The invention relates to the technical field of underwater robots, and provides a flexible bionic robotic fish with on-line variable fish body rigidity, which comprises a bionic fish head and a flexible bionic fish body, and the bionic fish head is connected with the flexible bionic fish body; the flexible bionic robotic fish further comprises a variable-rigidity mechanism, the variable-rigidity mechanism comprises a telescopic assembly located in the bionic fish head and a flexible bionic spine located in the flexible bionic fish body, and the telescopic assembly and the flexible bionic spine are oppositely arranged. Wherein the telescopic assembly is used for doing telescopic motion in the direction of a connecting line between the bionic fish head and the flexible bionic fish body, and the flexible bionic spine is compressed or released through the telescopic motion of the telescopic assembly so as to change the rigidity of the flexible bionic fish body. The flexible bionic robotic fish capable of changing the rigidity of the fish body on line is flexible in movement and stable in shape of the fish body, and the rigidity of the fish body can be changed in the swimming process.

    本发明涉及水下机器人技术领域,提供了一种在线可变鱼体刚度的柔性仿生机器鱼,包括仿生鱼头和柔性仿生鱼体,仿生鱼头与柔性仿生鱼体相连接;柔性仿生机器鱼还包括变刚度机构,变刚度机构包括位于仿生鱼头内部的伸缩组件和位于柔性仿生鱼体内部的柔性仿生脊柱,且伸缩组件和柔性仿生脊柱相对设置;其中,伸缩组件用以沿仿生鱼头与柔性仿生鱼体之间的连线方向做伸缩运动,柔性仿生脊柱通过伸缩组件的伸缩运动进行压缩或释放以改变柔性仿生鱼体的刚度。本发明的在线可变鱼体刚度的柔性仿生机器鱼运动灵活,鱼体外形稳定,并且能在游动过程中实现鱼体刚度的变化。


    Access

    Download


    Export, share and cite



    Title :

    Flexible bionic robotic fish capable of changing rigidity of fish body on line


    Additional title:

    在线可变鱼体刚度的柔性仿生机器鱼


    Contributors:
    ZHOU CHAO (author) / ZHU CHUNHUI (author) / DENG LIANGWEI (author) / ZOU QIANQIAN (author) / WANG XIAOFEI (author) / FAN JUNFENG (author) / WANG JIAN (author) / ZHANG ZHUOLIANG (author)

    Publication date :

    2023-09-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



    Earthworm-like variable-rigidity bionic robotic fish

    XIE FENGRAN / GENG JIAZI / LI YIYANG et al. | European Patent Office | 2025

    Free access

    Design method of joint-free variable-rigidity flexible robotic fish and bionic robotic fish thereof

    ZHANG YU / LIU SHENG / ZHANG JINHU et al. | European Patent Office | 2023

    Free access

    Bionic robotic fish with fast straight swimming and maneuvering capabilities and adjustable fish body rigidity

    DENG SHAONAN / HE JINGFENG / WANG YIHANG et al. | European Patent Office | 2023

    Free access

    Bionic robotic fish dorsal fin structure capable of being complexly deformed and bionic robotic fish

    XIE FENGRAN / LI YIYANG / GENG JIAZI et al. | European Patent Office | 2025

    Free access

    Bionic robotic fish

    LIU CHANG / LI JIAYE / WU YONGHAO et al. | European Patent Office | 2022

    Free access