The invention provides an underwater robot imitating a bat-like propulsion mode. The underwater robot comprises an underwater robot pressure-resistant cabin, a steering engine and a flexible fin, and a gravity center adjusting mechanism, a control module, a camera, a supporting plate and a battery module are arranged in the underwater robot; the underwater robot pressure-resistant cabin is composed of a shell and an end cover, the steering engines are symmetrically arranged on the two sides of the central axis of the pressure-resistant cabin, five steering engines are arranged on each side, aluminum fin rays are arranged on the steering engines and used for being connected with the flexible fins, the two flexible fins are connected with the steering engines on the two sides respectively, flexible deformation can be generated under swinging of the fin rays, when an initial phase difference exists between the steering engines and the steering engines do reciprocating motion, the fin rays transmit sinusoidal motion to the flexible fins, and advancing waves are spread along the surfaces of the flexible fins to generate thrust; and the underwater robot imitating the bat-like propelling mode has low-speed stability and efficient maneuverability, simulates a fish MPF propelling mode, and has the advantages that no-noise propelling is achieved, and few trailing vortexes are generated.

    本发明提供一种仿类蝙蝠鱼推进方式的水下机器人,该装置包括水下机器人耐压舱体、舵机、柔性鳍,水下机器人内部有重心调节机构、控制模块、摄像头、支撑板、电池模块;水下机器人耐压舱体由壳体和端盖两部分组成,舵机沿耐压舱体中轴线两侧对称布置,每侧各5个,舵机上设有铝制鳍条,用于与柔性鳍相连,柔性鳍共2片,分别与两侧舵机相连,在鳍条的摆动下,会产生柔性变形,当舵机间存在初始相位差并往复运动时,鳍条将正弦运动传至柔性鳍,行进波沿着柔性鳍面传播,产生推力;本发明提供了一种具有低速稳定性、高效机动性的仿类蝙蝠鱼推进方式的水下机器人,它模拟了鱼类MPF推进模式,具有无噪声推进和产生较少尾涡的优点。


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    Title :

    Underwater robot imitating bat-like propulsion mode


    Additional title:

    一种仿类蝙蝠鱼推进方式的水下机器人


    Contributors:
    YU LEI (author) / LI NINGYU (author) / SU GUANGSHENG (author) / LIU BAITONG (author) / WANG LUYAO (author) / SHEN HAILONG (author) / SU YUMIN (author)

    Publication date :

    2021-09-24


    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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