CN-117262165-B - Multi-point excitation variable-rigidity tensioning bionic robot fish structure

CN117262165BCN 117262165 BCN117262165 BCN 117262165BCN-117262165-B

Abstract

The invention relates to a multi-point excitation variable-rigidity stretching bionic robot fish structure which comprises a fish head module, a flexible trunk module and a fish fin module, wherein the flexible trunk module comprises a stretching integral structure, a flexible fish skin, a driving rope and a driven rope, the stretching integral structure comprises a plurality of joint members, adjacent joint members are connected through springs, the fish fin module comprises a left pectoral fin, a right pectoral fin and a flexible pectoral fin, a pectoral fin base frame is connected with a joint member at the rearmost end, the fish head module comprises a fish head base frame, a driving mechanism, a first guide rail sliding block mechanism and a fish head shell, the fish head base frame is connected with the joint member at the foremost end, the driving mechanism comprises two pairs of steering gears, the left side and the right side of an upper steering gear blade and a lower steering gear blade are respectively connected with the joint members at the middle part and the pectoral fin base frame through the first driving rope and the second driving rope, the left steering gear blade and the right steering gear blade are respectively connected with the left pectoral fin and the right pectoral fin, one end of the upper driven rope is connected with the first guide rail sliding block mechanism, and the other end is connected with the pectoral fin base frame. The bionic robot fish structure improves flexibility and simulation degree of the bionic robot fish.

Inventors

CHEN BINGXING
ZHANG JIE
ZHANG JIAZE

Assignees

福州大学

Dates

Publication Date: 20260505
Application Date: 20231024

Claims (7)

1. The multi-point excitation rigidity-variable tensioning bionic robot fish structure is characterized by comprising a fish head module, a flexible trunk module and a fish fin module, wherein the flexible trunk module comprises a tensioning integral structure, flexible fish skin and a plurality of active and passive ropes, and the tensioning integral structure comprises a plurality of joint members and a plurality of groups of springs which are sequentially arranged front and back, and adjacent joint members are connected through a group of springs; the fin module comprises a left pectoral fin, a right pectoral fin and a flexible tail fin, wherein the flexible tail fin comprises a tail fin base frame and a flexible part which is arranged outside the tail fin base frame and has a tail fin shape, and the tail fin base frame is connected with a joint component at the rearmost end forwards through a group of springs; the fish head module comprises a fish head base frame, a driving mechanism, a first guide rail sliding block mechanism and a fish head shell, wherein the fish head base frame is connected with the joint component at the forefront end through a group of springs, the first guide rail sliding block mechanism is arranged at the rear side of the fish head base frame, the driving mechanism comprises two pairs of steering gears respectively arranged on the fish head base frame, the left side and the right side of an upper steering gear blade are respectively connected with a first driving rope, the two first driving ropes respectively penetrate through the fish head base frame and a plurality of joint components to be connected with the left side and the right side of the joint component at the middle part, the left side and the right side of a lower steering gear blade are respectively connected with a second driving rope, the two second driving ropes respectively penetrate through the fish head base frame and all joint components to be connected with tail fins to control the left and right swinging of the robot fish in a rope-driven underactuated mode, the left steering gear blade and the right steering gear blade are respectively fixedly connected with the left steering gear and the right steering gear to control the upward and downward submerged movement of the robot fish through changing the chest angle, the upper and lower sliding blocks on the first guide rail sliding block mechanism are respectively connected with an upper driven rope and a lower driven rope, the lower driven rope respectively, the upper driven rope and the lower driven rope are respectively penetrates through all the tail fins to be connected with the tail fins respectively, the fish head shell is arranged at the outer side of the fish head base frame; The joint component comprises an elliptical ring, wherein the upper side and the lower side of the elliptical ring are respectively and forwards fixedly connected with a front connecting rod which is inclined inwards, the left side and the right side of the elliptical ring are respectively and backwards fixedly connected with a rear connecting rod which is inclined inwards, and the upper side, the lower side, the left side and the right side of the elliptical ring are respectively provided with through holes for respectively penetrating through the active rope and the passive rope; the front ends of the two front connecting rods of the rear joint component are positioned on the same plane with the rear ends of the two rear connecting rods of the front joint component and are connected end to end through four first springs, and the front ends of the two front connecting rods of the rear joint component are also connected with the front ends of the two front connecting rods of the front joint component through two second springs; the front ends of the two front connecting rods of the joint component at the forefront end are positioned on the same plane and are connected end to end through four first springs, the front ends of the two front connecting rods of the joint component at the forefront end are also connected with the front ends of the two front connecting rods of the joint component at the rearrear end through two second springs, the left side and the right side of the fish head base frame are respectively and fixedly connected with the rear connecting rods in the oblique direction, the front ends of the two front connecting rods of the joint component at the forefront end are positioned on the same plane and are connected end to end through four first springs, and the front ends of the two front connecting rods of the joint component at the forefront end are also connected with the fish head base frame or a first guide rail slide block mechanism on the fish head base frame through two third springs.
2. The multi-point excited variable stiffness tensioned biomimetic robotic fish structure of claim 1 wherein the tensioned unitary structure comprises four joint members having elliptical ring sizes that decrease sequentially from front to back.
3. The multi-point excited variable-stiffness stretching bionic robot fish structure is characterized in that two first active ropes are symmetrically arranged left and right, the front ends of the two first active ropes are fixedly connected with the left side and the right side of an upper steering engine blade through fourth springs respectively, the rear ends of the two first active ropes penetrate through a fish head base frame and all joint members respectively and are fixedly connected with the left side and the right side of second joint members respectively, driving force of the upper steering engine is conducted to a robot fish trunk through the first active ropes, swing of the upper steering engine blade is conducted to swing back and forth through the first active ropes, so that bionic simulation of swing of the front body of the robot fish is achieved, the front ends of the two second active ropes are symmetrically arranged left and right, the front ends of the two second active ropes penetrate through fifth springs respectively and are fixedly connected with the left side and the right side of a lower steering engine blade, the rear ends of the lower steering engine blade are fixedly connected with the left side and the right side of the lower steering engine blade base frame, driving force is conducted to the lower steering engine blade through the second active ropes, swing of the lower steering engine is conducted to the robot fish tail through the second active ropes, and the swing of the lower steering engine is simulated through the second active ropes, and the swing of the lower steering engine is achieved.
4. The multi-point excited variable-rigidity tensioning bionic robot fish structure according to claim 1, wherein the first guide rail sliding block mechanism is vertically arranged at the rear side of the fish head base frame, a section of guide rail is respectively arranged at the upper part and the lower part of the first guide rail sliding block mechanism, an upper sliding block and a lower sliding block which can slide up and down and lock and position are respectively arranged in the upper section of guide rail and the lower section of guide rail, the upper sliding block and the lower sliding block are respectively connected with an upper driven rope and a lower driven rope, and the pretightening force of the upper driven rope and the lower driven rope is adjusted by changing the displacement distance of the sliding blocks so as to change the rigidity of the robot fish.
5. The multi-point excited variable-stiffness stretching bionic robot fish structure according to claim 1, wherein a second guide rail sliding block mechanism is arranged on the front side of the tail fin base frame, and the two second driving ropes respectively penetrate through the fish head base frame and all joint members to be connected with sliding blocks on the second guide rail sliding block mechanism, so that the stretching degree of the second driving ropes can be adjusted by changing the displacement distance of the sliding blocks.
6. The multi-point excited variable-rigidity stretching bionic robot fish structure according to claim 1, wherein the fish head shell is of a rigid structure and is formed by connecting a rigid fish head left shell and a rigid fish head right shell.
7. The multi-point excited variable stiffness stretching bionic robot fish structure according to claim 1, wherein the flexible fish skin is silica gel fish skin, the flexible fish skin is coated on the outer side of the stretching integral structure, the front end of the flexible fish skin is in butt joint with the fish head shell, the middle part of the flexible fish skin is connected with each joint component, and the rear end of the flexible fish skin is in butt joint with the flexible tail fin.

