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Bionic machine fish

A technology of robot fish and fish body, applied in the field of bionic robot fish, can solve the problems of high cost and complicated control, and achieve the effect of easy control of swing, reasonable swing and realistic effect

Inactive Publication Date: 2010-08-11
NANTONG GUANGYI ELECTROMECHANICAL CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most of the swimming and swinging devices of robotic fish adopt multi-joint series drive mode, which is relatively complicated to control; or use artificial muscle drive mode, which are costly and complicated to control.

Method used

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Experimental program
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Embodiment Construction

[0026] The bionic object of the robotic fish of the present invention is the crucian carp, and the contours of the robotic fish are all designed according to the proportions of the actual crucian carp. Figure (a) in accompanying drawing 6 is the central curve of a group of body contours in the real crucian carp swimming process, is to adopt the method for image acquisition and processing to obtain. When the cantilever beam is subjected to a concentrated force in the water, the beam will bend, and it will be subjected to the resistance of the water during the bending process. Reasonably design the shape of the beam, the point of action of the concentrated force, and the size of the concentrated force, so that the bending curve of the beam can be similar to the body contour curve of the real crucian carp swimming, as shown in (b) and (c) in Figure 6, with the tail facing to the right The curve 24 in the process of wagging the tail and the elastic sheet 4 of the simulation robot ...

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Abstract

The invention discloses a biomimetic robot fish which can realize the advance with different speeds and turning left and right with different turning radii. A single freedom degree control mode is adopted and a servo electromotor is adopted to be reversed by a reversing gear set to drive a swing stem to swing; a pin roll at the tail end of the swing stem pushes an elastic thin plate one end of which is fixed on the skeleton of the robot fish and the other end is free to swing to-and-fro. The swimming modes of the robot fish are controlled to be different by controlling the differences of the swing mode of the elastic thin plate by a control system. The swing stem symmetrically swings left and right to lead the robot fish to advance; the advancing speed of the robot fish can be controlled by changing the swing amplitude and the frequency of the swing stem; the swing stem eccentrically swings at the left half; for example, eccentrically swinging at the left half can lead the fish to turn left; when the robot fish turns, the turning radius of the robot fish can be controlled by changing the swing amplitude and the frequency of the swing stem.

Description

technical field [0001] The invention relates to a device capable of performing activities in water for underwater detection, underwater observation, underwater investigation, etc., in particular to a bionic robot fish. Background technique [0002] The main source of power for the swimming of fishes, especially the swimming of thalassidae, is the swing of the tail. At present, most of the swimming and tail swinging devices of robotic fish adopt multi-joint series drive mode, which is relatively complicated to control; or use artificial muscle drive mode, which are costly and complicated to control. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a bionic robot fish with simple structure and realistic swimming effect in view of the above-mentioned deficiencies in the prior art. [0004] In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: a bion...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/00B63H1/36
Inventor 王兴松许家林
Owner NANTONG GUANGYI ELECTROMECHANICAL CO LTD
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