The invention discloses a flexible body undulating fin underwater robot which comprises a plurality of flexible body modules connected in series, a plurality of flexible tensioning mechanisms, a plurality of undulating fin surfaces, a rotary driving module and a power module. The flexible body module is formed by connecting a plurality of body units in series, the adjacent body units are connected through flexible plates, and the adjacent flexible plates are perpendicular to each other; fin face clamping pieces installed in the circumferential direction of the body units are connected with the undulating fin faces, crankshaft modules in the adjacent body units are connected through universal hinges, and the crankshaft modules drive multiple undulating fins to move in a sinusoidal waveform-like mode under the action of the rotary driving module. Each flexible tensioning mechanism comprises four sets of tensioning driving parts and tensioning ropes which are arranged in the circumferential direction, the tensioning ropes sequentially penetrate through threading holes in the body units, the body units are bent around the flexible plates under the action of the tensioning driving parts, and the multiple flexible body modules can achieve bending actions in different directions. The flexible body undulating fin underwater robot has high maneuverability, and has high trafficability and excellent stability in a narrow water area.
本发明公开了一种柔性体波动鳍水下机器人,包括多个串联的柔性躯体模块、多个柔顺张拉机构、多个波动鳍面、旋转驱动模块、电源模块。柔性躯体模块由多个躯体单元串联组成,相邻躯体单元通过柔性板连接,相邻柔性板互相垂直;躯体单元周向安装的鳍面夹持件与波动鳍面相连,相邻躯体单元内的曲轴模块通过万向铰相连,在旋转驱动模块作用下,曲轴模块带动多个波动鳍形成类正弦波形运动;柔顺张拉机构包括四组周向布置的张拉驱动件和张拉绳,张拉绳依次穿过躯体单元上的穿线孔,在张拉驱动件作用下,躯体单元绕柔性板弯曲,多个柔性躯体模块可实现不同方向的弯曲动作。该柔性体波动鳍水下机器人具备高机动性,在狭小水域兼备高通过性和优良的稳定性。
Flexible body undulating fin underwater robot
一种柔性体波动鳍水下机器人
2021-12-03
Patent
Electronic Resource
Chinese
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