The invention relates to a bionic robot, and aims to provide a bionic fish tail propelling and steering device. The device can achieve power movement and steering movement at the same time and has theadvantages of being reliable in work and flexible in operation. The bionic fish tail propelling and steering device comprises a rack, a steering engine, a motor, a bogie, a fishtail, a first transmission mechanism, a second transmission mechanism and a controller, wherein the steering engine and the motor are fixed on the rack, the bogie is rotatably positioned on the rack, the fishtail is rotatably positioned on the bogie, the first transmission mechanism transmits steering engine power to drive the bogie to swing, the second transmission mechanism transmits motor power to drive the fishtailto swing, and the controller connects the steering engine with the motor; the first transmission mechanism comprises a rocker and a connecting rod, the rocker is rotatably positioned on the rack andis driven by the steering engine, and two ends of the connecting rod are rotatably positioned on the rocker and the bogie respectively; and the rack, the bogie, the rocker and the connecting rod forma hinge four-rod mechanism.
本发明涉及一种仿生机器人。目的是提供一种仿生鱼尾部推进转向装置,该装置应能同时实现动力移动和转向移动,并具有工作可靠、操作灵活的特点。技术方案是:一种仿生鱼尾部推进转向装置,其特征在于:该装置包括机架、固定在机架上的舵机与电机、可转动地定位在机架上的转向架、可转动地定位在转向架上的鱼尾、传递舵机动力带动转向架摆动的第一传动机构、传递电机动力带动鱼尾摆动的第二传动机构、连接舵机与电机的控制器;所述第一传动机构包括可转动地定位在机架上并由舵机驱动的摇杆、两端分别可转动地定位在摇杆与转向架上的连杆;所述机架、转向架、摇杆、连杆组成铰链四杆机构。
Bionic fish tail propelling and steering device
一种仿生鱼尾部推进转向装置
2020-04-10
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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