下,有效降低移动机构的动作频率,从而减轻磨损和降低耗电量;并能够很好实现由陆到水和由水到陆的跨相运动。


    Access

    Download


    Export, share and cite



    Title :

    Bionic robotic mudskipper


    Additional title:

    一种仿生弹涂机器鱼


    Contributors:
    WANG WEI (author) / HAN JINGWEN (author) / WEN DAN (author) / OU WENZHAN (author) / ZHANG YU (author)

    Publication date :

    2020-11-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



    Bionic mudskipper with flexible and variable-rigidity pectoral fins and control method of bionic mudskipper

    ZHOU WEI / ZHENG WEI / ZHANG YU et al. | European Patent Office | 2023

    Free access

    Bionic robotic fish

    ZHONG YONG / HONG ZICUN | European Patent Office | 2024

    Free access

    Bionic robotic fish

    QU JUNTIAN / TANG WEI / WANG YUNFEI et al. | European Patent Office | 2023

    Free access

    Bionic robotic fish

    LIU CHANG / LI JIAYE / WU YONGHAO et al. | European Patent Office | 2022

    Free access

    Bionic robotic fish

    SHI ZHONGLOU / LI FAYUAN | European Patent Office | 2020

    Free access