The invention discloses a bionic robotic fish, and relates to the technical field of robotics.The bionic robotic fish comprises a head assembly, a bionic tensioning tail assembly and a tail fin assembly which are sequentially hinged, the head assembly comprises a driving part and a driving pump, the driving part is provided with a wire spool, and a pull wire is wound around the wire spool; the two ends of the stay wire penetrate through the bionic tensioning tail assembly and are connected with the two sides of the tail fin assembly, the bionic tensioning tail assembly comprises a variable tensile stiffness spring, and a containing cavity is formed in the variable tensile stiffness spring; the driving pump can extract or supplement air in the containing cavity so as to adjust the tensile rigidity of the variable tensile rigidity spring. According to the technical scheme provided by the invention, the problem that an existing bionic robotic fish cannot regulate and control the active rigidity online can be solved.
本发明公开了一种仿生机器鱼,涉及机器人技术领域,其中,仿生机器鱼包括依次铰接的头部组件、仿生张拉尾部组件和尾鳍组件,头部组件包括驱动件和驱动泵,驱动件设置有绕线盘,绕线盘缠绕有拉线,拉线的两端均穿过仿生张拉尾部组件并与尾鳍组件的两侧连接,仿生张拉尾部组件包括可变拉伸刚度弹簧,可变拉伸刚度弹簧形成有容纳腔;驱动泵能抽取或补充容纳腔中的空气,以调整可变拉伸刚度弹簧的拉伸刚度。本发明提供的技术方案能够解决现有的仿生机器鱼无法在线调控主动刚度的问题。
Bionic robotic fish
仿生机器鱼
2024-09-03
Patent
Electronic Resource
Chinese