The invention provides a variable-rigidity bionic fin type propelling mechanism which is used as a forelimb mechanism of a bionic fin type propelling robot, the propelling mechanism comprises a variable-rigidity flexible forelimb hydrofoil, the far end of the forelimb hydrofoil is a multi-joint hydrofoil, and the near end of the forelimb hydrofoil is a rigidity adjusting mechanism; the rigidity adjusting mechanism comprises a rigidity adjuster, a spring pulling rope, a spring and a multi-joint hydrofoil pulling rope which are sequentially connected, and the far end of the multi-joint hydrofoil pulling rope is connected with the multi-joint hydrofoil. Wherein the spring has certain elasticity and can form flexible connection with the multi-joint hydrofoil, in addition, the spring can be actively stretched through the rigidity adjuster, the length of the spring is changed, and the rigidity of the multi-joint hydrofoil which is elastically pulled is further changed. By means of the design, the rigidity of the hydrofoil can be freely switched in the gliding mode, the flapping wing paddling mode and the crawling mode of the robot so as to meet the requirements of different modes.

    本发明提出一种变刚度仿生鳍式推进机构,用作仿生鳍式推进机器人的前肢机构,所述推进机构包括变刚度柔性前肢水翼,所述前肢水翼的远端为多关节水翼,近端为刚度调节机构;所述刚度调节机构包括依次连接的刚度调节器、弹簧牵引绳、弹簧、多关节水翼牵引绳,多关节水翼牵引绳的远端连接所述多关节水翼。其中,弹簧本身具有一定的弹性,可对多关节水翼形成柔性连接,此外,可通过刚度调节器主动拉伸弹簧,改变弹簧的长度并进一步改变被弹性牵引的多关节水翼的刚度。如此设计,可在机器人的滑翔模式、扑翼划水模式、爬行模式下自由切换水翼刚度,以适应不同模式的需求。


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    Titel :

    Controllable variable-stiffness bionic fin type propelling mechanism


    Weitere Titelangaben:

    一种可控变刚度仿生鳍式推进机构


    Beteiligte:
    XING HUIMING (Autor:in) / YAN YIZE (Autor:in) / WANG XINRAN (Autor:in) / HUANG CONGYU (Autor:in) / LIU CHANG (Autor:in) / SUN ZHUOWEI (Autor:in) / QI XINGYU (Autor:in) / WU HUAYE (Autor:in)

    Erscheinungsdatum :

    2022-09-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / 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



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