The invention provides a bionic robotic fish driven by actuators based on pairing of electromagnets and permanent magnets, the bionic robotic fish comprises a head part, a fish body and a tail part which are connected in sequence, a plurality of telescopic actuator groups are arranged on two sides of a spine of the fish body, each actuator group is formed by connecting two tightly adjacent actuators in series, and the two actuators are connected in series. Each actuator comprises an electromagnet, a permanent magnet and an elastic piece which are alternately arranged up and down, the magnetic force direction of the electrified electromagnet faces the permanent magnet of the adjacent actuator, and when the magnetic force of the electrified electromagnet attracts the permanent magnet in the adjacent actuator to enable the permanent magnet in the adjacent actuator to be close to each other, the actuator group shrinks; when magnetic force generated after the electromagnets are electrified repels the permanent magnets in the adjacent actuators to enable the permanent magnets to be far away from the electromagnets, the actuator sets stretch. The actuator sets on the two sides of the fish body are coupled through the spine of the fish body, and when the actuator set on one side of the fish body retracts, the actuator set on the other side of the fish body stretches to drive the fish body to twist so that the tail can swing. The bionic robotic fish can be driven by electromagnetic force and permanent magnetic force to flexibly move underwater.
本发明提出一种基于电磁铁与永磁铁配对的致动器驱动的仿生机器鱼,包括依次连接的头部、鱼体以及尾部,所述鱼体的脊柱两侧处设有若干可伸缩的致动器组,各致动器组由两个紧密相邻的致动器串联组合而成,致动器包括上下交替设置的电磁铁、永磁体和弹性件,且电磁铁通电后的磁力方向朝向相邻致动器的永磁体,当电磁铁通电后的磁力吸引相邻致动器内的永磁体使二者靠拢时,致动器组收缩;当电磁铁通电后的磁力排斥相邻致动器内的永磁体使二者远离时,致动器组伸展;鱼体两侧的致动器组以鱼体的脊柱耦合,鱼体一侧的致动器组收缩时,鱼体另一侧的致动器组伸展,驱动鱼体扭动以使尾部摆动;本发明能采用电磁力与永磁力驱动仿生机器鱼在水下灵活运动。
Bionic robotic fish driven by actuator based on pairing of electromagnets and permanent magnets
一种基于电磁铁与永磁铁配对的致动器驱动的仿生机器鱼
06.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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