The invention belongs to the technical field of bionic devices, and particularly relates to an underwater underactuated swimming device imitating longsnout beetle swimming feet. The device comprises leg sections, the leg sections are connected with rotary joints, the leg sections are hinged with rotary joints, the rotary joints are connected with shin sections through spherical hinges, water catching side wings are arranged on the shin sections, the leg sections and the rotary joints are in joint, protruding structures are arranged on the outer sides of the joints of the rotary joints and theshin sections and connected with limiting devices in a matched mode, and the limiting devices are provided with installation grooves and limiting baffles. According to the invention, the structure isreasonable and novel, the structure is designed by simulating the structure of the bionic longsnout beetle swimming feet and the structural change relation in the swimming foot water catching movementprocess, the position change of the whole swimming process does not need to be driven by a motor, the shape and the position can be changed in a self-adaptive mode, and the number of motors is greatly reduced; the control and structure complexity is reduced, the movement efficiency is higher, the manufacturing is simple, and the use effect is very good.

    本发明属于仿生装置技术领域,具体为一种仿龙虱游泳足的水下欠驱动游泳装置,包括腿节,所述腿节连接转节,所述腿节铰接转节,所述转节通过球形铰链与胫节相连,所述胫节上有扑水侧翼,所述腿节与转节连接处,所述转节与胫节连接处外侧有凸起结构配合连接限位装置,限位装置上有安装槽及限位挡板。本发明结构合理且新颖,通过模拟仿生金边龙虱游泳足的结构及游泳足扑水运动过程中结构变化关系设计结构,整个游动过程位置变化不需要电机驱动,能够自自适应地变化形状及位置,极大的降低了电机数目,减少了控制及结构的复杂度,运动效率更高,制造简单,具有很好的使用效果。


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    Title :

    Underwater propelling device imitating longsnout beetle swimming feet


    Additional title:

    一种仿金边龙虱游泳足水下推进装置


    Contributors:
    ZHOU ZUPENG (author) / LU LANG (author) / WANG YIHUA (author) / WEI HUAN (author) / SUI ZHICHENG (author) / MO XIAOZHANG (author)

    Publication date :

    2021-02-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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