The carangidae-imitating liftable bionic fish mechanism comprises a head control part, a movement joint part and a fish tail part which are connected in sequence, the head control part comprises a head void cabin, the upper part of a head hardware cabin is connected with the head void cabin, and the lower part is connected with a head counterweight cabin; the head hardware cabin is provided with a fin transmission shaft, the fin transmission shaft is connected with a single-shaft steering engine, and the two ends of the fin transmission shaft are connected with fish pectoral fins; the motion joint part comprises a first double-shaft steering engine, the rear end of the head hardware cabin is connected with the front end of a first joint shell through the first double-shaft steering engine, the rear end of the first joint shell is connected with the front end of a second joint shell through a second double-shaft steering engine, and the rear end of the second joint shell is connected with the front end of a third joint shell through a third double-shaft steering engine; the fishtail part comprises a fishtail; the rear end of the three-joint shell is connected with the front end of the fishtail; the robot has the capabilities of advancing, steering, rising, submerging, sudden stopping and self-balancing in water; the size is small, the adaptability is high, and the mechanism is simplified and integrated; and meanwhile, sufficient expansion capability is realized.
一种仿鲹科可升潜的仿生鱼机构,包括依次连接的头部控制部分、运动关节部分和鱼尾部分;头部控制部分包括头部空舱,头部硬件舱上部连接头部空舱,下部连接头部配重舱;头部硬件舱安装有鱼鳍传动轴,鱼鳍传动轴和单轴舵机连接,鱼鳍传动轴两端和鱼胸鳍连接;运动关节部分包括第一双轴舵机,头部硬件舱后端通过第一双轴舵机和一关节外壳前端连接,一关节外壳后端通过第二双轴舵机和二关节外壳前端连接,二关节外壳后端通过第三双轴舵机和三关节外壳前端连接;鱼尾部分包括鱼尾,三关节外壳后端和鱼尾前端连接;本发明具备在水中前进转向、升潜、急停、自平衡的能力;且体积小巧,适配性强,机构精简一体化;同时还具备充足拓展能力。
Carangidae-imitating bionic fish mechanism capable of rising and submerging
一种仿鲹科可升潜的仿生鱼机构
2022-07-15
Patent
Electronic Resource
Chinese
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