A bionic ray underwater robot

Abstract

The invention discloses a ray-bionic underwater robot. The ray-bionic underwater robot is formed by a body machine frame, a battery, a control module, a water pump, a tail component and multiple pairsof fluctuation rods. Motors are positioned on the head of the body machine frame, and fixedly connected with a first-level transmission wheel group through a coupling. Each of differential fluctuation structures at two sides corresponds to one motor. The motors input power so that the structure is moved. The motors are connected with the control module. A bionic differential fluctuation structureis formed through differential motion and transmission wheel groups. The multiple pairs of the fluctuation rods are connected with a flexible film, so the bionic mechanical simulation and the appearance simulation to a ray are realized. A tail connector is connected with a steering engine fixing component. The tail component is capable of realizing the functions of auxiliary moving and steering.Sinking and floating movement is realized by using a carrying water storage cabin and a water pump. The ray-bionic underwater robot has the characteristics of small volume, light weight, strong stereoscopic movement capacity, and flexible action. The robot can perform the water working of the water quality testing in various environments, and the underwater detection activities, and has the extensive application prospect.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an underwater robot with rays as bionic objects. Background technique [0002] At present, common unmanned underwater vehicles, such as autonomous underwater vehicles (Autonomous Underwater Vehicle, AUV), remotely operated underwater vehicles (Remotely Operated Vehicle, ROV), etc., mostly use traditional propeller propellers. Propeller propulsion technology has irreplaceable advantages in practical applications, and both theoretical research and practical applications are relatively mature; but it also has its own shortcomings, such as large noise, large disturbance to the environment, poor movement flexibility and concealment, and the application occasions restricted. Fishes with undulating fin propulsion mode represented by rays have extraordinary advantages in concealment and energy saving. At present, there are few bionics researches on rays, and it is very necess...

AI Technical Summary

Problems solved by technology

Propeller propulsion technology has irreplaceable advantages in practical applications, and both theoretical research and practical applications are relatively mature; but it also has its own shortcomings, such as large noise, large disturbance to the environment, poor movement flexibility and concealment, and the application occasions restricted

However, due to the simple structure of the gear train, it does not simulate the differential motion process of the ray more realistically, it is just a wave propulsion device

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