The invention belongs to the related technical field of underwater bionic robots, and discloses a bionic manta ray robot with foldable fins and a control method thereof.The bionic manta ray robot with the foldable fins comprises a main body frame, the foldable fins installed on the two sides of the main body frame respectively and a flexible skin covering the foldable fins; the foldable fin comprises a flapping mechanism, a folding mechanism and a driving mechanism, the flapping mechanism is rotatably connected to the main body frame and used for achieving vertical oscillation of the foldable fin through rotation, the folding mechanism is arranged on the flapping mechanism and is of a telescopic structure in the spanwise direction of the flapping mechanism, the flexible skin is connected to the folding mechanism, and the driving mechanism is arranged on the flexible skin. And the driving mechanism is mounted on the main body frame, is connected with the folding mechanism and is used for driving the folding mechanism to telescopically move in the unfolding direction so as to realize the unfolding length change of the foldable fin. According to the bionic manta ray robot, the pectoral fin function of the bionic manta ray robot is expanded structurally, and the movement flexibility and agility of the bionic manta ray robot can be improved.

    本发明属于水下仿生机器人相关技术领域,其公开了一种可折叠鳍仿生蝠鲼机器人及其控制方法,其中可折叠鳍仿生蝠鲼机器人包括主体框架、在主体框架的两侧分别安装的可折叠鳍以及覆盖在可折叠鳍上方的柔性蒙皮;可折叠鳍包括扑动机构、折叠机构和驱动机构,扑动机构可转动连接于主体框架、用于通过转动实现可折叠鳍的上下振荡,折叠机构设在扑动机构上且沿扑动机构的展向设为可伸缩结构,柔性蒙皮连接在折叠机构上,驱动机构安装于主体框架且与折叠机构相连、用于驱动折叠机构沿展向进行伸缩移动,以实现可折叠鳍的展长变化。本发明在结构上拓展了仿生蝠鲼机器人的胸鳍功能,有利于提高仿生蝠鲼机器人运动灵活性和敏捷性。


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    Titel :

    Fin-foldable bionic manta ray robot and control method thereof


    Weitere Titelangaben:

    一种可折叠鳍仿生蝠鲼机器人及其控制方法


    Beteiligte:
    GONG ZEYU (Autor:in) / XIANG YANG (Autor:in) / TAO BO (Autor:in) / GU LE (Autor:in) / YE KANGJIE (Autor:in)

    Erscheinungsdatum :

    07.01.2025


    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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