The invention discloses a bionic frog type underwater detection robot, a robot main body comprises a swimming mechanism, a steering mechanism and a floating and sinking mechanism, bionic mechanism design is respectively carried out by simulating the appearance structure of a frog, and the swimming mechanism simulates the four limbs of the frog to swim in water, so that the robot can swim in the water through the water flapping, gliding and restoring actions of the frog; the steering mechanism rotates leftwards and rightwards by imitating the triangular head of the frog and is matched with a steering rudder blade at the tail part of the robot to realize the underwater steering of the robot; the floating and sinking mechanism simulates the principle that the belly of a frog expands and contracts, and buoyancy is changed, so that the robot floats and sinks in water. In addition, the robot is further provided with an electronic frog eye which simulates the frog eye, so that the robot can carry out underwater operation such as target tracking and shooting underwater. And the propeller is arranged at the tail part, so that the underwater maneuverability is enhanced. The bionic frog robot has high similarity by simulating the underwater movement mode of frogs, and has certain significance in bionic mechanism research and underwater robot development.

    本发明公开了一种基于仿生学的仿蛙式水下探测机器人,机器人主体包含游动、转向、浮沉机构,通过模仿蛙的外形构造,分别进行仿生机构设计,其中游动机构仿照蛙的四肢在水中游动,使机器人能够在水中以蛙的扑水、滑翔、恢复动作游动;转向机构则仿照蛙的三角形头部左右转动,配合机器人尾部的转向舵叶联动,实现机器人的水中转向;浮沉机构仿照蛙的肚皮膨胀收缩,改变浮力的原理实现机器人在水中的浮沉。此外,机器人还配有仿生蛙眼的电子蛙眼,使得机器人能够在水下进行目标跟踪及拍摄等水下作业;尾部置有螺旋桨,增强了水下机动能力。本发明通过对蛙的水中运动方式仿生,具有高度的相似性,对仿生机构研究及水下机器人研制均具有一定意义。


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    Title :

    Frog-imitating underwater detection robot


    Additional title:

    一种仿蛙式水下探测机器人


    Contributors:
    CHEN GANG (author) / HUO YUANMING (author) / REN XU (author) / BAI JIE (author) / BIAN ZHIYUAN (author)

    Publication date :

    2022-06-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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