The invention belongs to the technical field of underwater robots, particularly relates to a bionic robot tuna, and aims to solve the problems of high energy consumption, low swimming speed and large turning radius of a bionic robot fish in the prior art. The driving steering engine of a bionic robot tuna swing mechanism can control the rear-section shell to swing so as to control the bionic robot tuna to steer, and the rotor motors of the swing mechanism can control tail fins to swing through gear transmission and variable speed so as to control the bionic robot tuna to swim forwards. Through the arrangement, the bionic robot tuna not only can realize high-frequency swing of the tail part through unidirectional rotation of the rotor motors so as to realize high-speed swimming, but also can realize unidirectional offset of the tail part through the driving steering engine so as to realize small-radius steering. The bionic robot tuna is simple in structure, light in weight and small in size, and high-speed swimming and small-radius steering movement can be achieved at the same time.
本发明属于水下机器人技术领域,具体涉及一种仿生机器金枪鱼,旨在解决现有技术中仿生机器鱼能耗大、游速慢且转弯半径大的问题。本发明提供的仿生机器金枪鱼摆动机构的驱动舵机可以控制后段壳体摆动以控制仿生机器金枪鱼转向,摆动机构的旋翼电机能够通过齿轮传动和变速控制尾鳍摆动以控制仿生机器金枪鱼前向游动。通过该设置,仿生机器金枪鱼既能够通过旋翼电机单向转动实现尾部高频摆动,从而实现其高速游动,又能够通过驱动舵机实现尾部单向偏置,从而实现小半径转向。本申请的仿生机器金枪鱼结构简单、重量轻、体积小有利于同时实现高速游动和小半径转向运动。
Bionic robot tuna
仿生机器金枪鱼
2021-06-11
Patent
Electronic Resource
Chinese
High-maneuverability bionic machine tuna device and steering method thereof
European Patent Office | 2023
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