A gliding robot dolphin

Abstract

The invention discloses a gliding robot dolphin, which is composed of a head module, a mission module, a pectoral fin module, a control module, a waist joint module and a tail joint module. The pectoral fin module is provided with a pectoral fin driving mechanism, suction The drainage mechanism and the cabin dump mechanism, the center of gravity adjustment mechanism is set in the control cabin module, the yaw drive mechanism and the tail drive mechanism are set in the waist joint cabin module, and the tail fin drive mechanism is set in the tail joint cabin module. The invention uses the tail driving mechanism and the tail fin driving mechanism to make the two joints of the tail swing up and down to realize dorso-abdominal propulsion; the overall net buoyancy is adjusted by the suction and drainage mechanism to realize buoyancy-driven propulsion. The present invention can adjust the pitch angle and roll angle during movement through the pectoral fins, and adjust the yaw angle through the yaw driving mechanism. The invention has the advantages of high speed and high maneuverability of the robot dolphin and strong battery life of the underwater glider, and adopts a modular design, which is easy to install and maintain.

Description

technical field [0001] The present invention relates to an underwater robot, more particularly to a gliding robot dolphin. Background technique [0002] Dolphins are fast, highly mobile marine mammals with near-perfect motor skills in the water. The dolphin's body is streamlined and muscular. Relying on the up and down swing of the tail and caudal fin and the cooperation of flippers, the instantaneous swimming speed can exceed 11m / s (about 3 to 5 times the body length / second). The turning radius of dolphins can be as small as 0.11 to 0.17 times the body length, and the turning speed can be as high as 450 degrees per second. In addition, because the dolphin's torso has two degrees of freedom to swing, the dolphin can perform complex movements such as turning in the air after jumping out of the water. These difficult movements cannot be achieved by fish. [0003] The excellent movement ability of dolphins has aroused the keen attention of researchers in the field of underwat...

AI Technical Summary

Problems solved by technology

[0005] In view of this, in view of the technical problems of high energy consumption and weak battery life of the current robot dolphins, the main purpose of the present invention is to provide a gliding robot dolphin to provide a new type of underwater vehicle with high maneuverability, strong battery life and modularization. Bionic Carrier and Observation Platform

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