Ostraciidae-imitating autonomous robotic fish

Abstract

The invention belongs to the technical field of underwater bio-mimetic robotic fishes, and particularly relates to ostraciidae-imitating autonomous robotic fish capable of achieving sink-and-swim motion. By adopting a gravity center adjusting method and a method of water suction and discharge, high speed underwater submerging and surfacing motion of the robotic fish is achieved, wherein the robotic fish can depend on a pectoral and a tail fin to propel and adjusts an angle of inclination through a heavy block to achieve the high-speed underwater submerging and surfacing motion, and further, submerging and surfacing motion of the robotic fish under a low-speed condition can be achieved through changing of the gravity of the robotic fish. Compared with a former mechanism, the adjusting range and the degree of precision of the robotic fish are greatly improved, the motion of direct swimming, steering, upward floating, diving and the like of the bio-mimetic robotic fish at various speeds can be achieved, and the capability of underwater motion of the robotic fish is improved. An upper shell body is divided into an upper shell body upper cover and an upper shell body connecting piece, the upper shell body connecting piece is connected with a lower shell body, the joint of the upper shell body connecting piece and the lower shell body is smeared with 703 silicone rubber, and static seal is formed between the two shell bodies. Deep-groove ball bearings are arranged at the two ends of a ball screw, a limiting switch and an encoder are arranged on a mechanism support, and the encoder is connected with the ball screw. Data of the movement condition of a balancing weight is sent back through the encoder, and a closed loop with a high precision is achieved. The situation that a fish head can adjust an angle of inclination of a fish body according to needs to reach to a set depth is guaranteed through the design.

Description

technical field [0001] The invention belongs to the technical field of underwater bionic robot fish, and in particular relates to an autonomous robot fish imitating the boxfish family that can realize ups and downs. Background technique [0002] With the gradual acceleration of people's development of marine resources, it has aroused people's infinite interest in exploring the ocean. Although traditional underwater vehicles have brought great convenience for people to explore the ocean, the existing technology is far from meeting the urgent needs. A new type of underwater vehicle with the characteristics of high propulsion efficiency, low resistance and high mobility Tool --- robotic fish came into being. The robot fish has good start-up performance, and has the advantages of straight swimming, reverse swimming, turning, braking, hovering, diving and diving, etc., and has the advantages of low swimming noise and low environmental interference. [0003] At present, domest...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the defects of the original mechanism and make improvements. In view of the swimming mechanism of fish and the actual application needs, it provides a kind of imitation boxfish family for the robot fish to realize the efficient propulsion ability of complex underwater movements. autonomous robotic fish

Images