Skeleton-type multi-chord pulling underwater robot fish

Abstract

The invention discloses a skeleton-type multi-chord pulling underwater robot fish, and relates to a bionic underwater vehicle. The skeleton-type multi-chord pulling underwater robot fish comprises a fish head, a pectoral fin, a tiller, a steering engine, a steering engine frame, a first joint, a second joint, a tail fin, pulling chords, universal joints, a cabin, a back fin, a counterweight cabin, a control device and a detection module, wherein the pectoral fin is fixed onto a slender rod of the fish head, the tiller is engaged with the steering engine, the steering engine is arranged in the steering engine frame, the steering engine frame is connected with the cabin and connected with the first joint through the universal joints, the first joint is connected with the second joint through the universal joints, an elastic rod serving as a spine is additionally mounted between the first joint and the second joint, a bolt penetrates a circular hole at the joint of the second joint and the tail fin and is connected, the pulling chords penetrate holes in two sides of the first joint and the second joint, one end of each pulling chord is fixed onto the tiller, the other end of each pulling chord is fixed onto the second joint, the back fin and the fish head are integrated, the control device is arranged in a cavity of the cabin, the counterweight cabin is arranged in an inner cavity of the fish head, the control device is provided with a battery, a main control board and a communication module, and the detection module is arranged in the front of the inner cavity of the fish head.

Description

technical field [0001] The invention relates to a bionic underwater submersible, in particular to a skeleton-type multi-chord pulling underwater robot fish. Background technique [0002] When fish are moving in water, their speed or energy consumption may not be optimal, but their overall comprehensive performance has evolved to excellence after long-term natural selection and survival of the fittest. Due to the superior performance of fish in water movement, it attracts the research of bionic submersibles, trying to use the structure and movement mechanism of fish to manufacture bionic robot fish with the same swimming performance as real fish. [0003] At present, most robotic fish adopt multi-joint series driving mode, that is, one motor drives one joint, and the swing angle and speed of each fish body are controlled by controlling the movement of each motor, so as to fit the body curve of fish swimming. This method is basically close to the body posture of fish when swi...

AI Technical Summary

Problems solved by technology

However, its single elastic rod acts as a supporting torso to limit the freedom of each joint swing. Therefore, compared with the large range and flexibility of multi-joint series-driven robotic fish, the single pair of string-driven robotic fish has significant differences in power, flexibility and stability. insufficient

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