The invention discloses an underwater bionic robot, and belongs to the technical field of underwater robots. The underwater bionic robot comprises a shell and further comprises a plurality of swing rod mechanisms which are in tooth joint with a power device, and flexible bionic fins are arranged on the swing rod mechanisms; each swing rod mechanism comprises a support, a transmission gear, a connecting rod mechanism and a swing rod, the support is connected into the shell, the transmission gear is hinged to the support, the input end of the connecting rod mechanism is hinged to the eccentric position of the transmission gear, and the output end of the connecting rod mechanism is hinged to the swing rod; the power device is meshed with the transmission gears of the oscillating bar mechanisms, and the transmission gears of the adjacent oscillating bar mechanisms are mutually meshed and have a rotation phase difference; the flexible bionic fins are arranged outside the shell and connected with the ends, away from the second connecting rods, of the swing rods of the multiple swing rod mechanisms. According to the underwater bionic robot, the flexible bionic fins are driven to move in a fluctuating mode, the whole robot is pushed to advance, and the underwater bionic robot has the advantages of being low in noise and energy consumption, not prone to being influenced by water impurities and the like.

    本发明公开了一种水下仿生机器人,属于水下机器人技术领域。该一种水下仿生机器人包括外壳,还包括:多个摆杆机构,齿接有动力装置,多个摆杆机构上设有柔性仿生鳍;每个摆杆机构均包括支架、传动齿轮、连杆机构和摆杆,支架连接于外壳内,传动齿轮与支架铰接,连杆机构的输入端铰接于传动齿轮的偏心位置处,连杆机构的输出端与摆杆铰接;动力装置与摆杆机构的传动齿轮齿接,相邻摆杆机构的传动齿轮相互齿接并存在转动相位差;柔性仿生鳍设于外壳外,柔性仿生鳍与多个摆杆机构的摆杆远离第二连杆一端连接。本发明的一种水下仿生机器人,通过驱动柔性仿生鳍波动式运动,推动整个机器人行进,具有噪音小、能耗小以及不易受到水体杂质影响等优点。


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    Title :

    Underwater bionic robot


    Additional title:

    一种水下仿生机器人


    Contributors:
    ZHANG JINHUI (author) / QIAN XUHUI (author) / LUO RUI (author) / ZHANG DEPING (author) / LI YANWEI (author) / LI JING (author)

    Publication date :

    2022-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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