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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

Inactive Publication Date: 2007-08-15
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] As shown in Fig. 1, the present invention comprises a robot turtle main cabin module 1, swings and is connected to the main cabin module 1 circumferential direction, four flipper drive modules 2 with a symmetrical structure in pairs, each flipper drive module 2 A wing-shaped flipper 3 is rotatably connected, and dynamic sealing mechanisms are respectively arranged at the power output parts of each oscillating connection and rotatable connection.

[0023] As shown in Fig. 1 and Fig. 2, the main cabin module 1 of the present invention comprises a spherical crown top cover 101 and a cylindrical shell 102 made of transparent organic glass, a ferrule 103 and an upper ring made of light aluminum alloy. cover 104 and bottom cover 105 . The top cover 101 and the ferrule 103 are bonded together by waterproof sealant, the housing 102 is respectively bon...

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Abstract

The invention relates to a bionic robot chelonian with two-stage freedom fin. The invention comprises a main cabin module, four fin driving modules swinging connected around the main cabin module, while each driving module is rotationally connected with a wing fin, and the connection between the swing and rotation uses dynamic sealing device. The main cabin module uses a frame sealed connected by several parts, while the driving modules are two-by-two symmetry distributed around the frame. A servo motor in the main cabin module can make fins front and back to realize the first-stage freedom, and the driving motor in the find driving modules can drive the fins in second-stage freedom. The invention has stable operation and free motion or the like.

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