The invention relates to the technical field of underwater robots, and provides a driving device of a bionic robot fishtail and the bionic robot fishtail. The driving device of the bionic robot fishtail comprises a first driver, a cam and an adjusting mechanism, the cam is connected with the first driver, the cam is provided with an annular groove, the annular groove is in a sinusoidal waveform, the adjusting mechanism comprises a first oil cylinder, a second oil cylinder, an adjusting assembly and a second driver, and the first oil cylinder can drive the bionic robot fishtail to swing when stretching out and drawing back; one end of each second oil cylinder is in lap joint with the annular groove, the cams can drive the second oil cylinders to stretch out and draw back when rotating, and the multiple second oil cylinders drive the first oil cylinder to stretch out and draw back after converging. The second driver can drive the adjusting assembly to swing so as to adjust the phase position of the second oil cylinder. According to the driving device of the bionic robot fishtail, the swing frequencies, the swing amplitudes and the phases of the multiple swing joints can be adjusted at the same time, all parameters are adjusted independently, and adjustment synchronism and cooperative control over the multiple joints are guaranteed.
本发明涉及水下机器人技术领域,提供一种仿生机器鱼尾的驱动装置及仿生机器鱼尾。上述的仿生机器鱼尾的驱动装置,包括:第一驱动器、凸轮和调节机构,凸轮与第一驱动器连接,凸轮设有环形凹槽,环形凹槽呈正弦波形,调节机构包括:第一油缸、第二油缸、调节组件和第二驱动器,第一油缸伸缩时能够驱动仿生机器鱼尾摆动;第二油缸的一端与环形凹槽搭接,凸轮转动时能够带动第二油缸伸缩,多个第二油缸汇聚后驱动第一油缸伸缩;第二驱动器可驱动调节组件摆动以调整第二油缸的相位。上述的仿生机器鱼尾的驱动装置,可同时对多个摆动关节的摆动频率、摆动幅度和相位进行调节,各个参数独立调节,保证了调节的同步性、以及多关节的协同控制。
Driving device of bionic robotic fish tail and bionic robotic fish tail
仿生机器鱼尾的驱动装置及仿生机器鱼尾
2024-07-16
Patent
Electronic Resource
Chinese
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