The invention belongs to the technical field of underwater bionic robots, and particularly relates to an underwater robot based on manta ray bionics. The fish comprises a fish head part, a fish body part and a fish tail part, the fish head part comprises a fish head bin, two symmetrically-arranged first motors are arranged in the fish head bin, the fish body part comprises a mounting frame, and a pair of pectoral fin frameworks are symmetrically arranged on the two sides in the mounting frame; the large transmission rod set is close to one side of the fish head bin and connected with the first motor, the small transmission rod set is connected with the large transmission rod set, the rear end of the installation frame is connected with a fish tail part, the fish tail part is provided with a posture adjusting device, and gravity center adjusting devices are further installed at the bottoms of the fish head bin and the installation frame. The motion mode of pectoral fins of manta rays is simulated through the double transmission rod sets, and motion is more stable; through the gravity center adjusting device and the posture adjusting device at the tail, rapid steering, floating and sinking of the underwater robot are achieved.

    本发明属于水下仿生机器人技术领域,具体涉及一种基于蝠鲼仿生的水下机器人。本发明包括鱼头部、鱼身部和鱼尾部,鱼头部包括鱼头仓,鱼头仓内设置有两个对称设置的第一电机,鱼身部包括安装架,安装架内两侧对称设置有一对胸鳍骨架,所述一侧胸鳍骨架包括靠近鱼头仓一侧与第一电机连接的大传动杆组和与大传动杆组连接的小传动杆组,所述安装架后端连接有鱼尾部,鱼尾部设置有姿态调节装置,鱼头仓和安装架底部还安装有重心调节装置。本发明用双传动杆组实现对蝠鲼的胸鳍运动模式进行模仿,运动更平稳;通过重心调节装置和尾部的姿态调节装置,实现水下机器人的快速转向和上浮下沉。


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    Title :

    Bionic underwater robot based on manta ray


    Additional title:

    基于蝠鲼仿生的水下机器人


    Contributors:
    YANG LEMING (author) / MA MINGXU (author) / HE ZHIQI (author) / CHU YICHEN (author) / BAO MINGZHENG (author) / ZHOU YANG (author) / WANG YAHUI (author) / ZHONG YUNAN (author)

    Publication date :

    2023-11-10


    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 / 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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