The invention relates to the technical field of underwater bionic robots, and provides a pectoral fin module and a bionic machine manta ray. The pectoral fin module comprises a pectoral fin main body, a flexible fin tip, a first rotation driving assembly, a second rotation driving assembly and a traction assembly, the pectoral fin main body and the flexible fin tip are arranged along the spanwise direction of the pectoral fin module; the pectoral fin main body comprises a pectoral fin skeleton and a flexible skin; the first rotary driving assembly and at least part of the traction assembly are arranged at the root of the pectoral fin skeleton; the first rotary driving assembly can drive the pectoral fin skeleton to rotate in the spanwise direction; the traction assembly can drive the pectoral fin skeleton to bend and deform in the spanwise direction through the traction rope and drive the pectoral fin skeleton to swing in the chordwise direction of the pectoral fin module. The second rotary driving assembly is connected between the tip part of the pectoral fin skeleton and the flexible fin tip; the second rotation driving assembly can drive the flexible fin tip to swing around the chordwise direction of the pectoral fin module. The pectoral fin module can truly simulate the motion characteristics of the biological manta ray, and the motion flexibility is good.
本发明涉及水下仿生机器人技术领域,提供一种胸鳍模块和仿生机器蝠鲼。上述胸鳍模块包括:胸鳍主体、柔性鳍尖、第一旋转驱动组件、第二旋转驱动组件和牵引组件;胸鳍主体和柔性鳍尖沿胸鳍模块的展向设置;胸鳍主体包括胸鳍骨架和柔性蒙皮;第一旋转驱动组件和至少部分牵引组件设于胸鳍骨架的根部;第一旋转驱动组件可驱动胸鳍骨架绕展向转动;牵引组件可通过牵引绳驱动胸鳍骨架沿展向进行弯曲形变,以及驱动胸鳍骨架绕胸鳍模块的弦向进行摆动;第二旋转驱动组件连接于胸鳍骨架的尖部和柔性鳍尖之间;第二旋转驱动组件可驱动柔性鳍尖绕胸鳍模块的弦向进行摆动。本发明的胸鳍模块能够真实地模仿生物蝠鲼的运动特性,并且运动灵活性好。
Pectoral fin module and bionic machine manta ray
胸鳍模块和仿生机器蝠鲼
2023-04-07
Patent
Electronic Resource
Chinese
Flexible pectoral fin waterproof flapping mechanism imitating manta ray
European Patent Office | 2022
|