The invention discloses a novel bionic robotic fish driven by hydraulic flexible joints, which comprises a head shell, a trunk shell, a pectoral fin driving device, a tail fin driving device, a driving control assembly and a dorsal fin, and is characterized in that the pectoral fin driving device and the tail fin driving device are driven by the hydraulic flexible joints, the pectoral fin is connected with a fish body shell through a spherical hinge, and the tail fin is connected with the fish body shell through a spherical hinge. The pectoral fin flexible joint is connected with the trunk shell and the pectoral fin through the pectoral fin fixing base and the pectoral fin connecting piece through the gluing technology. The tail fin flexible joint serves as a part of the fish tail, one end is connected with the tail fin through a tail fin connecting piece, and the other end is connected with the trunk shell through a tail fin mounting plate. The tail fin flexible joint drives the tail fin to horizontally swing to propel the robotic fish to move forwards, the pectoral fin flexible joint drives the pectoral fin to swing relative to the fish body to adjust the swimming posture of the fish body, and turning, floating and diving of the robotic fish are achieved.

    本发明公开一种新型液动柔性关节驱动的仿生机器鱼,包括头部外壳、躯干外壳、胸鳍驱动装置、尾鳍驱动装置、驱动控制组件和背鳍,其特征在于,所述胸鳍驱动装置、尾鳍驱动装置由液动柔性关节驱动,胸鳍通过球铰与鱼体外壳相连,胸鳍柔性关节采用胶粘工艺通过胸鳍固定底座和胸鳍连接件分别与躯干外壳和胸鳍连接。尾鳍柔性关节作为鱼尾的一部分,一端通过尾鳍连接件与尾鳍相连,另一端通过尾鳍安装板与躯干外壳相连。尾鳍柔性关节带动尾鳍水平摆动推进机器鱼前行,通过胸鳍柔性关节驱动胸鳍相对于鱼体摆动调整鱼体游动位姿,实现机器鱼转弯、上浮和下潜。


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    Title :

    Novel bionic robotic fish driven by hydraulic flexible joints


    Additional title:

    一种新型液动柔性关节驱动的仿生机器鱼


    Contributors:
    LIU XIAOMIN (author) / HUANG HAORAN (author) / CHEN JIE (author) / YAO ZHEN (author) / ZHAO YUNWEI (author) / SONG MAOZHENG (author)

    Publication date :

    2023-08-01


    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 / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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