The invention relates to a multistage driving bionic underwater robot driving system, which comprises a bearing keel, a bionic skin, hydraulic telescopic rods, a hydraulic control valve, a drainage pipe, a booster pump, a flow dividing pipe, a flow guiding opening, a liquid discharging opening, a flow collecting pipe, a rotary table mechanism, hydraulic sensors, an angle sensor, stroke sensors anda control circuit. The bearing keel comprises a bearing ring, a reset spring and a guide column. The hydraulic control valve, the drainage pipe, the booster pump, the flow dividing pipe, the flow collecting pipe and the control circuit are connected with the inner surface of the bearing keel. Each hydraulic telescopic rod is provided with at least one hydraulic sensor and a stroke sensor. The rotary table mechanism is provided with at least one angle sensor. The driving method comprises two steps of equipment assembling and driving operation. According to the invention, the comprehensive efficiency of operation of the underwater bionic robot propulsion system is effectively simplified, the precision of bionic mimicry of aquatic organisms is improved, and the stability and reliability of operation of underwater bionic robot equipment are greatly improved.

    本发明涉及一种多级驱动仿生水下机器人驱动系统,包括承载龙骨、仿生蒙皮、液压伸缩杆、液压控制阀、引流管、增压泵、分流管、导流口、排液口、汇流管、转台机构、液压传感器、角度传感器、行程传感器及控制电路,承载龙骨包括承载环、复位弹簧及导向柱,液压控制阀、引流管、增压泵、分流管、汇流管及控制电路与承载龙骨内表面连接,每个液压伸缩杆均设至少一个液压传感器、行程传感器,转台机构上设至少一个角度传感器;其驱动方法包括设备装配及驱动运行等两个步骤。本发明有效的简化了水下仿生机器人推进系统运行的综合效率,提高了对水生生物仿生拟态的精度,极大的提高了水下仿生机器人设备运行的稳定性和可靠性。


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    Titel :

    Multistage driving bionic underwater robot driving system and driving method


    Weitere Titelangaben:

    一种多级驱动仿生水下机器人驱动系统及驱动方法


    Beteiligte:
    ZHANG SHANGLI (Autor:in) / ZHANG XIULAN (Autor:in)

    Erscheinungsdatum :

    2020-05-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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