The invention belongs to the technical field of bionic underwater robots, and discloses a bionic undulating fin underwater propulsion device with high speed and high maneuverability, which comprises an undulating fin hollow driving mechanism, an undulating fin surface, an electronic cabin and a battery cabin, and is characterized in that the undulating fin hollow driving mechanism consists of a plurality of driving units; every two adjacent driving units are connected through a penetrating bolt, each driving unit comprises a hollow waterproof motor, a motor rotor connecting piece, a swing fin ray and a hollow stepped shaft, each swing fin ray comprises a swing arm, a first gasket, a roller shaft sleeve, a copper sleeve, a second gasket and a rotating shaft nail, and the bin body connecting pieces comprise the first bin body connecting piece and the second bin body connecting piece. The device can realize two underwater movement forms, and the two underwater movement forms can be freely switched. In the high-speed state, the hollow waterproof motor drives the swinging fin rays to spirally rotate and quickly move; and in the high-mobility state, the hollow waterproof motor drives the swinging fin ray to perform sine-like fluctuation, so that multi-mode high-mobility motion is realized.
本发明属于仿生水下机器人技术领域,公开了一种具备高速、高机动双形态的仿生波动鳍水下推进装置,包括波动鳍中空驱动机构、波动鳍面、电子仓和电池仓,波动鳍中空驱动机构由若干个驱动单元组成,相邻两个驱动单元通过贯穿螺栓连接,驱动单元包括中空防水电机、电机转子连接件、摆动鳍条和中空阶梯轴,摆动鳍条包括摆臂、第一垫片、滚子轴套、铜套、第二垫片和转动轴钉,仓体连接件包括第一仓体连接件和第二仓体连接件,该装置可以实现两种水下运动形态,且可以自由切换。在高速形态下,中空防水电机带动摆动鳍条形成螺旋状旋转,快速移动;在高机动形态下,中空防水电机带动摆动鳍条进行类正弦波动,实现多模态高机动运动。
Bionic undulating fin underwater propulsion device with high-speed and high-maneuverability two forms
一种具备高速、高机动双形态的仿生波动鳍水下推进装置
12.04.2024
Patent
Elektronische Ressource
Chinesisch
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