Imitation dolphin propulsion mechanism

Abstract

The invention belongs to the technical field of robots, and specifically relates to a dolphin-like propulsion mechanism, which aims to solve the problem of large moment of inertia of joint modules, low movement efficiency, poor movement flexibility and poor reliability in the prior art in the bionic fish propulsion mechanism with multi-joint modules connected in series , The problem of low service life. The invention provides a dolphin-like propulsion mechanism, which comprises a waist and tail base module, a waist front cabin module, a waist rear cabin module and a tail module connected in sequence, and the front end and the rear end of the waist rear cabin module are respectively connected to the waist The front cabin module and the tail module are hinged; the present invention converts the rotary motion of the power plant into reciprocating motion through the first drive device; and transmits the reciprocating motion to the waist rear cabin module, tail module. Each joint module of the present invention has small moment of inertia, flexible movement, high propulsion efficiency, strong reliability, long service life and strong practicability.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a dolphin-like propelling mechanism. Background technique [0002] As a main carrier for exploring and developing the ocean, underwater robots have important civilian and military values. However, most of the existing underwater robots use propellers or pump-jet propulsion methods, which have the disadvantages of poor maneuverability, loud noise, and low concealment. During the long process of natural selection, fishes have evolved excellent physiological structure and extraordinary movement performance. They have the characteristics of flexible movement, strong maneuverability and low disturbance to water flow. Development and application provide important technical support. [0003] However, most of the existing propulsion mechanisms for imitating robotic fish adopt the multi-joint module series drive mode, each joint module has a power device, and the output shaft...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problems of large moment of inertia of the joint modules, low motion efficiency, poor motion flexibility, poor reliability, and low service life of the bionic fish propulsion mechanism in the prior art , the present invention provides a dolphin-like propulsion mechanism, comprising a body, the body comprising a waist tail base module, a waist front cabin module, a waist rear cabin module, a tail module connected in sequence, the front end of the waist rear cabin module, The rear end is respectively hinged with the waist front cabin module and the tail module;

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