Flexible propelling mechanism of artificial machine fish

Abstract

The flexible propelling mechanism of artificial machine fish includes flexible tail, motor driving mechanism inside the fish body and electric control part and can simulates fish's muscle twitch to drive the fish tail to swing harmoniously. The fish tail of stainless steel sheets is connected to the fish support, the tail fin driving steel wire and the tail body driving steel wire are fixed to the fish tail via the limiting guide holes separately, and two driving motors drive the tail fin driving wheel and the tail driving wheel separately. The harmonious tension and release of the steel wires realizes the composite motion of tail fin rotation and tail translation. The present invention can well simulate the motion posture of fish and raise propelling efficiency with eddy flow, and may be used in the hydraulic experiment research and as underwater equipment or miniature underwater detector.

Description

technical field [0001] The invention relates to a flexible propulsion mechanism of a bionic robot fish, which can be used for the hydrodynamic experiment research of the fish tail swing, and can be further popularized and applied to small underwater equipment or micro-miniature unmanned underwater detectors, and can be used in complex marine environments. Submarine observation, underwater operations, underwater lifesaving. It belongs to the field of robotics. Background technique [0002] Traditional underwater detection devices rely on propeller propulsion. With the further requirements of marine resources development, marine exploration and marine environmental protection, the power provided by traditional propellers and turbine propellers can no longer meet the requirements of underwater robots for efficient underwater operations. In recent years, advances in bionics, robotics, fluid mechanics, new materials and driving devices have promoted the development of bionic ro...

AI Technical Summary

Problems solved by technology

[0007] The robot fish of the above-mentioned invention mainly has the following problems technically: it adopts multi-joint rigid body coordinated control to approach the swimming posture of the fish. Although it can imitate the swimming posture of the fish to a certain extent, its rigid tail It has never been able to achieve the flexibility of fish; in order to achieve a flexible swimming posture, the number of joints must be increased, resulting in very complicated mechanisms and controls; and the problem of head swing still cannot be solved well

A search of existing patented technologies has not yet found a robotic fish that can overcome the above problems

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