The invention provides a novel bionic robot based on multi-connecting-rod driving fluctuation fin surface propelling, and relates to the technical field of underwater robots, the novel bionic robot comprises a supporting device, a fluctuation device, a pitch attitude adjusting device and a control device, and the fluctuation device, the pitch attitude adjusting device and the control device are all arranged on the supporting device; the fluctuation device and the pitch attitude adjusting device are both electrically connected with the control device, the fluctuation device comprises a fluctuation driving mechanism, a driving shaft and a plurality of connecting rod type fin surface fluctuation mechanisms, the output end of the fluctuation driving mechanism is connected with the driving shaft and can drive the driving shaft to rotate, and the connecting rod type fin surface fluctuation mechanisms can drive the driving shaft to rotate. All the connecting rod type fin surface fluctuation mechanisms are sequentially arranged on the driving shaft; according to the fluctuation device, the connecting rod type fin surface fluctuation mechanism is adopted, a connecting rod structure and a fin surface structure are combined, good anti-interference performance and maneuverability are achieved by adopting a long fin fluctuation mode, the pitching attitude adjusting device is matched, the propelling process is stable, and the propelling efficiency is high.

    本发明提供了一种基于多连杆驱动波动鳍面推进的新型仿生机器人,涉及水下机器人技术领域,包括支撑装置、波动装置、俯仰姿态调整装置和控制装置,波动装置、俯仰姿态调整装置和控制装置均设置在支撑装置上,波动装置和俯仰姿态调整装置均与控制装置电连接,波动装置包括波动驱动机构、驱动轴和连杆式鳍面波动机构,波动驱动机构的输出端与驱动轴相连,且能驱动驱动轴转动,连杆式鳍面波动机构的数量设置为多个,所有连杆式鳍面波动机构依次设置在驱动轴上;本发明波动装置采用连杆式鳍面波动机构,将连杆结构与鳍面结构相结合,采用长鳍波动的方式具有良好的抗干扰性和机动性,配合俯仰姿态调整装置,推进过程稳定,推进效率高效。


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    Titel :

    Novel bionic robot based on multi-connecting-rod driving fluctuating fin surface propelling


    Weitere Titelangaben:

    一种基于多连杆驱动波动鳍面推进的新型仿生机器人


    Beteiligte:
    ZHANG YIXIN (Autor:in) / TAO SIYU (Autor:in) / YANG MENGQI (Autor:in) / WANG HAOCHENG (Autor:in) / LI ZHIJIA (Autor:in) / WANG SHAOPING (Autor:in)

    Erscheinungsdatum :

    2023-07-04


    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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