The invention belongs to the technical field of underwater robots, particularly relates to a bionic robot fishtail mechanism based on multiple connecting rods, whichaims at solving the problems that in the prior art, a motor of a multi-joint bionic robot fishtail mechanism rotates forwards and backwards frequently, and the working performance and reliability are poor. The invention provides a bionic robot fishtail mechanism based on multiple connecting rods. The bionic robot fishtail mechanism comprises a first joint, a second joint, a third joint, a tail fin, a power unit and a driving unit.The driving unit is used for converting the power of continuous rotation of the power unit into reciprocating swing and sequentially transmitting the reciprocating swing to the second joint, the thirdjoint and the tail fin, so that the second joint, the third joint and the tail fin swing up and down around the horizontal axis. The bionic robot fishtail mechanism solves the problem that an existing bionic robot fishtail mechanism driven by multiple joints in series cannot have flexible and efficient movement and a simple mechanical transmission mechanism at the same time, the bionic robot fishtail can flexibly swing through the simple mechanical transmission mechanism, and high practicability is achieved.
本发明属于水下机器人技术领域,具体涉及一种基于多连杆的仿生机器鱼尾机构,旨在解决现有技术中多关节仿生机器鱼尾机构的电机正反转频繁,工作性能及可靠性差的问题。本发明提供一种基于多连杆的仿生机器鱼尾机构,包括第一关节、第二关节、第三关节、尾鳍、动力单元和驱动单元;驱动单元用于将动力单元连续旋转的动力转换为往复摆动,并依次传递给第二关节、第三关节和尾鳍,使得第二关节、第三关节和尾鳍绕水平方向轴线的上下摆动。本发明解决了现有的多关节串联驱动的仿生机器鱼尾机构无法兼具灵活高效运动和简单机械传动机构的问题,通过简单的机械传动机构即可实现仿生机器鱼尾灵活摆动,具有较强的实用性。
Bionic robot fishtail mechanism based on multiple connecting rods
基于多连杆的仿生机器鱼尾机构
2020-11-13
Patent
Elektronische Ressource
Chinesisch
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