The invention belongs to the field of robots, and provides an underwater robot which comprises a robot body, propelling mechanisms are arranged on the two opposite side walls of the robot body, each propelling mechanism comprises a driving steering engine and a flipper, the driving steering engines are arranged on the side walls of the robot body, and the flippers are connected with the driving steering engines; the flipper comprises a flipper piece structure and a limiting piece, and the limiting piece is arranged on the flipper piece structure and used for limiting the flipper piece structure in the extending stroke stage so that the flipper piece structure can be kept in a flattened state. The web structure comprises at least three webs which are sequentially and rotationally connected, and the web located at the head end is connected with the driving steering engine. The web structure of the underwater robot comprises the at least three webs which are rotationally connected in sequence, and in the extending stroke stage, all the webs of the web structure rotate at the same time to conduct unfolding motion, so that the web structure is rapidly unfolded from the folded state and restored to the flattened state, the idle stroke in the extending stroke stage is reduced, and extending stroke power and efficiency are improved.

    本申请属于机器人领域,提供了一种水下机器人,包括机器人本体,机器人本体的相对两侧壁上均设置有推进机构,推进机构包括驱动舵机及脚蹼,驱动舵机设置在机器人本体的侧壁上,脚蹼连接驱动舵机;脚蹼包括蹼片结构及限位件,限位件设置在蹼片结构上,用于在推程阶段对蹼片结构进行限位,以使蹼片结构保持展平状态;蹼片结构包括依次转动连接的至少三个蹼片,位于首端的蹼片与驱动舵机连接。本申请提供的水下机器人的蹼片结构包括依次转动连接的至少三个蹼片,在推程阶段,蹼片结构的各蹼片同时转动以进行展开运动,使蹼片结构从收拢状态快速展开,恢复到展平状态,有利于减小推程阶段的空行程,增大推程动力和效率。


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    Title :

    Underwater robot


    Additional title:

    水下机器人


    Contributors:
    XU YAOHUI (author) / LI HANLIN (author) / HE KAI (author) / ZUO QIYANG (author) / FANG HAITAO (author)

    Publication date :

    2022-08-05


    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 / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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