The invention relates to the technical field of underwater robots, and discloses a bionic robotic fish, comprising: a wire-driven fishtail mechanism comprising a fishtail-imitating structure and a stay wire, the stay wire is connected with the fishtail-imitating structure, the stay wire is connected to a wire connector, and the wire connector is used for pulling the stay wire back and forth by swinging to realize the swinging of the fishtail-imitating structure; the driving mechanism comprises a motor, the motor is connected to the shell assembly, an output shaft of the motor is connected with the transmission mechanism, the transmission mechanism is connected with the wire connector, and the transmission mechanism is used for converting rotation of the output shaft into swing so as to drive the wire connector to swing. According to the bionic robotic fish, circumferential rotation of the output shaft of the motor is converted into swing through the transmission mechanism, the swing output by the transmission mechanism is further transmitted to the fishtail through the pull wire, fish-imitating swing of the fishtail-imitating structure is achieved, the performance of the motor can be released, and high-frequency movement of the line-driven robotic fish can be achieved easily.

    本发明涉及水下机器人技术领域,公开了一种仿生机器鱼,包括:线驱动鱼尾机构,包括仿鱼尾结构和拉线,拉线与仿鱼尾结构连接,且拉线连接于连线器,连线器用于通过摆动实现对拉线的来回拉动以实现仿鱼尾结构的摆动;驱动机构和传动机构,驱动机构包括电机,电机连接于壳体组件,电机的输出轴与传动机构连接,传动机构与连线器连接,传动机构用于将输出轴的转动转换为摆动以带动连线器摆动。本发明提供的仿生机器鱼,通过传动机构将电机输出轴的圆周转动转化为摆动,进一步利用拉线将传动机构输出的摆动传递至鱼尾,实现仿鱼尾结构的仿鱼摆动,能够释放电机的性能,有利于实现线驱动机器鱼的高频运动。


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    Title :

    Bionic robotic fish


    Additional title:

    一种仿生机器鱼


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

    Publication date :

    2023-04-18


    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



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