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Bionic robotic fish jointly driven by driving joint and driven joint

A technology of active joints and robotic fish, applied in the field of bionic robotic fish, can solve the problem that the overall efficiency of the tail fin propeller has not been significantly improved, and achieve self-adaptive and efficient swimming, taking into account controllability and energy efficiency, and improving propulsion efficiency Effect

Inactive Publication Date: 2015-03-25
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the reciprocating swing of the tail of the bionic robot fish, the joint motor is in the process of continuous acceleration-braking-reverse acceleration. Compared with the propeller propeller with continuous rotation of the motor, the overall efficiency of the bionic robot fish caudal fin propeller is not obvious. improvement

Method used

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  • Bionic robotic fish jointly driven by driving joint and driven joint
  • Bionic robotic fish jointly driven by driving joint and driven joint
  • Bionic robotic fish jointly driven by driving joint and driven joint

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Embodiment Construction

[0021] The present invention provides a bionic robotic fish jointly driven by active joints and passive joints. The present invention will be described below with reference to the accompanying drawings and embodiments.

[0022] Such as figure 1 As shown, the main structure of the present invention is a sealed cabin body 1 and a tail fin propeller 2 . The airtight cabin body 1 is a rigid shell with a torpedo shape, and payloads such as motors, drivers, controllers, power supplies, and sensors are installed inside; the tail end of the airtight cabin body 1 is connected to the tail fin thruster 2, and the tail fin thruster 2 has two degrees of freedom Swing arm structure, in which the swing arm 3 drives the caudal fin 5 to perform a translational movement to produce the main water striking action, and the tail handle 4 drives the caudal fin 5 to perform a rotational movement to provide a suitable angle of attack for the water striking action. A fairing 6 is installed at the tail...

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Abstract

The invention relates to a bionic robotic fish jointly driven by a driving joint and a driven joint and belongs to the technical field of bionic-propelling underwater robots. The bionic robotic fish comprises a sealed bin and a tail fin propeller, various load parts are accommodated in the sealed bin, the tail fin propeller is provided with a two-degree-of-freedom swing arm structure, a main motor drives a swing arm to horizontally move on the water level by a bevel gear, the tail end of the swing arm is connected with a tail handle and a tail fin through a hinge, and the front end of the tail handle is connected with an extension spring. When the swing arm flaps from left to right, the tail fin can passively rotate under the coaction of the extension spring and a fluid field. A reel is mounted on an output shaft of an adjusting motor, a steel wire connected with the extension spring is wound on the reel, the adjusting motor can rotate to change pretension of the extension spring, and rigidity of the driven joint can be changed thereby. By means of elastic components, cyclic utilization of mechanical energy can be realized, inherent frequency of a mechanical system corresponding to different swimming speeds can be obtained by adjusting the driven joint, and self-adaptive efficient swimming is realized.

Description

technical field [0001] The invention relates to a bionic propulsion underwater robot, in particular to a bionic robot fish jointly driven by active joints and passive joints. Background technique [0002] The bionic robot fish is a new type of underwater vehicle that imitates the movement of fish to achieve propulsion. Compared with traditional propeller-propelled underwater vehicles, the bionic robot fish has the advantages of high energy efficiency, good maneuverability, low noise and easy concealment. , has been extensively studied in recent years. The joints of the bionic robotic fish are usually controlled by a high-torque, high-gain feedback servo drive system, which can accurately track a predefined trajectory and effectively suppress the influence of flow field disturbance on swimming gait. Due to the reciprocating swing of the tail of the bionic robot fish, the joint motor is in the process of continuous acceleration-braking-reverse acceleration. Compared with the ...

Claims

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Application Information

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IPC IPC(8): B63H1/36
Inventor 胡永辉谭传玉
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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