The invention relates to a bionic stretch-draw bionic robotic fish which comprises a fish head assembly, a flexible fish body assembly and a tail fin assembly, and the fish head assembly comprises a fish head base frame, a fish head shell and three steering engines installed on the fish head base frame; the flexible fish body assembly comprises a tensegrity structure, a flexible fish skin and a plurality of steering engines, the tensegrity structure comprises a plurality of joint components which are sequentially arranged from front to back, the first joint component is fixedly connected with the fish head base frame, the adjacent joint components are elastically connected, steering engine supports are installed on all the joint components except the first joint component, and the flexible fish skin is connected with the steering engines. The front portion of each steering engine support is elastically connected with the previous joint component, and steering engines are installed on all the steering engine supports except the last joint component. The tail fin assembly comprises a tail fin joint and a flexible tail fin fixedly connected with the tail fin joint, and the tail fin joint is elastically connected with the last joint component; the steering engines are connected with different joint components or tail fin joints through elastic ropes. By means of the structure, the flexibility and the simulation degree of the bionic tensioning robotic fish can be improved.

    本发明涉及一种仿鲔科张拉仿生机器鱼,包括鱼头组件、柔性鱼身组件和尾鳍组件,鱼头组件包括鱼头基架、鱼头外壳和分别安装于鱼头基架上的三台舵机;柔性鱼身组件包括张拉整体结构、柔性鱼皮和多台舵机,张拉整体结构包括前后依次设置的多个关节构件,第一关节构件与鱼头基架固定连接,相邻关节构件之间弹性连接,除第一个外的各个关节构件上安装有舵机支架,舵机支架前部与前一个关节构件弹性连接,除最后一个外的各个舵机支架上均安装有舵机;尾鳍组件包括尾鳍关节以及与其固定连接的柔性尾鳍,尾鳍关节与最后一个关节构件弹性连接;各个舵机分别通过弹性绳与不同的关节构件或尾鳍关节连接。该结构可以提高仿鲔科张拉机器鱼的灵活性和仿真度。


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    Title :

    Simulated stretch-draw robotic fish


    Additional title:

    一种仿鲔科张拉机器鱼


    Contributors:
    CHEN BINGXING (author) / ZHANG JIAZE (author) / ZHANG JIE (author)

    Publication date :

    2023-12-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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