Variable volume bionic fish main body structure and bionic fish and motion control method

Abstract

The invention provides a variable-volume bionic fish main body structure, a bionic finish and a motion regulation method and belongs to the field of robots. The variable-volume bionic fish main body structure comprises a body supporting plate 11, a fish tail assembly, an attitude adjusting assembly and a volume adjusting assembly. The attitude adjusting assembly comprises a nut counterweight block(20), a first screw rod (21) and an attitude adjusting motor (23); and by making the nut counterweight block (20) move forwards and backwards, the bionic robot fish is adjusted to bend forwards and backwards. The volume adjusting assembly comprises a nut slide block (34), a second screw rod (35), a volume adjusting motor (36), a variable-volume connecting rod assembly which is positioned on the left side of the body supporting plate (11), and a variable-volume connecting rod assembly which is positioned on the right side of the body supporting plate (11); and by making the nut slide block (34) move forwards and backwards, the volume change of the bionic robot fish is adjusted by using a first connecting rod and a second connecting rod so that the buoyancy is changed to realize a rising and descending function. By controlling a steering engine (14) to rotate, a fish tail (12) swings from side to side. The variable-volume bionic fish main body structure has the advantages of simple structure, clear motion principle and convenient motion realization.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to a variable-volume bionic fish body structure and a bionic fish and motion control method. Background technique [0002] The global ocean area accounts for about 71% of the earth's surface area. It is a treasure trove of rich resources that has not yet been developed, and it is also a battlefield for military battles. In the future, human beings will face three conflicting challenges: population expansion and living space, land resource depletion and social production growth, ecological environment deterioration and human development. To maintain their own survival, reproduction and development, they must make full use of marine resources. Therefore, the study of underwater robots will play an important role in marine environment monitoring, marine resource exploration, and marine scientific research. [0003] As an important branch of underwater robots, th...

AI Technical Summary

Problems solved by technology

The opening and closing of the gas valve is controlled by the signal fed back by the pressure sensor to control whether the cavity is liquid or gas. This method requires a pressure pump with its own gas source. The pressure pump stores, releases gas and controls the buoyancy, increasing the A certain degree of complexity, while the head must be a hard hollow shell (http: / / www.72byte.com / product / airacuda)

[0004] So far, most of the bionic robot fish have a hard shell, which mainly uses gas release to adjust the buoyancy by means of its own air source, while the soft bionic robot fish with elastic soft skin adopts mechanical bionic variable volume, autonomously in water. The way to achieve buoyancy regulation has not been reported yet

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