A bionic mechanical fish based on the principle of tensegrity

Abstract

The invention relates to the technical field of bionic machinery, and aims to provide a bionic mechanical fish based on the principle of tensegrity, which has a large rotation range, high rotation efficiency, precise control of action posture, and high reliability. The above-mentioned mechanical fish includes a head, a trunk and a tail connected in sequence. The trunk includes at least one set of tension propulsion parts. The tension propulsion part includes two first and second rotating parts with vertical axes. The upper part of the rotating part and the second rotating part is connected by the first connecting frame, and the lower part of the first rotating part and the second rotating part is connected by the second connecting frame, between the first connecting frame and the first rotating part and the second rotating part And the second connecting frame is connected with the first rotating part and the second rotating part through elastic elements with pre-tightening force; the middle parts of the first rotating part and the second rotating part are connected with the tension drive assembly, so that the first rotating part Part and the second rotating part realize self-rotation. The invention solves the problems of small rotation range and poor rotation efficiency of the existing mechanical fish.

Description

technical field [0001] The invention relates to the technical field of bionic mechanical equipment, in particular to a bionic mechanical fish based on the overall principle of tension. Background technique [0002] The bionic mechanical fish is a bionic mechanical device that combines fish propulsion mechanism and robotic technology, and is a new type of underwater vehicle. Compared with ordinary underwater propellers, the bionic mechanical fish can imitate the swimming of fish because of its shape like a fish, and has the advantages of high propulsion efficiency, good maneuverability and high concealment. The bionic robotic fish can also be equipped with a variety of detection sensors to detect the underwater environment, pollutants, draw riverbed maps, and even play an important role in military reconnaissance, underwater rescue, marine life observation, archaeology, etc. Research value and broad application prospects. [0003] The mechanical propulsion mechanism of the ...

AI Technical Summary

Problems solved by technology

[0004] For this reason, the technical problem to be solved by the present invention is that the bionic mechanical fish in the prior art has limited rotation range and poor rotation efficiency, and cannot meet the increasingly wide application requirements. A bionic mechanical fish based on the tensegrity principle with precise control of action posture and high reliability

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