The invention relates to the field of underwater robots, and provides a bionic underwater robot capable of swimming and walking by being driven based on the same mechanism and a control method of thebionic underwater robot. The bionic underwater robot capable of swimming and walking by being driven based on the same mechanism comprises a shell, a control sealed cabin, a buoyancy adjusting deviceand a bionic four-foot leg swimming and walking device. The shell comprises a tail buoyancy block, a front buoyancy block, a bottom plate, a right rear mounting plate, a right front mounting plate, aleft front mounting plate and a left rear mounting plate. The control sealed cabin and the buoyancy adjusting device are mounted on the bottom plate and are located between the tail buoyancy block andthe front buoyancy block. The bionic four-foot leg swimming and walking device comprises bionic duck webs, a left front bionic four-foot leg, a right front bionic four-foot leg, a right rear bionic four-foot leg and a left rear bionic four-foot leg. According to the bionic underwater robot, front-and-back and steering swimming in the horizontal plane and sinking and emerging motion in the vertical face can be achieved, front-and-back and steering walking can also be achieved on complex sea bottom terrain, the structure is simple, and cost is low.
本发明涉及水下机器人领域,提供了一种基于同一机构驱动游走的仿生水下机器人及其操控方法。所述基于同一机构驱动游走的仿生水下机器人包括:壳体、控制密封舱、浮力调节装置以及仿生四足腿游走装置,壳体包括:尾部浮力块、前部浮力块、底板、右后安装板、右前安装板、左前安装板以及左后安装板,其中,控制密封舱以及浮力调节装置安装在底板上,并位于尾部浮力块以及前部浮力块之间,仿生四足腿游走装置包括仿生鸭蹼、左前仿生四足腿、右前仿生四足腿、右后仿生四足腿以及左后仿生四足腿。根据本发明的仿生水下机器人,可在水平面内进行前后和转向巡游及在垂直面内的浮沉运动,又可在复杂海底地形上进行前后和转向行走,结构简单,成本低。
Bionic underwater robot capable of swimming and walking by being driven based on same mechanism and control method of bionic underwater robot
基于同一机构驱动游走的仿生水下机器人及其操控方法
2020-11-24
Patent
Elektronische Ressource
Chinesisch
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 |