Dolphin-like propulsion mechanism

Abstract

The invention belongs to the technical field of robots, and particularly relates to a dolphin-like propulsion mechanism. The dolphin-like propulsion mechanism can solve the problems existing in a bionic fish propulsion mechanism with multiple joint modules in series in the prior art, such as large rotational inertia, low motion efficiency, poor motion flexibility, poor reliability and short service life of the multiple joint modules. The dolphin-like propulsion mechanism comprises a waist tail base module, a waist front cabin module, a waist rear cabin module and a tail module connected in sequence, wherein the front end and the rear end of the waist rear cabin module are respectively hinged to the waist front cabin module and the tail module. According to the dolphin-like propulsion mechanism, the rotary motion of a power device is converted into reciprocating motion through a first driving device; reciprocating motion is transmitted to the waist rear cabin module and the tail modulethrough a second driving device and a third driving device respectively; and each joint module is small in rotational inertia, flexible in movement, high in propelling efficiency, high in reliability,long in service life and high in practicability.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a dolphin-like propelling mechanism. Background technique [0002] As a main carrier for exploring and developing the ocean, underwater robots have important civilian and military values. However, most of the existing underwater robots use propellers or pump-jet propulsion methods, which have the disadvantages of poor maneuverability, loud noise, and low concealment. During the long process of natural selection, fishes have evolved excellent physiological structure and extraordinary movement performance. They have the characteristics of flexible movement, strong maneuverability and low disturbance to water flow. Development and application provide important technical support. [0003] However, most of the existing propulsion mechanisms for imitating robotic fish adopt the multi-joint module series drive mode, each joint module has a power device, and the output shaft...

AI Technical Summary

Problems solved by technology

[0004] 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 of the joint modules, low motion efficiency, poor motion flexibility, poor reliability, and low service life of the bionic fish propulsion mechanism in the prior art , the present invention provides a dolphin-like propulsion mechanism, comprising a body, the body comprising a waist tail base module, a waist front cabin module, a waist rear cabin module, a tail module connected in sequence, the front end of the waist rear cabin module, The rear end is respectively hinged with the waist front cabin module and the tail module;

Images