Underwater multipurpose robot propelled by bionic undulating fins

Abstract

The invention discloses an underwater multipurpose robot propelled by bionic undulating fins. The underwater multipurpose robot comprises a head, a middle, a tail, a left bionic undulating fin propelling mechanism and a right bionic undulating fin propelling mechanism which are arranged in sequence. The bionic undulating fin propelling mechanisms on the left side and the right side with a cam swing arm driving structure as the core are adopted for driving the fin strips to drive the flexible fin faces to generate continuous undulating deformation, the fin strips act with water to generate advancing thrust, through cooperation with a sinking and floating adjusting mechanism in the middle, multi-dimensional movement such as straight moving, turning and floating and diving of the underwater robot can be achieved, and good maneuverability is achieved. Meanwhile, the sensing flow field speed data and the self orientation data can be obtained according to an ultrasonic Doppler current meterarranged at the head part and a USBL underwater acoustic positioning system; motion of the underwater robot is planned, the underwater robot is selected to operate on a channel with constant flow velocity and small flow resistance, the underwater robot has the capacity of sensing and reducing underwater surge interference in advance, and the underwater robot has good reliability and robustness.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, and in particular relates to an underwater multipurpose robot propelled by bionic fluctuating fins. Background technique [0002] There are abundant mineral resources, biological resources and food resources in the ocean. Improving the ability to detect marine resources will help human beings to develop and protect marine resources more reasonably. Underwater robots have broad application prospects in the fields of marine life observation, submarine resource detection and submarine pipeline inspection. Underwater robots can be divided into two types: cableless underwater robots and cabled underwater robots. Cableless underwater robots are generally powered by onboard batteries and communicate with operators on shore using wireless communication technologies such as electromagnetic waves or ultrasonic waves. The advantages of good performance and strong environmental adaptability are li...

AI Technical Summary

Problems solved by technology

Traditional remote-controlled unmanned underwater thrusters generally use propellers as the driving method to achieve stable propulsion in water, which has good acceleration and rapid start-stop capabilities. However, remote-controlled unmanned underwater thrusters based on propeller propulsion mechanisms are used in underwater There are the following disadvantages and deficiencies in multi-purpose tasks: in waters with a lot of aquatic plants or sundries, blockage is prone to occur, resulting in failure; the rotation of the propeller produces cavitation, which causes the body to vibrate and generate large cavitation noise, which is not suitable for Carry out highly concealed reconnaissance missions; the interaction between the propeller and the water produces a vortex that is not in harmony with the seabed environment, so it is impossible to achieve close-up marine life observation

However, most of the bionic underwater robots so far have these deficiencies: the swimming speed is slow, and the propulsion power is small. Usually, soft materials or steering gears are used to drive the bionic caudal fin to swing or the bionic long fin to generate power. The propulsion speed and propulsion power are affected by Limited to the oscillating frequency of soft materials or the rotational speed of the steering gear, the acceleration ability and start-stop ability are poor

The above three patents all use the steering gear to drive the bionic undulating fin structure to interact with water to realize underwater or amphibious movement. However, due to the structural limitations of the steering gear, it is difficult to increase the swimming speed of the underwater robot, which limits its use in various Practicality in underwater missions

Images