The invention discloses an earthworm-like variable-rigidity bionic robotic fish. The earthworm-like variable-rigidity bionic robotic fish comprises a head, the pneumatic device is arranged in the head part; one axial end of the paper folding structure is connected with the head part; the pneumatic device is connected with the paper folding structure and used for inflating the paper folding structure or exhausting air from the paper folding structure so as to drive the paper folding structure to stretch out and draw back in the axial direction. The driving device is arranged in the head part; and the wire drawing structure is connected with the driving device and the paper folding structure so as to drive the paper folding structure to bend under the driving of the driving device. A paper folding structure and a wire pulling structure are combined, the rigidity of a fish body is adjusted through air suction and inflation of the paper folding structure by a pneumatic device, the pressure intensity in the paper folding mechanism is adjusted, earthworm-like wriggling and swimming are generated, and the trafficability in operation in a narrow space is remarkably improved.
本发明公开一种类蚯蚓可变刚度仿生机器鱼,其包括头部;气动装置,设置于头部内;折纸结构,轴向的一端与头部连接;气动装置与折纸结构连接,并用于向折纸结构内充气或自折纸结构内抽气,以驱动折纸结构沿轴向伸缩;驱动装置,设置于头部内;拉线结构,分别与驱动装置和折纸结构连接,以在驱动装置的驱动下带动折纸结构弯曲。本申请将折纸结构与拉线结构相结合,通过气动装置对折纸结构的抽充气,调节折纸机构内部的压强,进行鱼体的刚度调节,产生类蚯蚓的蠕动游动,显著提高在狭窄空间作业中的通过性。
Earthworm-like variable-rigidity bionic robotic fish
一种类蚯蚓可变刚度仿生机器鱼
2025-02-11
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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