The invention belongs to the field of bionic robots, and provides a liquid-driven fish-like underwater robot which comprises a fish head, a fish body and a fish tail. The fish body comprises brakes, air bag pieces and air pipe pieces, the number of the brakes is two or more, the heads and the tails of the adjacent brakes are detachably connected, the air bag pieces are connected to the two sides of the brakes, and the air bag pieces located on the same sides of the brakes are connected in series through the air pipe pieces; the fish head is provided with a water pump device; a water pumping end of the water pump device is connected with the air pipe; the fish head is arranged at one end of the fish body, and the fish tail is arranged at the other end of the fish body. A traditional fish-like driving mechanism is replaced by the air bag part which expands and contracts through water suction and drainage, the swimming action can be achieved only by providing a water pump device capable of pumping water in the positive direction and the negative direction, complex driving equipment does not need to be added, and therefore the control difficulty is effectively reduced, the driving mode of the bionic fish is innovated, and the driving efficiency is improved. And the complexity and the weight of the whole mechanism are reduced.
本发明属于仿生机器人领域,提供一种液体驱动的仿鱼水下机器人,包括鱼头、鱼身和鱼尾;鱼身包括制动器、气囊件和气管件,制动器的数量为两个以上,且相邻的制动器的首尾之间可拆卸式连接,气囊件连接于制动器的两侧,处于制动器的同侧的气囊件通过气管件实现串联;鱼头设有水泵装置,水泵装置的抽水端与气管件连接;鱼头设于鱼身的一端,鱼尾设于鱼身的另一端。利用吸放水来进行膨胀收缩的气囊件取代传统的仿鱼类驱动机构,只需提供可以进行正反方向抽水的水泵装置,可以实现游动动作,无需加以复杂的驱动设备,因此,有效的降低了控制难度,创新了仿生鱼的驱动方式,并降低了整体机构的复杂程度和重量。
Liquid-driven fish-like underwater robot
一种液体驱动的仿鱼水下机器人
2024-05-31
Patent
Electronic Resource
Chinese