The invention discloses an underwater multipurpose robot propelled by bionic undulating fins. The underwater multipurpose robot comprises a head, a middle, a tail, a left bionic undulating fin propelling mechanism and a right bionic undulating fin propelling mechanism which are arranged in sequence. The bionic undulating fin propelling mechanisms on the left side and the right side with a cam swing arm driving structure as the core are adopted for driving the fin strips to drive the flexible fin faces to generate continuous undulating deformation, the fin strips act with water to generate advancing thrust, through cooperation with a sinking and floating adjusting mechanism in the middle, multi-dimensional movement such as straight moving, turning and floating and diving of the underwater robot can be achieved, and good maneuverability is achieved. Meanwhile, the sensing flow field speed data and the self orientation data can be obtained according to an ultrasonic Doppler current meterarranged at the head part and a USBL underwater acoustic positioning system; motion of the underwater robot is planned, the underwater robot is selected to operate on a channel with constant flow velocity and small flow resistance, the underwater robot has the capacity of sensing and reducing underwater surge interference in advance, and the underwater robot has good reliability and robustness.

    本发明公开了一种仿生波动鳍推进的水下多用途机器人,包括依次设置的头部,中部,尾部,左侧仿生波动鳍推进机构和右侧仿生波动鳍推进机构。采用以凸轮摆臂驱动结构为核心的左右两侧仿生波动鳍推进机构驱动鳍条带动柔性鳍面产生连续波状变形,与水作用产生前进推力,配合中部的沉浮调节机构,可实现水下机器人的直行、转弯、上浮下潜等多维度运动,具有良好的机动性。同时其可根据头部设置的超声多普勒流速仪和USBL水声定位系统获取的感知流场速度数据和自身方位数据,对水下机器人的运动进行规划,选择在流速较恒定和流阻较小的航道上运行,具备提前感知并减少水下浪涌干扰的能力,拥有良好的可靠性和鲁棒性。


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    Titel :

    Underwater multipurpose robot propelled by bionic undulating fins


    Weitere Titelangaben:

    一种仿生波动鳍推进的水下多用途机器人


    Beteiligte:
    HU QIAO (Autor:in) / YIN SHENGLIN (Autor:in) / WANG ZHAOHUI (Autor:in) / CHEN LONG (Autor:in) / CHEN ZHENHAN (Autor:in) / WEI CHANG (Autor:in) / LIU YU (Autor:in) / JI XINYUE (Autor:in)

    Erscheinungsdatum :

    2020-07-17


    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 / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein



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