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Bionic machinery chelonian with two-stage freedom degree flipper mechanism

A technology of degrees of freedom and flippers, applied in directions such as non-rotating propulsion elements to improve angular velocity and rotation range, facilitate observation, and facilitate disassembly

Inactive Publication Date: 2009-08-26
PEKING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, this kind of robotic sea turtle based on bionic propulsion, which has flippers with two degrees of freedom and can realize complex three-dimensional motion, is still a blank in the field of underwater robots.

Method used

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  • Bionic machinery chelonian with two-stage freedom degree flipper mechanism
  • Bionic machinery chelonian with two-stage freedom degree flipper mechanism
  • Bionic machinery chelonian with two-stage freedom degree flipper mechanism

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Embodiment Construction

[0021] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0022] Such as figure 1 As shown, the present invention includes a main cabin module 1 of a robot sea turtle, which is swingably connected to four flipper drive modules 2 in the circumferential direction of the main cabin module 1 and whose structure is symmetrical in pairs, and each flipper drive module 2 is rotatably connected to a wing. Shaped flippers 3 are respectively provided with dynamic sealing mechanisms at the power output parts of each swing connection and rotation connection.

[0023] Such as figure 1 , figure 2 As shown, the main cabin module 1 of the present invention includes a spherical crown top cover 101 and a cylindrical shell 102 made of transparent organic glass, a ferrule 103 made of light aluminum alloy, an upper ring cover 104 and a bottom cover 105 . The top cover 101 and the ferrule 103 are bonded together by waterproof...

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Abstract

The invention relates to a bionic robot sea turtle with a flipper mechanism with two degrees of freedom. A wing-shaped flipper is rotatably connected to the flipper drive module, and a dynamic sealing mechanism is used for the swing and rotation connection. In the present invention, the main cabin module adopts a shell that is sealed and connected by multiple parts, and the flipper drive modules are symmetrically distributed in pairs around the shell, and the turtle flippers are moved forward and backward through the servo motor installed in the main cabin module. The first degree of freedom of water movement, the second degree of freedom of sea turtle flippers is realized by driving the flippers through the drive motor arranged in the flipper drive module. The bionic robot sea turtle of the present invention is stable and reliable, flexible in movement and maneuverable Well, propulsion and maneuvering in any direction can be achieved.

Description

technical field [0001] The invention relates to an underwater bionic robot sea turtle, in particular to a bionic robot sea turtle with a flipper mechanism with two degrees of freedom. Background technique [0002] After hundreds of millions of years of natural selection, especially heredity and variation, nature has bred a variety of organisms. In the long evolutionary process, biological populations have formed advantages and strengths in many aspects such as perception, execution, control, information processing, behavioral decision-making, and organizational coordination to adapt to the environment. Long-standing studies of the kinematics and hydrodynamics of animal swimming in nature have shown that the performance of man-made underwater vehicles lags behind in efficiency and maneuverability. In the research field of underwater vehicles, the most representative is a highly streamlined body propelled by propellers. Autonomous Underwater Vehicle (AUV) using this design m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H1/36
Inventor 赵惟王龙胡永辉张乐王琦谢广明
Owner PEKING UNIV