The invention discloses a bionic multi-mode driving type fish-shaped underwater robot, relates to a fish-shaped underwater robot, and aims to solve the problems that an existing bionic robot is low in swimming efficiency, poor in stability and poor in maneuvering performance and cannot avoid obstacles in time. The fish comprises a fish head, an upper shell plate, a lower shell plate, a fish tail, two first driving mechanisms, two second driving mechanisms, a tail fin assembly, a propeller and an electronic cabin, the upper shell plate and the lower shell plate are connected to form a fish body, the fish head, the fish body and the fish tail are sequentially connected end to end, and the two first driving mechanisms are located on the two sides, close to the fish head end, of the fish body respectively and connected with the fish body; the two second driving mechanisms are located on the two sides in the fish tail and connected with the fish tail, the electronic cabin is installed in the fish body, and the propeller is connected with the tail end of the fish tail through the tail fin assembly. The robot fish has vector propulsion driving of propellers and bionic tail swing driving, multi-mode switching swimming is achieved, and the functional characteristics of the robot fish are greatly improved.

    一种仿生多模驱动式鱼形水下机器人,本发明涉及一种鱼形水下机器人,本发明为解决现有的仿生机器人游动效率低、稳定性差以及机动性能差不能及时避障的问题,本发明包括鱼头、上壳板、下壳板、鱼尾、两个第一驱动机构、两个第二驱动机构、尾鳍组件、螺旋桨和电子舱,上壳板和下壳板连接组成鱼体,鱼头、鱼体和鱼尾首尾依次连接,所述两个第一驱动机构分别位于鱼体靠近鱼头端的两侧并与鱼体连接,两个第二驱动机构分别位于鱼尾内的两侧并与鱼尾连接,电子舱安装在鱼体内,螺旋桨通过尾鳍组件与鱼尾的末端连接。本发明即有螺旋桨的矢量推进驱动,也有仿生的尾部摆动驱动,多模态切换游动,大大提高机器鱼的功能特征。


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    Title :

    Bionic multi-mode driving type fish-shaped underwater robot


    Additional title:

    一种仿生多模驱动式鱼形水下机器人


    Contributors:
    ZHANG QIANG (author) / LAN JINSHOU (author) / ZHANG WEN (author)

    Publication date :

    2024-01-26


    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



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