The invention belongs to the field of underwater bionic robots, and particularly relates to a self-adaptive variable-rigidity flexible tail handle based on non-Newtonian fluid and a robotic fish with the structure. According to the self-adaptive variable-rigidity flexible tail handle, the rigidity can be automatically adjusted according to the swing frequency of the body of the robotic fish, so that the tail handle completes self-adaptive rigidity adjustment on the driving frequency, that is, the higher the frequency is, the harder the tail handle is, and the adaptive capacity of the bionic robotic fish in different scenes can be further improved. The invention further provides a robotic fish with the self-adaptive variable-rigidity flexible tail handle based on the non-Newtonian fluid, a flexible joint is adopted for the fish tail, a four-cylinder plunger pump is adopted for providing pressure, a pressure regulating valve and an electromagnetic reversing valve are omitted, the fish tail is of a rigid-flexible coupling structure, the two ends of a driving unit are fixed to a connecting body, and the driving unit is connected with the connecting body. An oil conveying pipe and a flexible sensor are further arranged in the fishtail, pectoral fins can rotate, a hydraulic loop is internal circulation, the requirement for cost reduction is met, and underwater swing can be smoother.
本发明属于水下仿生机器人领域,具体涉及一种基于非牛顿流体的自适应变刚度柔性尾柄及带有该结构的机器鱼。本发明提供的自适应变刚度柔性尾柄能够根据机器鱼身体的摆动频率自动调节刚度,使尾柄完成对驱动频率的自适应刚度调节,即频率越快,尾柄变得越硬,能够进一步提高仿生机器鱼在不同场景下的适应能力。本发明还提供了一种带有基于非牛顿流体的自适应变刚度柔性尾柄的机器鱼,鱼尾采用柔性关节,采用四缸柱塞泵来提供压力,省去了调压阀和电磁换向阀,鱼尾为刚柔耦合结构,驱动单元两端与连接体固定,鱼尾内部还设有输油管与柔性传感器,胸鳍能够旋转,液压回路为内循环,既实现降低成本的要求,又能实现水下摆动更柔顺。
Self-adaptive variable-stiffness flexible tail handle based on non-Newtonian fluid and robotic fish with self-adaptive variable-stiffness flexible tail handle
一种基于非牛顿流体的自适应变刚度柔性尾柄及带有该结构的机器鱼
2025-05-13
Patent
Electronic Resource
Chinese
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