The invention relates to the technical field of underwater robots, and particularly discloses a bionic robotic fish structure which comprises a fish head, a fish tail, a swingable fish body, a driving mechanism, a steering mechanism and a displacement adjusting mechanism. An assembly cavity is formed in the fish head; the two ends of the swingable fish body are fixedly connected with the fish head and the fish tail respectively; the driving mechanism comprises a swinging assembly, a driving motor and a swinging rod; the swing assembly is configured to be connected with an output shaft of the driving motor, and the swing assembly is used for converting rotary motion of the driving motor into reciprocating swing motion; one end of the swing rod is fixedly connected with the swing assembly, the other end of the swing rod is inserted into the swingable fish body, a first elastic energy storage part is arranged between the swing rod and the swingable fish body, and the swing rod and the swingable fish body are connected through the first elastic energy storage part; the bionic robotic fish structure solves the problems that a bionic robotic fish is low in transmission efficiency and poor in maneuverability, and the swing frequency is difficult to increase.

    本发明涉及水下机器人技术领域,具体公开一种仿生机器鱼结构,包括:鱼头、鱼尾、可摆动式鱼体、驱动机构、转向机构和排水量调节机构;鱼头内部具有装配腔;可摆动式鱼体的两端分别与鱼头和鱼尾固定连接;驱动机构包含有摆动组件、驱动电机和摆杆;摆动组件配置为与驱动电机的输出轴连接,摆动组件用于将驱动电机的旋转运动转化为往复的摆动运动;摆杆一端与摆动组件固定连接,摆杆另一端插入可摆动式鱼体内,摆杆与可摆动式鱼体之间设置有第一弹性蓄能件,且摆杆与可摆动式鱼体配置为通过第一弹性蓄能件连接;该仿生机器鱼结构解决了仿生机器鱼传动效率低、机动性弱和摆动频率难以提升的问题。


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    Title :

    Bionic robotic fish structure


    Additional title:

    一种仿生机器鱼结构


    Contributors:
    WU ZHIGANG (author) / LI ZHIQIANG (author) / HAN LULU (author) / CHEN YANGHUI (author) / XU XIAOMING (author) / JIANG JIANPING (author)

    Publication date :

    2024-10-18


    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



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