The invention discloses a flapping type underwater bionic robot and a driving method thereof. The underwater bionic robot comprises a shell, an air compression cylinder and a power module. The air compression cylinder comprises a driving assembly, a cylinder body and a piston rod. And the cylinder body is fixed in the shell. A piston rod is slidably connected into the cylinder body. An inner cavity of the cylinder body and the piston rod define an air pressure cavity. The power module comprises a plurality of water catching units installed at different positions of the tail end of the shell. Each water flapping unit comprises a bionic flipper, a bionic ankle joint, a rubber guide pipe, an extension rod and a transmission assembly. The bionic flipper comprises bionic middle toes, bionic side toes and flipper pieces. The reciprocating motion of the piston rod drives all the water catching units to rotate to catch water, meanwhile, the air pressure change generated in the motion process of the piston rod is used for driving the bionic ankle joint to deform, the bionic flipper conducts two composite motions of non-concentric rotation, the water catching action of a frog is simulated, and the thrust generated in the advancing process of the underwater robot is improved.
本发明公开了一种扑水式水下仿生机器人及其驱动方法。该水下仿生机器人包括外壳、空气压缩筒和动力模块。空气压缩筒包括驱动组件、筒身和活塞杆。筒身固定在外壳内。筒身内滑动连接有活塞杆。筒身的内腔与活塞杆合围形成气压腔。动力模块包括安装在外壳尾端不同位置的多个扑水单元。扑水单元包括仿生脚蹼、仿生踝关节、橡胶导管、延伸杆和传动组件。仿生脚蹼包括仿生中脚趾、仿生侧脚趾和蹼片。本发明通过活塞杆的往复运动带动各扑水单元转动扑水,同时,还利用活塞杆运动过程中产生的气压变化驱动仿生踝关节变形,使得仿生脚蹼进行两个不同心转动的复合运动,模拟青蛙扑水的动作,提高水下机器人行进过程中产生的推力。
Water-flapping type underwater bionic robot and driving method thereof
一种扑水式水下仿生机器人及其驱动方法
2022-03-29
Patent
Electronic Resource
Chinese
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