The invention discloses a high-propulsive-force underwater bionic robot with asymmetrical-rigidity swimming arms. The high-propulsive-force underwater bionic robot comprises a flow guide cover, a waterproof cabin, the swimming arms and a swimming power device. The flow guide cover is fixedly connected with the waterproof cabin body, and water flow resistance is reduced by adopting a streamline external design; the waterproof cabin body comprises a base and a waterproof shell, the base and the waterproof cabin body are fixed through bolts and nuts, an O-shaped ring and silica gel are adopted for sealing and waterproofing, and the waterproof cabin body bears the buoyancy adjusting device, the gravity center adjusting device, the force storage power device, the load and the control panel. The four swimming arms are symmetrically installed at the bottom of the base and driven by the swimming power device to swing in a reciprocating mode. The force storage power device comprises a main power motor, a driving rotary disc, a driving check block, a screw bearing and a driven connecting rod, and the swimming power device and the swimming arms are driven to move through spring energy storage and kinetic energy release. Through the innovative mechanical structure and power design, the underwater stable and efficient movement performance is achieved, and meanwhile the excellent gravity center adjusting capacity and load capacity are achieved.
本发明公开了一种非对称刚度游泳臂的高推进力水下仿生机器人,包括导流罩、防水舱体、游泳臂和游泳动力装置。导流罩与防水舱体固定连接,采用流线型外部设计减少水流阻力;防水舱体包括底座和防水外壳,底座与防水舱体采用螺栓螺母固定,采用O型圈和硅胶密封防水,并承载浮力调节装置、重心调整装置、蓄力动力装置、负载及控制板。四条游泳臂对称安装在底座底部,由游泳动力装置驱动进行往复摆动。蓄力动力装置包括主动力电机、主动转盘、主动挡块、螺杆轴承、从动连杆,通过弹簧蓄能及释放动能驱动游泳动力装置和游泳臂运动。本发明通过创新的机械结构和动力设计,实现了水下稳定、高效的运动性能,同时具备出色的重心调节能力和负载能力。
High-propulsive-force underwater bionic robot with asymmetric-rigidity swimming arms
一种非对称刚度游泳臂的高推进力水下仿生机器人
06.05.2025
Patent
Elektronische Ressource
Chinesisch
Bionic robot with underwater swimming and jumping functions
Europäisches Patentamt | 2022
|Wiley | 2000
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