The invention discloses a deep-submergence robotic fish with a simple and flexible fish tail and a power generation device. The fish tail is a flexible fish tail formed by combining a tail fin, a ball, a fish tail joint, an elastic rubber tube and the like. The tail fin swings to strike water to swim under the driving of a fish tail driving device consisting of a servo motor, a rope wheel and a traction rope. The fish tail and the fish body are connected through a driving motor mechanism capable of rotating 90 degrees positively and negatively, and vertical, horizontal and positive and negative 90-degree tail fin water hitting can be achieved. A swimming bladder is composed of a high-pressure air bottle, a water storage tank, a drainage air bag arranged in the water storage tank, a water full stop valve arranged on the water storage tank, a water air stop valve, a water inlet check valve, a water pump, a drainage pipe, a drainage electromagnetic valve, a jet driver and the like. Floating, diving and horizontal suspending are adjusted through water supply and drainage. A turbine and a generator are placed in the channel, when the robotic fish swims or suspends in ocean current, water flow pushes the turbine to rotate, and the generator is rotated to generate electricity. A posture adjusting ball rolling heavy punch is arranged on the vertical line of the gravity center axis of the robotic fish and used for adjusting the postures of upward floating, diving and horizontal suspending. Flexible, rapid and multi-pose swimming can be achieved through the technological innovation robotic fish in the four aspects, and long-term uninterrupted work in deep water is achieved.
一种鱼尾简单灵活带发电装置的深潜机器鱼机器鱼鱼尾是由尾鳍、园珠、鱼尾骨节、弹性胶管、…组合在一起的柔性鱼尾。在由伺服电机、绳轮、牵引绳组成的鱼尾驱动装置驱动下摆动尾鳍击水而游。鱼尾和鱼身结合是由可正负旋转90度的驱动电机机构连接,可实现垂直、水平、正负90度范围的尾鳍击水。鱼鳔由高压气瓶、储水罐、储水罐中有排水气囊、罐上设有水满截止阀、水空截止阀、进水逆止阀、水泵、排水管、排水电磁阀、射流驱动器等组成。通过给排水调整上浮、下潜、水平悬浮。在通道中放置涡轮机和发电机,当机器鱼游动或悬停在洋流中时水流推动涡轮机转动,并转动发电机发电。在机器鱼的重心轴垂线上装设姿态调整圆球滚动重锤,用以调整上浮、下潜、水平悬浮的姿态。通过以上四个方面的技术创新机器鱼即可实现灵活、快速、多姿的游动,长期不间断在深水中工作。
Deep-submergence robotic fish with simple and flexible fish tail and power generation device
一种鱼尾简单灵活带发电装置的深潜机器鱼
2021-02-26
Patent
Electronic Resource
Chinese
Driving device of bionic robotic fish tail and bionic robotic fish tail
European Patent Office | 2024
|Flexible fin-tail handle synergistically driven bionic takiridae robotic fish
European Patent Office | 2024
|Robotic fish bionic mechanical tail device with variable section characteristic
European Patent Office | 2024
|Research and Simulation of a flexible robotic fish tail fin propulsion system
DOAJ | 2016
|