The invention discloses a bionic robot shell fish driven by undulating fins, which has bionic characteristics of the shell fish and comprises a fish head, a fish body and a fish tail. The fish body comprises a fish body shell, fin ray swing generating mechanisms and fins, the fish body shell is connected with the fish head, the fin ray swing generating mechanisms are arranged on the upper side and the lower side of the fish body shell respectively, the fin ray swing generating mechanisms are connected with an electronic device module in the fish head, and the fins are arranged on the fin ray swing generating mechanisms; the electronic device module drives the fin ray swing generation mechanism to swing at different phases, so that the fins simulate sine waves, and then the bionic machine shell fish driven by the undulating fins swims; the fishtail comprises a steering engine and a tail fin, the fishtail is connected with the fish body shell, and the tail fin is connected with the steering engine; the electronic device module controls operation of the steering engine, and the steering engine drives the tail fin to swing so as to adjust the swimming direction and auxiliary driving of the bionic machine shell fish driven by the undulating fin. According to the invention, stable swimming driven in a fluctuation mode can be realized.

    本发明公开了一种波动鳍驱动的仿生机器炮弹鱼,具有炮弹鱼仿生特性,包括鱼头、鱼身和鱼尾。鱼身包括鱼身壳体、鳍条摆动发生机构和鳍片,鱼身壳体与鱼头连接,鱼身壳体的上下两侧分别设有鳍条摆动发生机构,鳍条摆动发生机构与鱼头内的电子器件模块相连,鳍条摆动发生机构上设有鳍片;电子器件模块驱动鳍条摆动发生机构进行不同相位的摆动,以使鳍片模拟正弦波,进而使波动鳍驱动的仿生机器炮弹鱼游动;鱼尾包括舵机和尾鳍,鱼尾与鱼身壳体相连,尾鳍与舵机相连;电子器件模块控制舵机的运行,舵机驱动尾鳍摆动,以调节波动鳍驱动的仿生机器炮弹鱼的游动方向和辅助驱动。本发明能够实现以波动模式驱动的稳定游动。


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    Title :

    Bionic machine cannonball fish driven by undulating fins


    Additional title:

    波动鳍驱动的仿生机器炮弹鱼


    Contributors:
    JIA YONGXIA (author) / XU HANGRUI (author) / GUO LIBEN (author) / LI QINGQING (author) / WANG YUEDI (author)

    Publication date :

    2022-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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