The invention relates to a dorsal fin and tail fin synergistically propelled cheongfish-imitating robot and a coupling motion method thereof, and belongs to the technical field of underwater robots. The fish consists of a fish front part, a dorsal fin propelling structure and a tail fin propelling structure. The fish front part mainly comprises a fish front part upper cavity, a fish front part lower cavity, a gravity center adjusting device, a gyroscope, an infrared obstacle avoidance sensor, a camera and lighting equipment; the dorsal fin propelling structure mainly comprises a dorsal fin, a roller upper cover, a roller body, an unfolding and folding structure and a back waterproof steering engine; the tail fin propelling structure is provided with M joints, and each joint comprises a joint upper cavity, a joint lower cavity and a joint waterproof steering engine; the dorsal fin and the tail fin of the robot cooperatively move, and the swimming speed and maneuverability of the robot are improved through the coupled movement of the dorsal fin and the tail fin. The underwater platform can be applied to the fields of ecological observation, underwater exploration, reconnaissance and the like.
本发明涉及一种背鳍与尾鳍协同推进的仿旗鱼机器人及其耦合运动方法,属于水下机器人技术领域。它由鱼前部分、背鳍推进结构以及尾鳍推进结构组成。鱼前部分主要包括鱼前部上腔体、鱼前部下腔体、重心调节装置、陀螺仪、红外避障传感器、摄像头、照明设备;背鳍推进结构主要包括背鳍、滚筒上盖、滚筒体、展开折叠结构、背部防水舵机;尾鳍推进结构共有M个关节,每个关节均包括关节上腔体、关节下腔体、关节防水舵机;该机器人的背鳍与尾鳍的协同运动,并通过背鳍与尾鳍的耦合运动提高机器人的游动速度以及机动性。可作为水下平台应用于生态观测、水下勘探、侦察等领域。
Flag-fish-imitating robot synergistically propelled by dorsal fin and tail fin and coupling motion method thereof
背鳍和尾鳍协同推进的仿旗鱼机器人及其耦合运动方法
2023-05-23
Patent
Electronic Resource
Chinese
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 / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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