The invention discloses a swim bladder snorkeling imitating rigid-flexible coupling bionic robotic fish, which relates to the technical field of bionics and comprises an SMA flexible tail fin, an electromagnetic driving pectoral fin, a swim bladder imitating mechanism, an MOS transistor and a power supply. The SMA flexible tail fin is used for realizing tail fin variable stiffness of the bionic robotic fish; the swimming bladder imitating mechanism is used for realizing snorkeling of the bionic robotic fish; the electromagnetic driving pectoral fin is used for realizing straight movement and turning of the bionic robotic fish; the MOS transistor is used as an electronic switch to control the on-off of each branch circuit; the power supply is used for supplying energy to the bionic robotic fish. According to the bionic robotic fish, variable rigidity and flexible swinging of the tail fin of the bionic robotic fish can be effectively achieved, the problem that the SMA wire is slow in cooling is effectively solved, the electromagnetic driving pectoral fin improves maneuverability of the BCF robotic fish and reduces complexity of the mechanism, and compared with a gravity center adjusting mechanism, the swimming bladder snorkeling simulating mechanism has the advantages of being small in size, light in weight and the like. In conclusion, the bionic robotic fish has good movement performance.

    本发明公开了一种仿鱼鳔浮潜的刚柔耦合仿生机器鱼,涉及仿生技术领域,包括SMA柔性尾鳍、电磁驱动胸鳍、仿鱼鳔机构、MOS晶体管和电源。所述SMA柔性尾鳍用来实现仿生机器鱼的尾鳍变刚度;所述仿鱼鳔机构用来实现仿生机器鱼的浮潜;所述电磁驱动胸鳍用来实现仿生机器鱼的直行及转弯;所述MOS晶体管用作电子开关以控制各分支电路的通断;电源用于仿生机器鱼的供能。本发明能够有效地实现该仿生机器鱼尾鳍的变刚度及柔性摆动,有效解决SMA丝降温缓慢的难题,电磁驱动胸鳍在提高BCF机器鱼机动性的同时也降低了机构的复杂度,仿鱼鳔浮潜机构相比于重心调节机构具有体积小、重量轻等优点。综上所述,该仿生机器鱼具有较好的运动性能。


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    Title :

    Rigid-flexible coupling bionic robotic fish simulating snorkeling of swimming bladder


    Additional title:

    一种仿鱼鳔浮潜的刚柔耦合仿生机器鱼


    Contributors:

    Publication date :

    2023-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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