Long-fin fluctuation propulsion bionic underwater robot

Abstract

The invention discloses a long-fin fluctuation propulsion bionic underwater robot which comprises a long-fin fluctuation mechanism, a motor, a control center and two steering engines, the long-fin fluctuation mechanism comprises a plurality of swing units which are connected in series through a joint frame, and each swing unit comprises two swing assemblies which are arranged back to back. A swing part support, a swing part connector, a crankshaft and a connecting rod in the swing assembly form a four-connecting-rod mechanism. The wing part connector is used for mounting a fin ray, and a fin surface is mounted on the fin ray; the motor, the double-steering engine and the control center are all arranged in a waterproof bin on the front side of the long-fin fluctuation mechanism, and the motor is used for driving the swing assembly to move through the joint frame; the two steering engines drive the cables to move so as to drive the fin faces on the two sides to be turned over, and the cables are connected with the multiple swing supports on the same side through the left through hole and the right through hole of the joint frame. The robot has the advantages of being high in propelling efficiency and good in maneuverability, controllability and interference resistance, and is applied to surveying and recording in water areas with large water body fluctuation or complex water body environments.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a long fin undulating propulsion bionic underwater robot. Background technique [0002] Long fin propulsion, as a relatively common way of marine life movement, has better anti-interference and higher propulsion efficiency than body wave propulsion and propeller propulsion. Problems such as difficulty in changing have not been widely used in the field of bionic underwater robots. Contents of the invention [0003] The purpose of the present invention is to provide a long-fin undulating propulsion bionic underwater robot to solve the above-mentioned problems in the prior art, realize high-frequency continuous fluctuation of the fin surface through a series four-bar linkage mechanism, and make full use of the foldable fin surface Adjusting the attitude of the body has the characteristics of high propulsion efficiency, good maneuverability, controllability and anti-interference. I...

AI Technical Summary

Problems solved by technology

[0002] Long fin propulsion, as a relatively common way of marine life movement, has better anti-interference and higher propulsion efficiency than body wave propulsion and propeller propulsion. Problems such as difficulty in changing have not been widely used in the field of bionic underwater robots

Images