The invention provides an online variable-rigidity bionic robotic fish. The online variable-rigidity bionic robotic fish comprises a bionic fish head, a bionic fish tail, a bionic tail fin, a driving joint and a rigidity adjusting mechanism. The bionic fish head comprises a first mounting frame, and the bionic fish tail comprises a second mounting frame; in the moving direction of the bionic robotic fish, the rear end of the first mounting frame and the front end of the second mounting frame are rotationally connected through a driving joint; the rigidity adjusting mechanism comprises a driving assembly, a sliding block and an elastic piece. The driving assembly is arranged on at least one of the first mounting frame and the second mounting frame, and the driving assembly is connected with the sliding block; the sliding block is provided with a guiding opening, the elastic piece penetrates through the guiding opening in the extending direction of the bionic fishtail, the front end of the elastic piece is connected with the front end of the second mounting frame, and the rear end of the elastic piece extends to the rear end of the second mounting frame and is connected with the bionic tail fin. The online variable-rigidity bionic robotic fish has the advantages of being simple and stable in structure, flexible in movement and high in anti-interference performance, and the rigidity of the robotic fish tail can be adjusted in a large range.

    本发明提供一种在线变刚度仿生机器鱼,包括仿生鱼头、仿生鱼尾、仿生尾鳍、驱动关节和刚度调节机构;仿生鱼头包括第一安装架,仿生鱼尾包括第二安装架;沿仿生机器鱼的移动方向,第一安装架的后端和第二安装架的前端通过驱动关节转动连接;刚度调节机构包括驱动组件、滑块和弹性片;驱动组件设于第一安装架和第二安装架的至少一者,驱动组件和滑块连接;滑块设有引导口,弹性片沿仿生鱼尾的延伸方向穿设于引导口,弹性片的前端和第二安装架的前端连接,弹性片的后端延伸至第二安装架的后端,并与仿生尾鳍连接。本发明提供的在线变刚度仿生机器鱼具有结构简单稳定、运动灵活、抗干扰性强的特点,能够实现对机器鱼尾刚度的大范围调节。


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    Title :

    Online variable-stiffness bionic robotic fish


    Additional title:

    一种在线变刚度仿生机器鱼


    Contributors:
    ZHOU CHAO (author) / LIAO XIAOCUN (author) / FAN JUNFENG (author) / WANG JIAN (author) / ZHANG ZHUOLIANG (author) / YIN ZHAORAN (author) / DENG LIANGWEI (author) / LU BEN (author) / ZOU QIANQIAN (author)

    Publication date :

    2023-03-03


    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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