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Modularized bionic robot fish

A modular, robotic fish technology used in motor vehicles, special purpose vessels, ships, etc. to eliminate variability, improve flexibility, and reduce drag

Inactive Publication Date: 2007-05-16
PEKING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above two aspects are the key technical problems for the practical application of robotic fish. The flexible and reliable waterproof sealing method and the free-moving imitation fin mechanism are still blank in the field of bionic robotic fish and need to be developed.

Method used

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Examples

Experimental program
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Embodiment Construction

[0020] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0021] As shown in Figure 1, the present invention includes a fish head module 1, a left and a right pectoral fin module 2, 3 are connected with a symmetrical swing at the rear and lower part of the fish head module 1, and the first drive module 4 is serially connected in series behind the fish head module 1, The second driving module 5 and the tail fin 6 are fixedly connected by the head-tail connection mechanism 7 between the fish head module 1 and the first driving module 4, and the first driving module 4 is swingably connected with the second driving module 5 through a swing bar 8, and the second The drive module 5 is swingably connected to the tail fin 6 through the tail fin connector 9 , and a dynamic sealing mechanism 10 is respectively provided at each power output portion of the swing connection.

[0022] As shown in Figure 2, the fish head m...

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PUM

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Abstract

The invention relates to a machine fish, wherein it is characterized in that: it comprises a fish head module sealed, left and right chest fin modules, at least two driving modules, and caudal fin; said fish head module has controller and main motor for floating the left and right chest fin modules whose main axles via movable sealing device are connected to the main motor; the left and right chest fin modules both have assist motors to drive the chest fins up and down; the axle of chest fin via the movable sealing device is connected to the assist motors; the driving module via the swing rod is connected; the first driving module via the head-tail connector is fixed on the back of fish head module; the caudal fin via the connector is connected to the back of driving module. The invention can be used in underwater detection, etc.

Description

technical field [0001] The invention relates to a modular bionic robotic fish, in particular to a modular bionic robotic fish with a two-degree-of-freedom pectoral fin mechanism. Background technique [0002] With the continuous development and utilization of marine resources by humans, today's Autonomous Underwater Vehicle (AUV) has become an important platform for humans to conduct marine research and exploration. Most AUVs have a hydrodynamic shape similar to torpedoes, use propeller propellers to generate propulsion, and use multiple control surfaces for maneuvering. AUVs using this design mechanism have disadvantages such as low propulsion efficiency, poor maneuverability, and large environmental disturbances, which greatly limit the application of AUVs in narrow, complex, and dynamic environments. Compared with artificial underwater vehicles, marine organisms such as fish and cetaceans have evolved a propulsion mechanism integrating propulsion and maneuvering after hu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63B38/00B63H1/36
Inventor 胡永辉王龙赵惟谢广明楚天广王琦张乐
Owner PEKING UNIV
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