Bionic machinery chelonian with two-stage freedom degree flipper mechanism
A degree of freedom, flipper technology, applied in directions such as non-rotating propulsion elements, to facilitate disassembly, improve reliability, and improve angular velocity and rotation range
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[0021] The present invention will be described in detail below with reference to the drawings and embodiments.
[0022] As shown in Figure 1, the present invention includes a robotic turtle main cabin module 1, swingingly connected to the main cabin module 1 with four flipper drive modules 2 in the circumferential direction and two-by-two symmetrical structure, and each flipper drive module 2 A wing-shaped flipper 3 is rotatably connected, and a dynamic sealing mechanism is respectively arranged at each power output part of the swing connection and the rotation connection.
[0023] As shown in Figures 1 and 2, the main cabin module 1 of the present invention includes a spherical crown 101 and a cylindrical shell 102 made of transparent plexiglass, a ferrule 103 made of light aluminum alloy, and an upper ring Cover 104 and bottom cover 105. The top cover 101 and the ferrule 103 are bonded together by a waterproof sealant, the housing 102 is bonded with the upper ring cover 104 and ...
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