Tuna robot

Abstract

The invention belongs to the technical field of robots, and aims to solve the problem of high energy consumption and slow swimming speed of a fish-shaped robot. The invention provides a tuna robot. The tuna robot comprises a shell and a power device, wherein a part of the power device is arranged in the shell; the power device comprises a fixed component, a floating-sinking mechanism, a pitching mechanism and a swinging mechanism; the fixed component is arranged in the shell; the floating-sinking mechanism, the pitching mechanism and the swinging mechanism are arranged on the fixed component;the floating-sinking mechanism can be used for controlling floating, sinking and hovering of the tuna robot; the pitching mechanism can be used for controlling pitching motion of the tuna robot and stopping the pitching motion; the swinging mechanism can be used for controlling march of the tuna robot; the pitching mechanism and the swinging mechanism can simultaneously control steering of the tuna robot. Through arrangement, energy consumption caused by connecting various driving mechanisms is avoided, and the driving efficiency of the various driving mechanisms is improved. Therefore, the motion speed and the motion flexibility of the tuna robot are improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and specifically provides a tuna robot. Background technique [0002] In recent years, fish-shaped robot technology has developed rapidly, and it has many advantages in water quality detection, aquaculture and underwater environment detection. [0003] Most of the existing fish-shaped robots use multi-joint hinged propulsion mechanisms. Multiple motors or steering gears are connected in series at the rear end of the fish body as the drive unit, and the previous driven power unit is used to drive the next connected power unit to swing, so as to realize Fish swings forward. Due to the existence of motors or steering gears connected in series at the tail end, the volume and weight of the tail of the fish body are likely to be large, causing serious virtual mass effects, reducing the swing speed of the fish body, and increasing the power consumption of the fish body drive unit. At the same time, thi...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problems of high energy consumption and slow swimming speed of existing fish-shaped robots, the present invention provides a tuna robot, which includes a shell and at least a part of it is arranged in the shell The power device includes a fixed component, a floating mechanism, a pitching mechanism and a swing mechanism. The fixed component is arranged in the shell, and the floating mechanism, pitch mechanism and swing mechanism are all arranged on the fixed component. The floating mechanism can control the tuna robot to float, Sinking and hovering, the pitch mechanism can control the tuna robot to pitch and stop, the swing mechanism can control the tuna robot to move forward, the pitch mechanism and the swing mechanism can jointly control the tuna robot to turn

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