The invention provides a bionic magic fish robot based on a sine swing undulating fin structure. The bionic magic fish robot comprises a body unit; the fin unit comprises two fluctuation fin assemblies which are connected to the two sides of the main body plate respectively; the sinking and floating unit is located in the shell and installed above the main body plate, and the sinking and floating unit comprises a gravity center adjusting mechanism and a first driving device for driving the gravity center adjusting mechanism to operate; wherein the fluctuating fin assembly comprises a plurality of second driving devices, a plurality of flexible rods and a flexible framework, the second driving devices are installed at intervals in the direction from the head end of the shell to the tail end of the shell, and the flexible rods are connected with the second driving devices correspondingly. The underwater robot moves by means of propulsive force generated by the fluctuating fin assembly, and sinking and floating of the underwater robot are controlled through the sinking and floating unit, so that the underwater robot has the advantages of being high in movement efficiency, good in maneuverability, high in stability and interference resistance, small in environmental disturbance and the like, and tasks such as underwater detection and underwater shooting can be completed in a low-speed state.

    本发明提供了一种基于正弦摆动波动鳍结构的仿生魔鬼鱼机器人,包括:躯壳单元;鱼鳍单元,包括分别连接于主体躯板两侧的两个波动鳍组件;沉浮单元,位于外壳内且安装于主体躯板上方,沉浮单元包括重心调节机构和驱动重心调节机构运行的第一驱动装置;其中,波动鳍组件包括多个第二驱动装置、多根柔性杆和柔性骨架,多个第二驱动装置沿外壳的头端朝尾端的方向间隔安装,多根柔性杆分别与多个第二驱动装置连接。本发明借助波动鳍组件产生的推进力而进行运动,并通过沉浮单元控制本发明的沉浮,使得本发明具有运动效率高、机动性好、稳定性抗干扰能力强以及环境扰动性小等优点,能够在低速状态下完成水下探测、水下拍摄等任务。


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    Title :

    Bionic magic fish robot based on sine swing fluctuation fin structure


    Additional title:

    一种基于正弦摆动波动鳍结构的仿生魔鬼鱼机器人


    Contributors:
    WU BINGHUI (author) / LONG SIQING (author) / ZHAO YIHAN (author) / WANG JIANING (author) / CHEN YUAN (author) / GU SHENJIE (author) / LU YITONG (author) / ZHOU JIPENG (author)

    Publication date :

    2022-06-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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