The invention relates to the technical field of underwater robots, in particular to a bionic underwater robot which comprises a robot body and a tail fin. A power module is arranged in the machine body; the power module comprises a first bracket and a second bracket; the connecting shaft is sleeved with a mounting frame, and one end of the first support and one end of the second support are connected with the mounting frame. Two mounting plates are further mounted in the rack, and two propelling assemblies are arranged on the mounting plates; the propelling assembly comprises a first rotating shaft, a mounting disc and a shifting rod; the first rotating shaft is rotationally mounted on the mounting plate; the mounting disc sleeves the first rotating shaft; the two ends of the shifting rod are connected with the two mounting discs respectively; and the driving device is mounted on the mounting plate. The function of controlling the tail fin to swing in a reciprocating mode is achieved, the effect that impact borne by the tail fin during turning is buffered through water flow resistance borne by swing of the tail fin is achieved through alternate driving of the two propelling assemblies, and the problem that the endurance time of the robot can be greatly shortened due to the fact that a damping mechanism and an elastic mechanism are used for controlling the swing frequency is solved.

    本发明涉及水下机器人技术领域,具体是涉及一种仿生水下机器人,包括机体和尾鳍;机体内部设置有动力模块;动力模块包括第一支架和第二支架;连接轴上套接有安装架,第一支架和第二支架的其中一端与安装架连接;机架内还安装有两个安装板,安装板上设置有两个推进组件;推进组件包括第一转轴、安装盘和拨杆;第一转轴转动安装在安装板上;安装盘套接在第一转轴上;拨杆的两端分别与两个安装盘连接;驱动装置安装在安装板上。本发明实现了控制尾鳍往复摆动的功能,通过两个推进组件的交替驱动达到利用尾鳍摆动所受的水流阻力来缓冲尾鳍变向所受冲击的效果,解决了利用阻尼机构和弹性机构控制控制摆动频率会大幅缩短机器人续航时间的问题。


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    Title :

    Bionic underwater robot


    Additional title:

    一种仿生水下机器人


    Contributors:
    XIANG DAN (author) / ZHAI CHENKAI (author) / WANG HUIHUA (author) / HE DENGYU (author) / LIN LIBIN (author)

    Publication date :

    2024-02-02


    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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