The invention discloses a robotic fish bionic mechanical tail device with a variable section characteristic, which comprises a tail handle mechanism and a tail fin mechanism which are connected with a fish body, a biological structure and a propulsion mechanism of a fish tail in nature are used for reference, the tail fin mechanism is of a crescent structure, and the tail fin mechanism comprises a push rod, an upper tail fin and a lower tail fin; the left end of the push rod penetrates through the tail handle to be in threaded connection with a spring seat, the left end of the tail handle is connected with the tail fin mechanism, the spring is arranged on the outer side of the spring seat in a sleeved mode and arranged between the tail handle and the spring, and a hydraulic cylinder is arranged in the far end of the tail handle. The upper tail fin and the lower tail fin are symmetrically arranged on the two sides of the push rod, the middle of the upper tail fin and the middle of the lower tail fin are slidably and rotationally connected into the long round hole through rotating shafts, the upper tail fin and the lower tail fin are rotationally connected with the push rod through a first connecting rod and a second connecting rod respectively, and the left sides of the upper tail fin and the lower tail fin are in lap joint with the left side of the push rod.
本发明公开了一种具有可变截面特征的机器鱼仿生机械尾装置,包括与鱼身连接的尾柄机构和尾鳍机构,本发明借鉴了自然界中鱼类尾部的生物结构和推进机理,尾鳍机构成月牙形结构,尾鳍机构包括推杆、上尾鳍和下尾鳍,推杆左端穿过尾柄螺纹连接有弹簧座,尾柄左端与尾鳍机构连接,弹簧套置在弹簧座外侧并置于尾柄与弹簧之间,在尾柄远端内部装有液压缸,活塞通过液压油管路与弹簧座左侧固定连接,推杆中部开设有长圆孔,上尾鳍和下尾鳍对称设置在推杆两侧,上尾鳍和下尾鳍中部通过转轴滑动并转动连接在长圆孔内,上尾鳍和下尾鳍分别通过连杆一和连杆二分别与推杆转动连接,上尾鳍和下尾鳍左侧部分搭接在推杆左侧。
Robotic fish bionic mechanical tail device with variable section characteristic
一种具有可变截面特征的机器鱼仿生机械尾装置
2024-05-03
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
European Patent Office | 2024
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