The invention discloses a multi-mode hybrid motion bionic underwater robot, and relates to the technical field of underwater robots, the multi-mode hybrid motion bionic underwater robot comprises a body, a suspension assembly and a driving assembly, the body comprises a bionic fish head, a bionic fish body and a bionic fish tail which are connected in sequence, and a first gap exists between the bionic fish head and the bionic fish body; a second gap is formed between the bionic fish body and the bionic fish tail; the suspension assembly comprises a flexible oil bag located in the first gap and/or the second gap, and an oil control assembly communicating with the flexible oil bag and controlling expansion and contraction of the flexible oil bag. The driving assembly comprises side fins arranged on the two sides of the bionic fish body, a first driving module connected with and driving the side fins, a fluctuation fin located at the bottom of the bionic fish body and a second driving module connected with and driving the fluctuation fin, and when the robot is in a low-electric-quantity or low-power-consumption mode, the flexible oil bag can be matched with the fluctuation fin or the side fins to achieve gliding motion. The longer endurance is ensured; and when a certain drive fails, the task can be continued to be executed, so that the interference of an underwater environment is reduced.
本发明公开了一种多模态混合运动仿生水下机器人,涉及水下机器人技术领域,包括本体、悬浮组件和驱动组件,本体包括依次连接的仿生鱼头、仿生鱼身、仿生鱼尾,仿生鱼头和仿生鱼身之间存在第一间隙,仿生鱼身和仿生鱼尾之间存在第二间隙;悬浮组件包括位于第一间隙和/或位于第二间隙的柔性油囊、以及连通并控制柔性油囊膨胀和收缩的控油组件;驱动组件包括设置于仿生鱼身两侧的侧鳍、连接并驱动侧鳍的第一驱动模块、位于仿生鱼身底部的波动鳍、以及连接并驱动波动鳍的第二驱动模块,机器人在低电量或低功耗模式下,柔性油囊可配合波动鳍或者侧鳍实现滑翔运动,以保证更长续航;某一驱动出现故障下,也能继续执行任务,减少受水下环境的干扰。
Multi-mode hybrid motion bionic underwater robot
一种多模态混合运动仿生水下机器人
2024-12-20
Patent
Electronic Resource
Chinese
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