The invention discloses a bionic flexible flapping wing underwater robot which comprises a shell, two side wing flapping mechanisms located on the two sides of the shell, an empennage flapping mechanism located at the tail of the shell, a camera cabin located at the front end of the shell, a steering engine control cabin located at the front end of the interior of the shell and a gravity adjusting cabin located at the rear end of the interior of the shell. The side wing flapping mechanism comprises a side wing steering engine, a flapping assembly and a flexible side wing fin surface, the flapping assembly comprises a flapping transmission assembly, a fixing rod and a plurality of fin rays, one end of each fin ray is connected with the flapping transmission assembly, the middle of each fin ray is penetrated by the fixing rod, the other end of each fin ray is connected with the side wing fin surface, and the side wing steering engine is connected with and drives the flapping transmission assembly to drive one end of each fin ray to swing; all the fin rays are not in the same plane, and when the fin rays swing, the fin surfaces of the side wings swing in a wave shape. The device simulates the structural form, the motion characteristic and the driving mechanism of the natural aquatic organism manta ray, and has the characteristics of low noise, high maneuverability, small size, portability and high concealment.

    本发明公开了一种仿生柔性扑翼水下机器人,包括壳体、位于壳体两侧的两个侧翼扑动机构、位于壳体尾部的尾翼扑动机构、位于壳体前端的摄像机舱、位于壳体内部前端的舵机控制舱和位于壳体内部后端的重力调节舱,侧翼扑动机构包括侧翼舵机、扑动组件和柔性的侧翼鳍面,扑动组件包括扑动传动组件、固定棒和多个鳍条,鳍条的一端连接扑动传动组件、中部被固定棒穿过、另一端连接侧翼鳍面,侧翼舵机连接并驱动扑动传动组件,带动鳍条的一端摆动,所有鳍条不在一个平面内,鳍条摆动时侧翼鳍面呈现波浪形起伏摆动。本发明模仿了自然界水生生物蝠鲼的结构形态、运动特性和驱动机理,具有低噪音、高机动性、体积小、易携带、隐蔽性高的特点。


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    Title :

    Bionic flexible flapping wing underwater robot


    Additional title:

    一种仿生柔性扑翼水下机器人


    Contributors:
    FENG MING (author) / ZHU LINRUI (author) / LI QING (author) / SU LIANG (author)

    Publication date :

    2024-12-10


    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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