The invention provides a tail fin rapid swing propelling bionic underwater robot system based on a Scotch yoke, relates to the technical field of bionic propelling and underwater robots, and aims at solving the problem that in the prior art, a tail fin propelling structure is low in swing speed. The bionic underwater robot system comprises a main machine shell, a tail fin driving motor, a Scotch yoke mechanism and a tail fin structure, the Scotch yoke mechanism comprises an eccentric shaft, a rocker frame and a connecting shaft, the tail fin driving motor is arranged in the main machine shell, an output shaft of the tail fin driving motor is connected with the eccentric shaft, the head end of the rocker frame is provided with a vertical upward sliding groove, and the tail fin structure is arranged in the connecting shaft. The eccentric shaft is slidably arranged in the sliding groove, the middle section of the rocker frame is provided with a vertical connecting hole and is rotatably connected with the connecting shaft through the connecting hole, the connecting shaft is connected to the tail end of the host shell, and the tail end of the rocker frame extends out of the host shell and is connected with the tail fin structure. The robot simulates swinging of the fish tail, transmission efficiency is high, the response speed is high, high-frequency swinging of the tail fin is achieved, and the swimming speed is increased.

    本发明提供了一种基于苏格兰轭的尾鳍快速摆动推进仿生水下机器人系统,涉及仿生推进及水下机器人技术领域,以解决现有技术中尾鳍推进结构摆动速度慢的问题,该仿生水下机器人系统包括主机壳体、尾鳍驱动电机、苏格兰轭机构和尾鳍结构,苏格兰轭机构包括偏心轴、摇杆架和连接轴,尾鳍驱动电机设置于主机壳体内,尾鳍驱动电机的输出轴与偏心轴连接,摇杆架的头端具有竖向上的滑动槽,偏心轴滑动设置于滑动槽中,摇杆架的中段具有竖向的连接孔并通过连接孔与连接轴可转动连接,连接轴连接于主机壳体的尾端,摇杆架的尾端伸出主机壳体并与尾鳍结构连接。该机器人模拟鱼类尾部的摆动,传动效率高,响应速度快,实现尾鳍的高频摆动,提高游动速度。


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    Title :

    Tail fin rapid swing propelling bionic underwater robot system based on Scotch yoke


    Additional title:

    基于苏格兰轭的尾鳍快速摆动推进仿生水下机器人系统


    Contributors:
    ZHANG YIXIN (author) / WANG ZIMING (author) / CHEN LIN (author) / ZHAO LEIKAI (author) / MA YIXUAN (author) / WANG XINGJIAN (author) / WANG SHAOPING (author) / LI LONG (author) / YUN YUSHU (author) / BAI HONGXU (author)

    Publication date :

    2024-09-27


    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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