The invention relates to the technical field of underwater robots, and provides an online amplitude modulation swing mechanism and a bionic robotic fish. The online amplitude modulation swing mechanism comprises a first driver, a transmission assembly, a crank block and a swing assembly, the first driver is connected with the transmission assembly, the crank block is meshed with the transmission assembly, and one end of the crank block is rotationally connected with the swing assembly; wherein the crank block is an arc-shaped crank block, and under the driving of the transmission assembly, the crank block can circumferentially rotate around the circle center of the crank block in a reciprocating mode so as to adjust the swing amplitude angle of the swing assembly. According to the online amplitude modulation swing mechanism, the first driver, the transmission assembly and the arc-shaped crank block are arranged, and the arc-shaped crank block can rotate in the circumferential direction of the arc-shaped crank block under the action of the first driver, so that the swing assembly has various swing amplitude angles; the swinging amplitude angle of the swinging assembly can be adjusted online in real time according to different flapping frequencies and flow field environments when the bionic robotic fish swims, and the swimming performance of the bionic robotic fish is improved.
本发明涉及水下机器人技术领域,提供一种在线调幅摆动机构及仿生机器鱼。上述的在线调幅摆动机构,包括:第一驱动器、传动组件、曲柄块和摆动组件,第一驱动器与传动组件连接,曲柄块与传动组件啮合,曲柄块的一端与摆动组件转动连接;其中,曲柄块为圆弧形曲柄块,在传动组件的带动下,曲柄块能够绕自身的圆心往复周向转动,以对摆动组件的摆动幅角进行调节。上述的在线调幅摆动机构,通过设置第一驱动器、传动组件和圆弧形曲柄块,在第一驱动器的作用下,圆弧形曲柄块可沿自身的圆周方向转动,从而使摆动组件具有多种摆动幅角,可根据仿生机器鱼游动时的不同拍动频率和流场环境实时在线调节摆动组件的摆动幅角,提高了仿生机器鱼的游动性能。
Online amplitude modulation swing mechanism and bionic robotic fish
在线调幅摆动机构及仿生机器鱼
19.07.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |