The invention provides an underwater movement mechanism and an underwater robot. The underwater movement mechanism comprises a driving mechanism and a paddle mechanism; the paddle mechanism comprises a paddle foot body and a paddle foot adjusting piece, the paddle foot body comprises at least two paddle blades which are sequentially connected, and any two adjacent paddle blades are connected through a flexible structure; the paddle foot body is provided with an upstream face and a downstream face which are oppositely arranged, the direction of the downstream face is opposite to the advancing direction of the underwater movement mechanism, and the paddle foot body is provided with a paddle root and a paddle tip which are oppositely arranged; the paddle foot adjusting piece is arranged on the side where the downstream face is located and can move relative to the paddle foot body. One end of the paddle foot adjusting piece is in transmission connection with the driving mechanism, the other end opposite to the end of the paddle foot adjusting piece is connected to the paddle tip, and the paddle foot adjusting piece is driven by the driving mechanism to drive the paddle tip to generate angle conversion relative to the paddle root, so that the rigidity of the flexible structure between the two adjacent paddles is changed.
本申请提供了一种水下运动机构及水下机器人。所述水下运动机构包括驱动机构和桨机构;桨机构包括桨足本体和桨足调节件,桨足本体包括依次连接的至少两个桨片,任意相邻的两个桨片之间通过柔性结构连接;桨足本体具有相对设置的迎水面和背水面,背水面的朝向与水下运动机构的行进方向相反,桨足本体具有相对设置的桨根和桨尖;桨足调节件设于背水面所在的一侧,并可相对桨足本体活动;桨足调节件的一端传动连接于驱动机构、与一端相对的另一端连接于桨尖,桨足调节件供于在驱动机构的驱动下,带动桨尖相对桨根发生角度转换,从而改变相邻两个桨片之间的柔性结构的刚度。
Underwater movement mechanism and underwater robot
一种水下运动机构及水下机器人
2023-01-31
Patent
Electronic Resource
Chinese
IPC: | 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 / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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