The invention relates to a miniature bionic underwater robot based on a linear ultrasonic motor and an operation method.The miniature bionic underwater robot comprises a bionic cavity and a driving mechanism, the driving mechanism comprises a linear ultrasonic motor assembly, and the bionic cavity comprises a plurality of flexible frameworks, a flexible skin, a head base and a tail base; a drainage hole is formed in the center of the tail base; the two ends of each flexible framework are fixedly connected with the head base and the tail base respectively, the multiple flexible frameworks are evenly distributed between the head base and the tail base to form a cavity support, the cavity support is covered with the flexible skin, and a sealed cavity with the hollow interior is formed. In the cavity, the linear ultrasonic motor assembly is fixedly connected with the head base through the connecting piece, the end of the guiding piece is fixedly connected with the tail base, and the guiding piece is in rigid connection with a linear bearing of the linear ultrasonic motor assembly. The whole structure is simple, the size is small, the weight is light, the size utilization rate is high, the linear ultrasonic motor is used for direct driving, the structural complexity is greatly reduced, silent operation is achieved, the production and machining cost is remarkably reduced, and the device can be widely applied to the fields of ocean exploration, biological investigation, underwater rescue and the like.
本发明涉及一种基于直线超声电机的微型仿生水下机器人及运行方法,包括仿生腔体和驱动机构,所述驱动机构包括直线超声电机组件,所述仿生腔体包括若干柔性骨架、柔性蒙皮、头部基座以及尾部底座,在所述尾部底座中心位置开设排水孔;柔性骨架的两端分别与头部基座、尾部底座固定连接,若干柔性骨架均匀分布在头部基座与尾部底座之间形成腔体支架,在腔体支架的外部罩设柔性蒙皮,形成密封且内部中空的腔体;在腔体内部,直线超声电机组件通过连接件与头部基座固定连接,导向件的端部与尾部底座固定连接,且导向件与直线超声电机组件的直线轴承刚性连接。整个构造结构简单、体积小、质量轻、体积利用率高,使用直线超声电机直接驱动大幅减小了结构复杂性,实现静音运行,且显著降低了生产加工成本,可广泛应用于海洋勘探、生物考察和水下救援等领域。
Miniature bionic underwater robot based on linear ultrasonic motor and operation method
一种基于直线超声电机的微型仿生水下机器人及运行方法
2025-03-14
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / H02N Elektrische Maschinen, soweit nicht anderweitig vorgesehen , ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |