Dual-fishtailing type miniature underwater robot and control method thereof

Abstract

The invention discloses a double-swing tail type miniature underwater robot and a control method thereof, belonging to the technical field of robots. It includes a main body and a fishtail drive assembly, the fishtail drive assembly includes a drive motor, a rotating plate, an upper swing tail mechanism and a lower swing tail mechanism, the drive motor is connected with the rotating plate and is fixed on the body, and drives the rotating plate to make circular motions, The rotating disc drives the upper swing tail mechanism and the lower swing tail mechanism to swing relative to the main body. The invention utilizes a single power source to realize the driving of the double tail fins. After the tail fins swing, they can automatically return to the original position by the restoring force of the spring, and are driven by the rotating disc to swing in the next cycle, and the double tail fins are used to drive the fins. , high work efficiency, small size, sufficient power, meet the needs of use in deeper waters, and will not produce large noise, friendly to the surrounding environment, and has the advantages of simple structure, reasonable design, and easy manufacturing.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a double-swing-tail miniature underwater robot and a control method thereof. Background technique [0002] With the development of human civilization, the land resources that can be mined and utilized are decreasing and exhausted day by day. The ocean area accounts for 71% of the earth's area. The ocean is rich in biological resources and mineral resources. The pace of human development and utilization of the ocean is gradually accelerating with the development of science and technology. At the same time, the development of marine environment monitoring technology is of great significance to many aspects such as protecting the marine environment, developing marine resources, safeguarding national marine rights and interests, enhancing national marine scientific research strength, and developing the national economy. As ocean development activities become more freq...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem that the power provided by the power components of the existing miniature underwater robot is too small to meet the needs of use in relatively deep waters, and that it completes the drive in a micro environment and has a large impact on the surrounding environment during use, the present invention provides a The double-swing-tail miniature underwater robot and its control method use a single power source to drive the double tails. After swinging, the tails can automatically return to their original positions by using the restoring force of the springs, and are driven by the rotating disc. For the next cycle of swing, it is driven by double tail fins, with high working efficiency, small size and sufficient power, which meets the needs of deep waters, and does not produce loud noises, and is friendly to the surrounding environment

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