The invention discloses a bionic robotic fish with fast straight swimming and maneuvering capabilities and adjustable fish body rigidity, and belongs to the technical field of underwater target tracking. The propelling device is connected with the fish tail swinging device and drives the tail fin to do fish tail swinging operation, and the steering device is connected with the first fish body joint, the second fish body joint and the fish tail swinging device and drives the first fish body joint, the second fish body joint, the fish tail swinging device and the tail fin to do fish body steering operation. The torque of the motor located at the fish head is directly transferred to the tail of the bionic fish by using the steel wire flexible shaft, so that the mass of the tail end of the bionic fish is greatly reduced, the swing inertia of the tail is reduced, and the fish head part is prevented from being influenced by counter-acting force to greatly swing; according to the bionic fish, the swimming mode of the bionic fish is closer to the crescent tail mode that the front half section of the fish body is kept immobile and the rear half section of the fish body fluctuates, the fish body can obtain a high propelling speed, propelling and steering can be conducted at the same time, and the maneuverability of the fish body is greatly improved.
兼具快速直游与机动能力且鱼身刚度可调的仿生机器鱼,属于水下跟踪目标技术领域。推进装置与摆动鱼尾装置连接,带动尾鳍做鱼尾摆动作业,转向装置与第一鱼身关节、第二鱼身关节、摆动鱼尾装置连接,带动第一鱼身关节、第二鱼身关节、摆动鱼尾装置、尾鳍做鱼体转向作业。本发明使用钢丝软轴将位于鱼头处电机的转矩直接转递至仿生鱼的尾部,大大减轻了仿生鱼尾端的质量,从而使得尾部摆动惯性减小,进而使得鱼头部分免受反作用力的影响而大幅度的摆动,使得仿生鱼的游动模式更贴近于鱼身前半段保持不动后半段进行波动的月牙尾模式,使得鱼身能够得到较高的推进速度,本发明能实现推进与转向同时进行,极大的提高了鱼体的机动性。
Bionic robotic fish with fast straight swimming and maneuvering capabilities and adjustable fish body rigidity
兼具快速直游与机动能力且鱼身刚度可调的仿生机器鱼
2023-12-26
Patent
Electronic Resource
Chinese
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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