The invention relates to the technical field of underwater robots, and provides a rope traction bionic robotic fish driving device and rope traction bionic robotic fish. The device comprises a sealed main cabin; and a driving motor arranged in the sealed main cabin, wherein swing mechanisms are arranged on the two opposite sides of the driving motor correspondingly; each swing mechanism comprises a sealed sub-cabin, a four-bar mechanism and a swing rod, the sealed sub-cabin is arranged outside the sealed main cabin and communicates with the sealed main cabin to form a transmission area, the four-bar mechanism is arranged in the transmission area, the input end of the four-bar mechanism is in transmission connection with the driving motor, and the output end of the four-bar mechanism is connected with a swing shaft; the swing shaft is arranged in the sealed sub-cabin and extends to the outside to be connected with the swing rod so as to drive the swing rod to swing back and forth, and the swing rod is used for being connected with a traction rope. The rotary motion of the driving motor can be converted into reciprocating swing, the reciprocating swing is transmitted from a sealed space to an external open space, swing is achieved, and the device has the advantages of being compact in structure, reliable in sealing and the like.
本发明涉及水下机器人技术领域,提供了一种绳牵引仿生机器鱼驱动装置及绳牵引仿生机器鱼,包括:密封主舱;驱动电机,设置于密封主舱内,驱动电机的相对两侧分别设有摆动机构;摆动机构包括密封子舱、四连杆机构和摆杆,密封子舱设置于密封主舱的外部且与密封主舱连通,以形成传动区域,四连杆机构设置于传动区域,四连杆机构的输入端与驱动电机传动连接,四连杆机构的输出端连接有摆动轴,摆动轴设置于密封子舱内且延伸至外部与摆杆相连,以驱动摆杆往复摆动,摆杆用于与牵引绳相连。本发明可以将驱动电机的回转运动转变为往复摆动,并将往复摆动从密封空间传递到外部开放空间,实现摆动,具有结构紧凑、密封可靠等特点。
Rope traction bionic robotic fish driving device and rope traction bionic robotic fish
绳牵引仿生机器鱼驱动装置及绳牵引仿生机器鱼
2021-12-03
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
Power mechanism of rope traction bionic fish and bionic fish
European Patent Office | 2022
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