Bionic fish propelling device and control method thereof

Abstract

The invention discloses a bionic fish propelling device which comprises a bottom plate, the bottom plate is provided with a flow guide plate and a supporting column, the top of the supporting column is provided with a concave guide rail block, the concave guide rail block is provided with a sliding groove, a concave clamping rod is installed in the sliding groove of the concave guide rail block in a sliding mode through a sliding block, and the concave clamping rod is provided with a fish-tail-imitating elastic plate. The tail portions of the two fish-tail-imitating elastic plates are connected, the tail portions of the two fish-tail-imitating elastic plates are connected with tail fin-imitating trapezoidal elastic plates, a first V-shaped elastic supporting plate and a second V-shaped elastic supporting plate are arranged between the two fish-tail-imitating elastic plates, two driving devices are installed on the bottom plate, and push rods of the two driving devices are hinged to the corresponding concave clamping rods. According to the bionic fish propelling device, passive staggered propelling deformation of the crossed fishtail-imitating elastic plates is utilized, the similar fishtail swimming posture is achieved, and the excellent hydrodynamic characteristic can be shown; multi-frequency propulsion and stepless steering can be achieved through driving of the double water-imitating servo motors.

Description

technical field [0001] The invention relates to a bionic fish propulsion device and a control method thereof, belonging to the technical field of bionic robots. Background technique [0002] Fish use the reciprocating swing of the body and fish tail to form a forward propulsion force, with high propulsion efficiency and flexible steering, and has a good prospect for underwater propulsion. [0003] Most of the existing bionic fish propulsion structure designs use hydraulic transmission, steering gear twisting and other methods to realize propulsion. The invention patent with application number CN201822034238.2 introduces a bionic fishtail electro-hydraulic propulsion device. The hydraulic motor drives the front half of the bionic fish tail fin to reciprocate to realize the periodic swing of the bionic fish tail fin. The flaky tail fin realizes the swing, which cannot better imitate the elastic deformation and swing posture of the fish tail, and it is difficult to better refl...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems in the above-mentioned prior art that the swing of the fish tail cannot be simulated well and the propulsion efficiency is poor, and to provide a propulsion engine that can better simulate the periodic swing of the fish tail and reflect better hydrodynamic characteristics. Efficient bionic fish propulsion device

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