Bionic fish single-degree-of-freedom modular structure based on cam mechanism

Abstract

The invention discloses a bionic fish single-degree-of-freedom modular structure based on a cam mechanism. The bionic fish single-degree-of-freedom modular structure comprises a plurality of modules which are connected in sequence, the first module is a fish head module, and the last module is a fish tail module; each module in the multiple modules comprises a rack, a rotating shaft is arranged in the center of each rack in a penetrating mode, the second end of the rotating shaft of the previous module is connected to the first end of the rotating shaft of the next module through a universal coupling, the next module is connected with the previous module through a swing connecting piece, and the effect that the modules swing in the plane is achieved. The swinging connecting piece comprises a cylindrical cam, a pin shaft, a first bearing and a second bearing; through the combination of the modules, the swimming posture of fishes can be realized. The single-degree-of-freedom modular bionic robotic fish is designed according to the swimming posture of the sailfish, the single-degree-of-freedom modular bionic robotic fish can be driven by a single motor, and the fluctuation posture of a fish body is achieved through movement transmission of a mechanical structure; modular design is adopted, and different swimming postures can be achieved by replacing modules.

Description

technical field [0001] The invention relates to a robot, in particular to a single-degree-of-freedom modular structure of a bionic fish based on a cam mechanism. Background technique [0002] At present, there is an increasing demand for underwater unmanned detection, such as exploring dynamic underwater environments, tracking pollution sources, underwater archaeology, search and rescue, etc. The conventional design of most autonomous underwater vehicles uses propellers as the main propulsion method, but propeller-based motion has problems such as low maneuverability, low efficiency, and high power consumption. In addition, the rotation of the propeller may generate more marine debris, increase the mortality of marine life, and cause disturbance to shallow water ecosystems. And bionic underwater vehicles can make the vehicle quieter, more maneuverable (reduce the chance of accidents), and consume less power (performing missions for a longer period of time). At the same tim...

AI Technical Summary

Problems solved by technology

The former is a "multi-drive and multi-joint" structure. Although the movement effect of simulating multi-segment fish can be easily achieved by configuring multiple motors, it is difficult to coordinate the swing joints to achieve efficient swimming.

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