Bionic underwater robot fish driving mechanism and working method thereof

Abstract

The invention discloses a bionic underwater robot fish driving mechanism and a working method thereof. Power fin wings of the bionic underwater robot fish driving mechanism are composed of one driving fin wing and two or more driven fin wings arranged in a front and back mode. The driving fin wing is composed of a [-shaped fin frame and one or more fins vertically arranged on the [-shaped frame, each driven fin wing is composed of a [-shaped fin frame and one or more fins vertically arranged on the [-shaped frame, the two sides of the upper end of each fin are hinged to the upper frame of the corresponding fin frame through shafts, and the lower end of each fin droops behind the lower frame of the corresponding fin frame. The driving fin wing and the driven fin wings are sequentially installed on the outer side of a robot fish shell from front to back, and a parallel four-bar linkage mechanism with multiple sets connected together is formed. By means of the bionic underwater robot fish driving mechanism, it is achieved that the front and back swing of the power fin wings at different speeds and the free opening and closing of fins are completed under the premise that the turning direction of a steering engine is not changed, so that a robot fish propels forwards, and the purposes of the high moving speed, high efficiency, low noise, no grass winding and passing of narrow parts of a water channel are achieved.

Description

technical field [0001] The invention relates to a bionic underwater robot, in particular to a bionic underwater robot fish. Background technique [0002] At present, the driving mechanism of some underwater robots adopts the shape of fish fins, and provides forward power for the robot by imitating the swimming action of fish. However, because it is difficult to imitate the flexibility of fish fins and the coordination ability of fish itself, the control of underwater robots is more complicated; Large energy consumption, reduced travel efficiency, and accompanied by large noise. How to make the driving device of the underwater robot not only give full play to the performance characteristics of the mechanical device, but also retain the advantages of swimming of some aquatic organisms, and not generate large disturbances and noises to the surrounding environment, this is what the relevant researchers have been working on. Questions to explore. [0003] In order to solve the...

AI Technical Summary

Problems solved by technology

Although this kind of robotic fish has a certain bionic effect, its structure has a large horizontal space, and it is difficult to pass through narrow waterways, and it is easy to scratch and collide with other objects during movement.

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