Description

Multi-point excitation variable-rigidity tensioning bionic robot fish structure Technical Field The invention relates to the technical field of bionic robots, in particular to a multi-point-excitation variable-rigidity stretching bionic robot fish structure. Background With the gradual maturity and perfection of the development and utilization of land resources, the importance of how to effectively develop and utilize ocean resources is increasingly highlighted, and various autonomous underwater vehicles are developed. With the development of fluid bionics and underwater robot technology, an underwater robot using fish as a bionic object is started in the field of robots. The robot fish is used as a novel underwater robot, and the task of the underwater robot is realized by simulating the movement of the fish in water. Unlike conventional underwater robots employing propeller type propellers, the bionic robot fish has the characteristics of high flexibility, low noise, high propulsion efficiency and the like. Currently, most robotic fish adopt a multi-joint rigid serial structure, and each joint is driven by a motor. However, this solution has a problem of unbalanced load, and as the number of joints increases, the complexity of the structure and control increases. Disclosure of Invention The invention aims to provide a multi-point excitation variable-rigidity stretching bionic robot fish structure, which improves flexibility and simulation degree of the bionic robot fish. In order to achieve the aim, the technical scheme adopted by the invention is that the multi-point excitation variable-rigidity stretching bionic robot fish structure comprises a fish head module, a flexible trunk module and a fish fin module, wherein the flexible trunk module comprises a stretching integral structure, flexible fish skin and a plurality of active and passive ropes, the stretching integral structure comprises a plurality of joint members and a plurality of groups of springs which are sequentially arranged front and back, and adjacent joint members are connected through a group of springs; the fin module comprises a left pectoral fin, a right pectoral fin and a flexible tail fin, wherein the flexible tail fin comprises a tail fin base frame and a flexible part which is arranged outside the tail fin base frame and has a tail fin shape, and the tail fin base frame is connected with a joint component at the rearmost end forwards through a group of springs; the fish head module comprises a fish head base frame, a driving mechanism, a first guide rail sliding block mechanism and a fish head shell, wherein the fish head base frame is connected with the joint component at the forefront end through a group of springs, the first guide rail sliding block mechanism is arranged at the rear side of the fish head base frame, the driving mechanism comprises two pairs of steering gears respectively arranged on the fish head base frame, the left side and the right side of an upper steering gear blade are respectively connected with a first driving rope, the two first driving ropes respectively penetrate through the fish head base frame and a plurality of joint components to be connected with the left side and the right side of the joint component at the middle part, the left side and the right side of a lower steering gear blade are respectively connected with a second driving rope, the two second driving ropes respectively penetrate through the fish head base frame and all joint components to be connected with a tail fin in order to control the left-right swing of a robot fish in a rope-driven underactuated mode, the left steering gear blade and the right steering gear blade are respectively fixedly connected with a left pectoral angle and a right pectoral angle to control the upward and downward submerged movement of the robot fish, the upper and lower sliding blocks on the first guide rail sliding block mechanism are respectively connected with an upper and lower driven rope respectively, the upper passive rope and the lower passive rope respectively penetrate through all joint components to be connected with the tail fin base frame, and the fish head shell is arranged on the outer side of the fish head base frame. Further, the joint component comprises an elliptical ring, the upper side and the lower side of the elliptical ring are respectively and fixedly connected with a front connecting rod which is inclined inwards, the left side and the right side of the elliptical ring are respectively and fixedly connected with a rear connecting rod which is inclined inwards, and the upper side, the lower side, the left side and the right side of the elliptical ring are respectively provided with through holes for respectively penetrating through the active rope and the passive rope; the front ends of the two front connecting rods of the rear joint component are positioned on the same plane with the rear ends of the two rear connecting rods of th