In order to solve the technical problems that traditional sea turtle fin-shaped limbs are low in bionic property, large in working space, complex in control and the like, the invention provides a three-degree-of-freedom bionic sea turtle robot, and belongs to the field of underwater robots, the three-degree-of-freedom bionic sea turtle robot comprises a head, a body, a pair of front limbs and a pair of rear limbs, the front limbs are of a three-degree-of-freedom structure, and the front limbs are arranged on the two sides of the body; the posterior limbs are of a two-degree-of-freedom structure and are arranged at the tail of the body; each front limb comprises a planetary gear differential structure, a slewing mechanism, a rotating bracket and a fin-shaped limb; the planetary gear differential structure is arranged in the rotating shaft support, and the rotating mechanism is connected with the rotating shaft support in a meshed mode. The planetary gear differential structure drives the fin-shaped limb to rotate, and the swing mechanism is matched with the planetary gear differential structure to enable the fin-shaped limb to have three degrees of freedom. The joint of the fin-shaped limb has higher flexibility and operability, multiple actions including slapping, deflection and rotation can be achieved, and more diversified task requirements are met.

    本发明针对传统的海龟鳍状肢仿生性低下,工作空间较大,且控制复杂等技术问题,提出了一种三自由度的仿生海龟机器人,属于水下机器人领域,包括头部、身体、一对前肢和一对后肢,所述前肢为三自由度结构,前肢设于身体的两侧;所述后肢为二自由度结构,后肢设于身体的尾部;每个所述前肢均包括行星齿轮差动结构、回转机构、旋转支架和鳍状肢;所述行星齿轮差动结构设置于旋转轴支架内,所述回转机构与旋转轴支架啮合连接;行星齿轮差动结构带动鳍状肢转动,所述回转机构与行星齿轮差动结构相配合使鳍状肢拥有三个自由度。本发明的鳍状肢的关节具有更高的灵活性和操作性,能够实现拍击、偏转和回旋在内的多个动作,满足更多样化的任务需求。


    Access

    Download


    Export, share and cite



    Title :

    Three-degree-of-freedom bionic sea turtle robot


    Additional title:

    一种三自由度的仿生海龟机器人


    Contributors:
    CHEN WEI (author) / DONG HONGWEI (author) / LI RUIXUE (author) / WANG YU (author)

    Publication date :

    2023-08-04


    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



    Bionic sea turtle magnetic drive soft robot

    XU LIN / LI TAO / YANG LIU et al. | European Patent Office | 2023

    Free access

    Shaft-driven three-degree-of-freedom bionic leg

    YAN TONG / SU BO / DANG RUINA et al. | European Patent Office | 2022

    Free access

    Two-freedom-degree bionic flexible spinal structure of quadruped robot

    LI LU / ZHU HONGSHENG / XU LINSEN et al. | European Patent Office | 2016

    Free access

    Three-degree-of-freedom bionic leg-foot structure and quadruped robot applying same

    LIANG ZHENJIE / JIANG LEI / ZHAO JIANXIN et al. | European Patent Office | 2022

    Free access

    Multi-degree-of-freedom bionic mechanism

    HU HAO / SHI FENG / DONG GUOZHENG et al. | European Patent Office | 2015

    Free access