The invention relates to an underwater bionic robot comprising a robot body, pectoral fins arranged on the left side and the right side of the robot body and a tail fin arranged at the tail of the robot body; a controller is arranged in the robot body, the pectoral fins comprise a plurality of side fin rays and flexible fin faces connected to the side fin rays, and the tail fin comprises a tail fin ray and a tail fin soft body connected to the tail fin ray. Each side fin ray or the tail fin ray is connected to an independent fin ray swinging mechanism, and the fin ray swinging mechanism is controlled by the controller to move, so that the side fin rays on the two sides swing up and down at the same frequency and different phase angles, and the tail fin ray swings left and right. Two propelling modes of pectoral fin propelling and tail fin propelling are adopted, a propelling force is generated through up-and-down swinging of the side fin rays and left-and-right swinging of the tail fin rays, the maneuverability and propelling efficiency of the robot can be effectively improved, the comprehensive performance of the bionic robot is effectively improved, and the bionic robot can better adapt to narrow, complex and dynamic underwater environments; and tasks such as monitoring, exploration, search and rescue can be conveniently carried out.
一种水下仿生机器人,包括机体,设置于所述机体左右两侧的胸鳍及设置于所述机体尾部的尾鳍,所述机体内设有控制器,所述胸鳍包括多个侧鳍条及连接于所述侧鳍条的柔性鳍面,所述尾鳍包括一尾鳍条及连接于尾鳍条的尾鳍软体,每个所述侧鳍条或所述尾鳍条连接于独立的鳍条摆动机构,所述鳍条摆动机构被所述控制器控制运动,以使两侧的所述侧鳍条以相同频率不同相位角上下摆动,所述尾鳍条左右摆动。采用胸鳍推进和尾鳍推进两种推进模式,通过侧鳍条的上下摆动和尾鳍条的左右摆动来产生推进力,可有效提高机器人的机动性和推进效率,有效提高了仿生机器人的综合性能,能更好地适应狭窄、复杂和动态的水下环境,便于开展监测、勘探、搜索及救援等任务。
Underwater bionic robot and motion control system thereof
一种水下仿生机器人及其运动控制系统
2021-05-18
Patent
Electronic Resource
Chinese