The sea-turtle-imitating robot comprises a trunk, a pair of forelimb mechanisms and a pair of hind limb mechanisms, the forelimb mechanisms and the hind limb mechanisms are used for bionic fin type propelling, the trunk comprises a buoyancy adjusting cabin and a gravity center adjusting cabin, the forelimb mechanisms are variable-rigidity bionic fin type propelling mechanisms, and the hind limb mechanisms are variable-rigidity bionic fin type propelling mechanisms. The posterior limb mechanism is a flexible bionic fin type propelling mechanism. The buoyancy adjusting cabin of the sea-turtle-imitating robot increases or reduces the buoyancy of the robot by compressing or stretching the corrugated pipe, so that the buoyancy of the robot is automatically adjusted; the gravity center adjusting cabins of the sea-turtle-imitating robot are located on the two sides of the buoyancy adjusting cabin correspondingly, heavy blocks in the gravity center adjusting cabins are pushed forwards or backwards at the same time, and the gravity center of the robot can be migrated; if the heavy blocks are arranged in tandem, the robot tilts leftwards or rightwards, so that the robot can turn when gliding and propelling.

    本发明提出一种仿海龟机器人,所述仿海龟机器人包括躯干,以及用于仿生鳍式推进的一对前肢机构和一对后肢机构,所述躯干包括浮力调节舱和重心调节舱,所述前肢机构为变刚度仿生鳍式推进机构,所述后肢机构为柔性仿生鳍式推进机构。仿海龟机器人的浮力调节舱通过压缩或拉伸波纹管,增加或降低机器人浮力,使机器人的浮力自主调节;仿海龟机器人的重心调节舱分别位于浮力调节舱两侧,重心调节舱内的重块同时前推或后移,会使机器人的重心迁移;若重块一前一后,会使机器人产生向左前或右前倾斜,从而可以使机器人在滑翔推进时实现转弯。


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    Title :

    Multi-mode driving sea-turtle-imitating robot


    Additional title:

    一种多模态驱动仿海龟机器人


    Contributors:
    XING HUIMING (author) / XU ZEYONG (author) / QI XINGYU (author) / WANG YUANRUI (author) / SUN ZHUOWEI (author) / LI HAIBO (author) / XU DEXIN (author) / ZHAO XINHUA (author)

    Publication date :

    2022-09-20


    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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