Underwater propelling device imitating longsnout beetle swimming feet

Abstract

The invention belongs to the technical field of bionic devices, and particularly relates to an underwater underactuated swimming device imitating longsnout beetle swimming feet. The device comprises leg sections, the leg sections are connected with rotary joints, the leg sections are hinged with rotary joints, the rotary joints are connected with shin sections through spherical hinges, water catching side wings are arranged on the shin sections, the leg sections and the rotary joints are in joint, protruding structures are arranged on the outer sides of the joints of the rotary joints and theshin sections and connected with limiting devices in a matched mode, and the limiting devices are provided with installation grooves and limiting baffles. According to the invention, the structure isreasonable and novel, the structure is designed by simulating the structure of the bionic longsnout beetle swimming feet and the structural change relation in the swimming foot water catching movementprocess, the position change of the whole swimming process does not need to be driven by a motor, the shape and the position can be changed in a self-adaptive mode, and the number of motors is greatly reduced; the control and structure complexity is reduced, the movement efficiency is higher, the manufacturing is simple, and the use effect is very good.

Description

technical field [0001] The invention belongs to the technical field of bionic devices, and in particular relates to an underwater propulsion device imitating the swimming feet of the Phnom Penh dragon. Background technique [0002] The propulsion device used by underwater robots has multiple degrees of freedom. At present, motors are mostly used to drive different joints. With the complex design of the connecting rod mechanism, the control system needs more complex instructions to control the position of the reciprocating motion under different states, which greatly increases the complexity and size of the propulsion device, and the cost is high. accomplish. Contents of the invention [0003] The object of the present invention is to provide an underwater propulsion device imitating the swimming feet of the chrysalis chrysalis, so as to solve the problems raised in the above-mentioned background technology. [0004] To achieve the above object, the present invention prov...

AI Technical Summary

Problems solved by technology

[0002] The propulsion device used by underwater robots has multiple degrees of freedom. At present, motors are mostly used to drive different joints. With the complex design of the connecting rod mechanism, the control system needs more complex instructions to control the position of the reciprocating motion under different states, which greatly increases the complexity and size of the propulsion device, and the cost is high. accomplish

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