本发明公开仿生青蛙的水下机器人,机架内部设有控制单元和电池组,机架上侧装有太阳能电池板、高清摄像头和红外摄像头,声呐安装于机架前端下侧,齿条安装于机架内部并可前后移动,左前肢和右前肢分别安装于机架前端两侧并可上下摆动和定位,齿轮安装于机架内部并与齿条啮合,齿轮左端装有涡卷弹簧,蓄能电机安装于机架内部并可与齿轮啮合,齿条通过两个连杆分别与左后肢和右后肢连接,左后肢和右后肢均由两个四连杆结构连接构成;蓄能电机驱动齿轮转动时使涡卷弹簧蓄能,并使齿条向前移动,使两个脚掌向前移动收缩,蓄能电机脱离于齿轮的啮合后,涡卷弹簧可通过齿轮使齿条向后移动,使两个脚掌向后移动划水,实现水下机器人的向前游动。

    A control unit and a battery pack are arranged in a machine frame, a solar cell panel, a high-definition camera and an infrared camera are installed on the upper side of the machine frame, a sonar is installed on the lower side of the front end of the machine frame, and a rack is installed in the machine frame and can move front and back. The left forelimb and the right forelimb are installed on the two sides of the front end of the rack respectively and can swing up and down and be positioned, the gear is installed in the rack and meshed with the rack, the volute spiral spring is installed at the left end of the gear, the energy storage motor is installed in the rack and can be meshed with the gear, and the rack is connected with the left posterior limb and the right posterior limb through two connecting rods respectively. Each of the left rear limb and the right rear limb is formed by connecting two four-bar linkage structures; when the energy storage motor drives the gear to rotate, the volute spiral spring is made to store energy, the rack is made to move forwards, the two soles are made to move forwards and contract, after the energy storage motor is disengaged from meshing of the gear, the volute spiral spring can enable the rack to move backwards through the gear, the two soles are made to move backwards to paddling, and forward swimming of the underwater robot is achieved.


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    Titel :

    仿生青蛙的水下机器人


    Erscheinungsdatum :

    2024-05-24


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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