The invention provides a high-maneuverability tensioning bionic robotic fish which comprises a fish head assembly, a rigid trunk assembly, a flexible trunk assembly and a tail assembly which are sequentially arranged, and a power assembly is arranged in the rigid trunk assembly; the flexible trunk assembly comprises a plurality of tensioning joints, joint guide wheels are arranged on the upper portion, the lower portion, the front portion and the rear portion of each tensioning joint, the adjacent tensioning joints are connected through a plurality of elastic elements, and driving ropes are arranged between the joint guide wheels at the same positions of the multiple tensioning joints. Four motors of the power assembly are used for transmitting power to a pulley on a second bevel gear shaft in a bevel gear transmission mode, the rigid fishtail assembly is driven through a driving rope on the pulley, elastic elements and driven ropes on the tensioning joints are matched, the multiple tensioning joints of the robotic fish are controlled to swing back and forth, and the mechanical effect is achieved. The tail portion of the bionic robotic fish swings back and forth to promote forward swimming, the flexibility of the robotic fish is greatly improved, and the simulation length of the robotic fish is greatly increased.
本发明提供一种高机动张拉仿生机器鱼,包括依次设置的鱼头组件、刚性躯干组件、柔性躯干组件和尾部组件,刚性躯干组件内部设有动力组件;柔性躯干组件包括多个张拉关节,每个张拉关节的上、下、前、后均设置有关节导轮,相邻的张拉关节之间经多个弹性元件连接,多个张拉关节的相同位置处的关节导轮之间均设有主动绳。本发明利用动力组件的四个电机通过锥齿轮传动的方式将动力传动到第二锥齿轮轴上的滑轮,并通过滑轮上的主动绳驱动刚性鱼尾组件,配合张拉关节上的弹性元件、从动绳,控制机器鱼多个张拉关节来回摆动,进而实现仿生机器鱼能够在水中游水前进,其中尾部来回摆动起到了促进向前游动作用,大大提高了机器鱼的灵活性和仿真长度。
High-maneuverability tensioning bionic robotic fish and working method thereof
一种高机动张拉仿生机器鱼及其工作方法
2024-07-16
Patent
Electronic Resource
Chinese
Multi-point excitation variable-stiffness tensioning bionic robotic fish structure
European Patent Office | 2023
|Magnetically-driven bionic robotic fish system and working method thereof
European Patent Office | 2023
|High-maneuverability bionic machine tuna device and steering method thereof
European Patent Office | 2023
|