Rope traction bionic robotic fish driving device and rope traction bionic robotic fish

Abstract

The invention relates to the technical field of underwater robots, and provides a rope traction bionic robotic fish driving device and rope traction bionic robotic fish. The device comprises a sealed main cabin; and a driving motor arranged in the sealed main cabin, wherein swing mechanisms are arranged on the two opposite sides of the driving motor correspondingly; each swing mechanism comprises a sealed sub-cabin, a four-bar mechanism and a swing rod, the sealed sub-cabin is arranged outside the sealed main cabin and communicates with the sealed main cabin to form a transmission area, the four-bar mechanism is arranged in the transmission area, the input end of the four-bar mechanism is in transmission connection with the driving motor, and the output end of the four-bar mechanism is connected with a swing shaft; the swing shaft is arranged in the sealed sub-cabin and extends to the outside to be connected with the swing rod so as to drive the swing rod to swing back and forth, and the swing rod is used for being connected with a traction rope. The rotary motion of the driving motor can be converted into reciprocating swing, the reciprocating swing is transmitted from a sealed space to an external open space, swing is achieved, and the device has the advantages of being compact in structure, reliable in sealing and the like.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a rope-drawn bionic robotic fish drive device and a rope-drawn bionic robotic fish. Background technique [0002] In nature, fish, dolphins and other marine organisms have evolved body structures adapted to underwater activities. They generally swim in the form of swinging their tails or making their bodies fluctuate. Compared with propeller drive, this swimming propulsion mode is not only more efficient , and has the characteristics of flexibility and concealment at the same time. The bionic robot fish with them as bionic objects has great application prospects in the fields of ocean observation, military reconnaissance, and underwater operations. [0003] In the field of underwater robots, the current relatively mature driving power sources are motors that output rotary motion, and other intelligent materials such as shape memory alloys and artificial muscles, but th...

AI Technical Summary

Problems solved by technology

This type of drive has the following problems: because it works underwater, it needs to be sealed to prevent water from entering the motor or steering gear. The sealing method often uses rubber sleeves to seal and cover the entire fish body, and the fish body is inside the rubber sleeve. When swinging, it will be restrained to a certain extent, resulting in poor swinging effect; and using the forward and reverse rotation of the steering gear to drive the driving wheel to rotate back and forth to drive the wire rope to relax, the efficiency is low, and it is easy to fatigue and damage

Therefore, the above problems make the current rope-tracted bionic robotic fish unable to withstand the high-pressure environment in deep water, and the reliability of continuous operation for a long time in the real underwater environment is poor.

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