The invention discloses a sea lion front fin simulating device capable of actively deforming, which belongs to the technical field of underwater navigation equipment and comprises N joint skeleton mechanisms, a driving connecting rod, a supporting shell, a bionic flexible outer skin and a driving unit. The joint framework mechanism comprises a shin rod, a supporting rod, a crank, a first fixing pin shaft, a second fixing pin shaft and a sliding pin shaft, and a plane connecting rod mechanism is formed. One end of the shank rod is connected with the supporting rod through a first fixing pin shaft, the other end of the supporting rod is connected with the crank through a second fixing pin shaft, and the other end of the crank is connected with a sliding pin shaft and can slide along the shank rod. And a driving connecting rod is connected between the sliding pin shafts of the adjacent joint framework mechanisms. The supporting shell is fixed to the shin rod to form supporting face bodies located on the two sides of the first fixing pin shaft, and the bionic flexible outer skin is installed on the supporting face bodies to form a fin-shaped surface. The driving unit is connected to the shin rod and drives the shin rod to swing around the first fixing pin shaft. Through spanwise active deformation, flexible skin hydrodynamic characteristics, a multi-joint bionic structure and rigid-flexible combined design, the propulsion efficiency and adaptability of the underwater robot are remarkably improved.
本发明公开了一种可主动变形的仿海狮前鳍装置,属于水下航行装备技术领域,包括N个关节骨架机构、驱动连杆、支撑外壳、仿生柔性外皮和驱动单元。关节骨架机构包括胫杆、支杆、曲柄、第一固定销轴、第二固定销轴和滑移销轴,形成平面连杆机构。胫杆一端与支杆通过第一固定销轴连接,支杆另一端与曲柄通过第二固定销轴连接,曲柄另一端连接滑移销轴并可沿胫杆滑移。相邻关节骨架机构的滑移销轴间连接驱动连杆。支撑外壳固定在胫杆上,形成位于第一固定销轴两侧的支撑面体,仿生柔性外皮安装于支撑面体上,形成鳍形表面。驱动单元连接于胫杆,驱动其绕第一固定销轴摆动。通过实现展向主动变形、柔性外皮水动力特性、多关节仿生结构和刚柔结合设计,本发明显著提升了水下机器人的推进效率与适应性。
Sea lion front fin simulating device capable of actively deforming
一种可主动变形的仿海狮前鳍装置
2025-02-11
Patent
Electronic Resource
Chinese
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 / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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