A modularized undulating fin mechanism based on a crank rocker belongs to the field of bionic devices, and is characterized by comprising a swing module, a fin surface support rod and a flexible fin surface, a crankshaft is arranged in the swinging module; the swing module converts the rotary motion of the crankshaft into periodic swing; every two swing modules are connected through a universal joint arranged on a rotating shaft of the crankshaft. The motion output end of each swing module is provided with a fin surface supporting rod. The clamping part of the fin surface supporting rod can rotate around the axis of the fin surface supporting rod; and the flexible fin surface is connected with the clamping part of the fin surface supporting rod. The modular design is adopted, the number of the swing modules can be freely increased or decreased, and therefore the length and the cycle number of the fluctuating fins are changed to meet different propulsive force requirements. The swing modules are connected through universal joints to form a multidirectional flexible trunk skeleton, the flexible trunk design of the underwater robot can be achieved, different biological forms can be simulated, and high reconfigurability and expandability are achieved.

    一种基于曲柄摇杆的模块化波动鳍机构,属于仿生装置领域,其特征在于:包括摆动模块、鳍面支撑杆和柔性鳍面;摆动模块内设置有曲柄轴;摆动模块将曲柄轴的旋转运动转化为周期性摆动;每两个摆动模块之间通过在曲柄轴的转轴上设置万向节相连接;每一所述摆动模块的运动输出端均设置一鳍面支撑杆;鳍面支撑杆的夹持部可绕鳍面支撑杆的轴线旋转;柔性鳍面与所述鳍面支撑杆的夹持部相连接。采用模块化设计,摆动模块数量可以自由增减,从而改变波动鳍的长度和周期数,适用于不同的推进力需求;摆动模块间采用万向节连接,组成多向柔性的躯干骨架,可实现水下机器人的柔性躯干设计,从而模仿不同的生物形态,具有较高的可重构性和可扩展性。


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    Title :

    Modularized undulating fin mechanism based on crank rocker


    Additional title:

    一种基于曲柄摇杆的模块化波动鳍机构


    Contributors:
    XIE HUIXIANG (author) / LI CHUANYANG (author) / WANG XINFENG (author) / GUO JIANFENG (author) / SANG YUANYUAN (author)

    Publication date :

    2023-11-10


    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



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