Flexible shaft drive type bionic robotic fish with variable opposite fin fluctuation waveforms

Abstract

The invention provides a flexible shaft-driven bionic robotic fish with variable fin fluctuation waveforms. The flexible shaft-driven bionic robotic fish comprises a shell module (1), a power and control module (2), a transmission module (3) and an execution module (4), wherein the power and control module (2), the transmission module (3) and the execution module (4) are connected to the shell module (1); the shell module (1) comprises a head section shell, a tail section shell and a plurality of middle section shells; the head section shell, the middle section shell and the tail section shell are sequentially and flexibly connected; the power and control module (2) drives the execution module (4) through the transmission module (3). The flexible shaft drive type bionic robotic fish with the variable fin fluctuation waveform has the advantages of being high in hiding performance, good in maneuvering performance, high in propelling efficiency, small in environment disturbance and the like, and has military purposes such as battlefield investigation and target search and rescue or civil purposes such as ecological monitoring and ocean salvage.

Description

technical field [0001] The invention relates to the field of bionic robotic fish, in particular to a flexible shaft-driven counter-fin wave-shaped variable bionic robotic fish. Background technique [0002] At present, the demand for high-performance underwater propulsion in marine resources survey, military and other fields is high. However, traditional underwater propulsion mostly adopts propeller propulsion, and this form of propulsion has shortcomings in terms of efficiency, energy consumption, maneuverability and noise. [0003] After hundreds of millions of years of evolution, aquatic organisms have shown a variety of propulsion forms with high efficiency and high maneuverability. Inspired by this, researchers have designed a large number of bionic robotic fishes. The excellent performance brought by bionic propulsion forms has made this field more and more popular. more and more attention. [0004] The present invention takes a sea flatworm as a bionic object, which ...

AI Technical Summary

Problems solved by technology

[0007] Therefore, considering the factors such as low efficiency, poor maneuverability, and high noise of traditional underwater propellers, the present invention proposes a flexible shaft-driven bionic robot fish with variable wave form for fins, aiming at simulating the movement mode of sea flatworms. Through the planetary gear train to realize the fluctuation of the fins, and the motion form with variable waveform frequency and amplitude

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