robotic fish

Abstract

The invention proposes a robotic fish, the robotic fish is an axisymmetric structure, including a main frame, a piezoelectric driver, a flexible transmission mechanism and a tail fin are arranged on both sides of the main frame, and one end of the piezoelectric driver is fixed on the main frame , the other end of the piezoelectric driver is connected to the tail fin through a flexible transmission mechanism, and the deformation of the piezoelectric driver is converted into a swing output through the flexible transmission mechanism and transmitted to the tail fin. Compared with the existing technology, the robot fish provided by the present invention has a double tail fin structure, which increases a driving degree of freedom compared with a single tail fin structure, makes the control more flexible, and avoids the problem of complicated control of the traditional robot fish; through Driven by a piezoelectric driver, the driving energy density is higher and the driving power consumption is lower; the rigid structure of the robotic fish is made of carbon fiber-resin composite material, which has low component density and high strength, which reduces power consumption; by using a flexible transmission mechanism, The transmission structure of the equipment can be simplified, the manufacture is simple and the practicability is strong.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot fish. Background technique [0002] Robot fish are fish-like robots that can swim continuously in water. Robotic fish can be used in areas such as environmental monitoring or military detection. For example, an autonomous robotic fish equipped with chemical sensors can swim for hours in the water to detect pollutants and draw a real-time three-dimensional map of the monitored area, indicating the current level of pollution in the seawater. What chemicals are present and where. In the prior art, robotic fish usually use a conventional motor and a driver based on piston reciprocating motion as a power device. Since the commonly used motor is mainly based on the principle of electromagnetic drive, the current in the helical coil is used to generate electromagnetic force. The greater the current, the greater the driving force , however, the greater the current, the greater t...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the deficiencies of the prior art, the object of the present invention is to provide a robotic fish with simple control and low power consumption, which can effectively solve the problems of high power consumption and complicated control of the existing robotic fish

Images