The invention relates to the technical field of underwater robots, particularly relates to a fish-like propelling mechanism of an underwater robot, and aims to solve problems of large rotational inertia, low movement efficiency, poor reliability and a short service life of a bionic fish propelling mechanism with multi-joint modules connected in series in the prior art. The fish-like propelling mechanism of the underwater robot comprises a driving unit, a waist joint unit, a tail joint unit and a tail fin which are connected in sequence. The driving unit comprises a waist joint power device anda tail joint power device; transmission mechanisms are arranged in the waist joint unit and the tail joint unit; and the waist joint power device and the tail joint power device drive the waist jointunit and the tail fin to swing in a reciprocating mode through the transmission mechanisms respectively. The power device is arranged outside the joint module, movement of the joint module is achieved through transmission, movement efficiency and flexibility are improved, frequent reversing does not need to depend on a motor, working performance and reliability of the propelling mechanism are greatly improved, and high practicability is achieved.
本发明涉及水下机器人技术领域,具体涉及一种水下机器人仿鱼推进机构,旨在解决现有技术中多关节模块串联的仿生鱼推进机构转动惯量大、运动效率低、可靠性差、使用寿命短的问题。本发明提供一种水下机器人仿鱼推进机构,包括顺次连接的驱动单元、腰关节单元、尾关节单元、尾鳍,驱动单元包括腰关节动力装置和尾关节动力装置,腰关节单元和尾关节单元内均设置有传动机构,腰关节动力装置、尾关节动力装置分别通过传动机构驱动腰关节单元、尾鳍往复摆动,本发明将动力装置布置于关节模块外,通过传动实现关节模块运动,提高了运动效率和灵活性,本发明不需要依靠电机频繁换向,极大地提高了推进机构的工作性能和可靠性,具有较强的实用性。
Fish-like propelling mechanism of underwater robot
水下机器人仿鱼推进机构
2020-08-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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