The manta ray imitating underwater robot flexible flapping wing driving device comprises a steering engine assembly, a multi-stage flexible flapping wing framework, a fin plate, a tip deformation fin plate and a connecting piece. The flapping motion of the flapping wing is realized through the control of the two steering engines, the flapping amplitude and frequency of the flapping wing can be freely designed, the whole structure is simple, the motion is flexible, and the development difficulty of a flapping wing control program is reduced. According to the flapping wing device, flapping wing tips of the manta ray imitating underwater robot can be uplifted and deformed when the manta ray imitating underwater robot is in a gliding state, the tips are designed according to the design principle of a crank rocker, movement is divided into three stages through movement transmission without affecting the three stages, and few tip deformation in current pectoral fin driving is achieved. The manta ray-imitated underwater robot has a large lift-drag ratio during gliding, and the gliding economy is improved.

    本发明涉及一种仿蝠鲼水下机器人柔性扑翼驱动装置,包括舵机组件、多级柔性扑翼骨架、鳍板、尖端变形鳍板和连接件;通过两个舵机控制实现扑翼的拍动运动,扑翼的拍动幅值及频率可实现自由设计,整体结构简单、运动灵活,并且降低了扑翼控制程序的开发难度。扑翼装置可实现仿蝠鲼水下机器人滑翔状态时的扑翼尖端上挑变形,尖端设计参照曲柄摇杆的设计原理,通过运动的传递将运动分为三级且各不影响,实现目前胸鳍驱动中少有的尖端变形,使仿蝠鲼水下机器人在滑翔时具有较大的升阻比,提高了滑翔的经济性。


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    Titel :

    Flexible flapping wing driving device of manta ray-imitated underwater robot


    Weitere Titelangaben:

    一种仿蝠鲼水下机器人柔性扑翼驱动装置


    Beteiligte:
    ZHOU DONGHUI (Autor:in) / WU XIAOYANG (Autor:in) / CAO YONGHUI (Autor:in) / CAO YONG (Autor:in) / PEI YU (Autor:in) / YANG OU (Autor:in) / XING CHENG (Autor:in) / PAN GUANG (Autor:in)

    Erscheinungsdatum :

    2024-02-06


    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



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