The invention belongs to the field of underwater robots, and particularly relates to an underwater robot simulating carangidae fish pectoral fins, which comprises a controller, a pectoral fin steering engine, two pectoral fins and two pectoral fin push rods which are arranged in bilateral symmetry relative to the central axis of the robot and have the same structural size, and first gear sets connected with one ends of the two pectoral fin push rods respectively; each pectoral fin is composed of two pectoral fins which are stacked up and down, the same ends of the two pectoral fins are jointly and movably arranged at the end, away from the first gear set, of the corresponding pectoral fin push rod, and the two pectoral fins can be oppositely combined or reversely separated along the movably arranged ends under water impact; the pectoral fin steering engine is used for driving the two pectoral fin push rods to synchronously rotate forwards or backwards along the ends connected with the gear sets through the first gear set under the control of the controller, so that the two pectoral fins synchronously move forwards or backwards, and the movement speed of the robot is affected. The overall movement stability of the underwater robot can be improved, and the swimming speed is increased.
本发明属于水下机器人领域,具体涉及一种仿鲹科鱼类胸鳍的水下机器人,包括:控制器,胸鳍舵机,相对机器人中轴线左右对称设置的结构尺寸相同的两个胸鳍和两个胸鳍推杆,以及与两个胸鳍推杆的一端分别连接的第一齿轮组;每个胸鳍由上下层叠设置的两片胸鳍片构成,该两片胸鳍片的同一端共同活动设置在对应胸鳍推杆的远离第一齿轮组的一端,该两片胸鳍片在水冲击下可沿着活动设置的一端相向合并或反向分离;胸鳍舵机用于在控制器的控制下通过第一齿轮组带动两个胸鳍推杆沿着与齿轮组连接的一端同步向前或向后转动,以使得两个胸鳍同步向前或向后运动,影响机器人的运动速度。本发明能提升水下机器人整体运动稳定性,加快游动速度。
Underwater robot simulating pectoral fins of carangidae fishes
一种仿鲹科鱼类胸鳍的水下机器人
2024-05-14
Patent
Electronic Resource
Chinese
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