Imitation fish propulsion mechanism of underwater robot

Abstract

The invention relates to the technical field of underwater robots, in particular to a fish-like propulsion mechanism of an underwater robot, aiming to solve the problem of large moment of inertia, low motion efficiency, poor reliability and long service life of the bionic fish propulsion mechanism in the prior art with multi-joint modules connected in series. short question. The invention provides a fish-like propulsion mechanism for an underwater robot, which includes a sequentially connected drive unit, a waist joint unit, a tail joint unit, and a tail fin. The drive unit includes a waist joint power device and a tail joint power device, a waist joint unit and a tail joint. The unit is equipped with a transmission mechanism, and the waist joint power device and the tail joint power device respectively drive the waist joint unit and the tail fin to reciprocate through the transmission mechanism. Movement efficiency and flexibility, the invention does not need to rely on frequent commutation of the motor, greatly improves the working performance and reliability of the propulsion mechanism, and has strong practicability.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a fish-like propulsion mechanism of an underwater robot. Background technique [0002] In the prior art, most traditional underwater robots use propeller propulsion or pump jet propulsion, which have the disadvantages of poor maneuverability, loud noise and low concealment. The overall comprehensive performance of fish swimming in the water is good, and its characteristics of good maneuverability, low noise and high efficiency have been favored by researchers. As a product of the combination of bionics and electromechanics, the bionic robot fish is a The development and application of underwater vehicles provides new approaches and technical means. [0003] However, most of the existing bionic fish propulsion mechanisms adopt the multi-joint module series drive mode, each joint module has a power device, and its output shaft drives the movement of the next joint module...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problems of large moment of inertia, rigid motion, low motion efficiency, poor reliability and short service life of the bionic fish propulsion mechanism in the prior art, the present invention A fish-like propulsion mechanism for an underwater robot is proposed, including a sequentially connected drive unit, waist joint unit, tail joint unit, and tail fin;

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