The invention relates to a bionic fish, in particular to a rope-driven X-shaped parallel structure stretch-draw integral flexible bionic fish. An MCU controller, a battery and a servo motor are installed in the fish head shell, a waterproof switch is installed on the top to control the MCU controller, a servo motor fixing wobble plate, a first fish body joint, a second fish body joint, a third fish body joint and a fish tail joint are sequentially arranged behind the fish head shell and wrapped by bionic fish skin, the first fish body joint is connected with the fish tail joint through two springs, and the second fish body joint is connected with the fish tail joint through two springs. The first fish body joint is hinged to the second fish body joint through an upper connecting rod, the second fish body joint is hinged to the third fish body joint through a lower connecting rod, the third fish body joint is hinged to the fish tail joint through a lower connecting rod, and the corresponding upper connecting rod and the corresponding lower connecting rod are arranged in an X shape. The tail fin is installed at the rear end of the fishtail joint through the tensioning joint. The defects that a hinge mechanism is low in rotating rigidity and cannot absorb transverse impact loads are overcome, and the swimming process of the bionic fish is more real and stable.

    一种绳索驱动式X型平行结构张拉整体柔性仿生鱼,涉及一种仿生鱼。鱼头外壳内安装MCU控制器、电池及伺服电机,顶部安装防水开关控制MCU控制器,伺服电机固定摆盘,第一鱼身关节、第二鱼身关节、第三鱼身关节及鱼尾关节依次布置在鱼头外壳后方并裹附有仿生鱼皮,第一鱼身关节与鱼尾关节通过两根弹簧连接,第一鱼身关节与第二鱼身关节、第二鱼身关节与第三鱼身关节及第三鱼身关节与鱼尾关节之间分别通过上连杆和下连杆铰接,对应的上连杆和下连杆呈X形排布,摆盘通过两根主动驱动绳与鱼尾关节连接,尾鳍通过张拉关节安装在鱼尾关节后端。解决铰链机构转动刚度低且无法吸收横向冲击载荷的缺点,使仿生鱼游动过程更加真实稳定。


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    Title :

    Rope-driven X-shaped parallel structure stretch-draw integral flexible bionic fish


    Additional title:

    一种绳索驱动式X型平行结构张拉整体柔性仿生鱼


    Contributors:
    HE JINGFENG (author) / ZHU XIAOWEN (author) / LI XIN (author) / WANG YIHANG (author) / TONG ZHIZHONG (author) / JIANG HONGZHOU (author)

    Publication date :

    2023-04-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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