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Beaver-imitating leg water-skiing device

A leg and foot technology, applied in the field of leg paddling devices, can solve problems such as low propulsion efficiency, noise pollution, and large energy consumption, and achieve the effect of improving paddling efficiency

Pending Publication Date: 2019-07-12
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Moreover, its structural size and weight are often relatively large due to insufficient technology.
Therefore, this type of underwater robot that uses propeller propulsion as a propeller has various defects such as large energy consumption, low reliability, relatively low propulsion efficiency, and poor maneuverability, and will generate noise pollution and eddy currents, which have a great impact on the work of the robot. hindrance

Method used

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  • Beaver-imitating leg water-skiing device
  • Beaver-imitating leg water-skiing device
  • Beaver-imitating leg water-skiing device

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Experimental program
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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following examples.

[0030] Such as figure 1 As shown, a beaver-like leg paddling device includes a frame 1, two motors 2 arranged on the frame, two branches arranged on both sides of the frame and driven by the motors, and arranged on each The foot at the end of the branch.

[0031] The branch includes a first four-bar mechanism, a second four-bar mechanism and a crank-rocker mechanism. The first four-bar mechanism and the second four-bar mechanism are sequentially connected between the frame and the feet, and the crank rocker mechanism is connected between the motor and the first four-bar mechanism.

[0032] The first linkage mechanism includes a first linkage 3, a second linkage 4, a third linkage 5 and a fourth linkage 6, and these four linkages are hinged front and back to form a planar four-bar linkage. The first ...

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Abstract

The invention belongs to the technical field of robots, and aims to provide a beaver-imitating leg water-skiing device. The beaver-imitating leg water-skiing device should have the characteristics ofsimple structure, large thrust and low resistance. According to the technical scheme, the beaver-imitating leg water-skiing device is characterized in that the beaver-imitating leg water-skiing devicecomprises a rack, two motors arranged on the rack, two branches arranged on the two sides of the rack and driven by the motors, and foot parts arranged at the tail ends of the branches correspondingly; the branches comprise first four-rod mechanisms and second four-rod mechanisms which are both sequentially connected between the rack and the foot parts and further comprise crank rocker mechanismsconnected between the motors and the first four-rod mechanisms; each first four-rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connectingrod which are hinged into a whole sequentially front and back; each second four-rod mechanism comprises a first connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connectingrod which are hinged into a whole sequentially front and back; and each crank rocker mechanism comprises a driving wheel and a fourth connecting rod.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a leg paddling device imitating a beaver. Background technique [0002] Underwater robots in the traditional sense mainly use propeller propulsion as their propulsion method. There are various technical problems in this propulsion method. These problems still need to be greatly improved due to the lack of data. And its structural size and weight are often all relatively large because of insufficient technology. Therefore, this type of underwater robot that uses propeller propulsion as a propeller has various defects such as large energy consumption, low reliability, relatively low propulsion efficiency, and poor maneuverability, and will generate noise pollution and eddy currents, which have a great impact on the work of the robot. obstacles. [0003] Today, imitating the propulsion mode of amphibians to develop underwater robots with high efficiency and high mobilit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H1/36
CPCB63H1/36
Inventor 陈刚遆肖聪陈洪立屠嘉骏
Owner ZHEJIANG SCI-TECH UNIV
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