Two-degree-of-freedom bionic pectoral fin propulsion mechanism based on boxfish

Abstract

The invention belongs to the technical field of underwater self-propelling bionic robotic fishes and aims at providing a double-freedom-degree bionic pectoral fin propelling mechanism based on ostraciidae fishes, wherein the mechanism enables an ostraciidae robotic fish to be high in maneuverability, high in propelling efficiency and capable of achieving complex three-dimensional motion. The mechanism comprises two bionic pectoral fins, two swinging mechanisms which are symmetrically arranged and two flapping mechanisms which are connected with the two swinging mechanisms respectively, each swinging mechanism comprises a containing box, a swinging steering engine, a swinging steering disc, a containing box end cover and an output shaft, each swinging steering engine is mounted in the corresponding containing box, the output end of each swinging steering engine is connected with the corresponding swinging steering disc, each swinging steering disc is connected with the corresponding output shaft, each containing box end cover is fixedly connected with the corresponding containing box, the end, extending out of the corresponding containing box end cover, of each output shaft is fixedly provided with the corresponding bionic pectoral fin, each flapping mechanism comprises a containing bracket, a flapping steering engine, a flapping steering disc, a power output intermediate module and a support shaft, the output end of each flapping steering engine is connected with the corresponding flapping steering disc, and each flapping steering disc and the corresponding swinging steering disc are located on two planes which are perpendicular to each other respectively.

Description

technical field [0001] The invention belongs to the technical field of underwater autonomous bionic robot fish, in particular to a dual-degree-of-freedom bionic pectoral fin propulsion mechanism based on boxfish family fish. Background technique [0002] In recent years, underwater service robots including robotic fish have played a major role in marine resource exploitation, underwater exploration, pipeline inspection, cable laying, etc., and have attracted more and more attention from scientific researchers. [0003] By using the coordinated movement of the body and fins, the bionic robot fish can realize rapid start, ascending and descending, hovering and positioning, and maneuvering turns, so as to have the ability to operate and serve in complex underwater environments. In addition to better maneuverability and flexibility, compared with previous propeller-based underwater vehicles, the propulsion efficiency of bionic thrusters can be increased by 30%, which can save en...

AI Technical Summary

Problems solved by technology

The problem is that the pectoral fin propulsion mechanism is driven by large and small gears, the structure is complex, and only the swing of the pectoral fin can be realized, and various complex movements of the robot fish in the water, such as rising, diving and flipping, cannot be realized.

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