According to the underwater exploration bionic flexible fish driven by the pressure fluid, the overall appearance of the bionic flexible fish is in a streamline shape, bionic pectoral fin actuator grooves are formed in the two sides of a bionic flexible fish body respectively, bionic pectoral fin actuators are matched with the bionic pectoral fin actuator grooves, and the bionic pectoral fin actuators can deform along with pressure changes. The bionic fishtail actuator is connected with the bionic flexible fish body, a left side cavity and a right side cavity which are independent and not communicated with each other are distributed in the bionic fishtail actuator, fluid inlets are formed in the two side cavities respectively, and when a pressure fluid conveying system introduces pressure fluid into the bionic fishtail cavities through the fluid inlets of the fishtail left side cavity and the fishtail right side cavity, the bionic fishtail actuator is connected with the bionic flexible fish body. The fishtail deforms along with the pressure change, so that the fishtail swings left and right, and thrust for the bionic flexible fish to swim forwards is generated. By controlling the shape change of the pectoral fins and the fish tail, the functions of advancing, accelerating, steering, braking and the like of the bionic flexible fish can be achieved, and flexible exploration operation of the bionic flexible fish at different water depths can be achieved.
本发明提出一种由压力流体驱动的水下探索仿生柔性鱼,仿生柔性鱼整体外形呈流线型,在仿生柔性鱼身两侧分别设有仿生胸鳍执行器凹槽,仿生胸鳍执行器与仿生胸鳍执行器凹槽相契合,仿生胸鳍执行器会随着压力变化发生变形。仿生鱼尾执行器与仿生柔性鱼身相连,在仿生鱼尾执行器内部分布着相互独立不连通的左右两侧腔室,两侧腔室分别设有流体入口,当压力流体输送系统经鱼尾左/右侧腔室流体入口向仿生鱼尾腔室通入压力流体时,鱼尾会随着压力变化发生变形,达到鱼尾左右摆动的动作,产生仿生柔性鱼向前游动的推力。通过控制胸鳍及鱼尾的形态变化,可实现仿生柔性鱼“前进、加速、转向、刹车”等功能,还可实现仿生柔性鱼在不同水深的灵活探索作业。
Underwater exploration bionic flexible fish driven by pressure fluid
一种由压力流体驱动的水下探索仿生柔性鱼
2023-05-09
Patent
Electronic Resource
Chinese
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