The invention relates to the technical field of underwater intelligent equipment application, in particular to a multi-fin cooperative propulsion box-fugu-imitating robotic fish. The pectoral fin driving assemblies of the box-fugu-imitating robotic fish are symmetrically placed on the left side and the right side of the front portion of the fish maw of the main body sealed cabin. The dorsal fin driving assembly is placed in a dorsal fin steering engine placing groove of the main body sealed cabin through a dorsal fin steering engine, and the anal fin driving assembly is placed in an anal fin steering engine placing groove of the main body sealed cabin through an anal fin steering engine; the tail fin driving assembly is arranged at the tail part of a fish maw of the main body sealed cabin and is placed in a tail fin steering engine placing groove of the main body sealed cabin through a tail fin steering engine; the external counterweight assemblies are symmetrically placed in the middle of the front portion of the fish maw of the main body sealed cabin and placed at the lower end of the pectoral fin placing groove of the main body sealed cabin through the counterweight box. According to the invention, dynamic rapid transition of high maneuverability and high stability during three-dimensional multi-attitude movement of the takifugu-imitating robotic fish can be achieved by combining different motion coupling relationships between fin surfaces.

    本发明涉及水下智能装备应用技术领域,具体涉及一种多鳍协同推进的仿箱鲀机器鱼。该仿箱鲀机器鱼的胸鳍驱动组件对称放置在主体密封舱的鱼肚前部左右两侧;背鳍驱动组件通过背鳍舵机安放在主体密封舱的背鳍舵机安放槽,臀鳍驱动组件通过臀鳍舵机安放在主体密封舱的臀鳍舵机安放槽内;尾鳍驱动组件设置于主体密封舱的鱼肚尾部,尾鳍驱动组件通过尾鳍舵机安放于主体密封舱的尾鳍舵机安放槽内;外部配重组件对称放置在主体密封舱的鱼肚前部中间位置,外部配重组件通过配重盒放置于主体密封舱的胸鳍处安放槽下端。本发明可以实现仿箱鲀机器鱼通过组合鳍面间不同的运动耦合关系,达到三维多姿态运动时的高机动性与高稳定性的动态快速过渡。


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    Title :

    Multi-fin synergistically propelled takifugu-imitating robotic fish


    Additional title:

    一种多鳍协同推进的仿箱鲀机器鱼


    Contributors:
    LI TIEFENG (author) / QIU HONGCHENG (author) / ZHOU FANGHAO (author) / DING ZHETIAN (author)

    Publication date :

    2023-12-08


    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 / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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