Breaststroke underwater advancing mechanism based on link mechanisms

Abstract

The invention relates to a breaststroke underwater advancing mechanism based on link mechanisms, which comprises a body, wherein a set of symmetrical link mechanism is respectively fixed at both sides of the body; each set of link mechanism comprises a structure that a thigh connecting bar and a leg connecting bar are articulated on the body and the other end of the leg connecting bar is articulated with a leg; the other end of a thigh is articulated with the leg and the hinge joint is close to the hinge joint of the leg connecting bar and the leg; one end of a stay wire is articulated on the thigh, the other end is connected with a root of a sole, the connecting point is arranged at the inner side of the hinge joint of the leg and the sole, the whole stay wire is arranged at the inner side of the leg, and the stay wire, the thigh, the leg and the sole form a parallelogram link mechanism; one end of a foot dorsiflexing rubber band is fixed on the leg, the other end is connected with an instep of the sole, and the connecting is arranged at the inner side of the hinge joint of the leg and the sole; the middle of the sole is articulated with one end of the leg, a heel part is articulated with the stay wire, and the instep is connected with the foot dorsiflexing rubber band. The invention has simple structure and control and easy implement.

Description

technical field [0001] The invention relates to a frog-like underwater propulsion mechanism based on a connecting rod mechanism, and belongs to the technical field of underwater robot propulsion. Background technique [0002] With the increase of marine resources exploration and development activities, underwater robot technology is getting more and more attention. The bottleneck restricting the development of underwater robots is underwater propulsion technology. power, and the structural fusion of the propeller and the carrier. The development of underwater robot propulsion technology presents three stages: traditional propeller propulsion technology, imitation of underwater biological swimming, and hybrid propulsion technology. [0003] 1 Traditional propeller propulsion method [0004] For an underwater robot propelled by a traditional propeller, multiple fixed-axis propellers are arranged around the carrier, each propeller can only rotate around the axis, and the para...

AI Technical Summary

Problems solved by technology

Underwater biomimetic propulsion is a very promising research direction, but there are many difficulties that are difficult to overcome in a short period of time in terms of bionic mechanism and bionic propulsion structure design, so the underwater biomimetic propulsion robot has not been able to get out of the It is practical in the laboratory, but it only reaches the degree of similarity in appearance (function, motion simulation), and there is still a big gap from the goal of similarity in spirit (efficiency in propulsion, high maneuverability).

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