A long-fin undulating propulsion bionic underwater robot

Abstract

The invention discloses a long-fin undulating propulsion bionic underwater robot, which includes a long-fin undulating mechanism, a motor, a control center and two steering gears. The long-fin undulating mechanism includes a plurality of swing units arranged in series through joint frames, and the swing unit includes Two oscillating assemblies set up facing each other, in the oscillating assembly, the oscillating bracket, the oscillating interface, the crankshaft and the connecting rod form a four-bar linkage mechanism; the oscillating interface is used to install the fin ray, and the fin surface is installed on the fin ray; the motor, the double steering gear and the control The centers are all set in the waterproof compartment on the front side of the long fin undulating mechanism. The motor is used to drive the swing component to move through the joint frame; the two steering gears respectively drive the cables to move and then drive the fins on both sides to turn over. The cables pass through the joint frame The left and right through holes are connected with multiple swing brackets on the same side. The invention has the characteristics of high propulsion efficiency, good maneuverability, controllability and anti-interference, and is applied to survey and record in waters with large water fluctuations or complex water environments.

Description

technical field

[0001] The invention relates to the technical field of robots, in particular to a long fin undulating propulsion bionic underwater robot. Background technique

[0002] Long fin propulsion, as a relatively common way of marine life movement, has better anti-interference and higher propulsion efficiency than body wave propulsion and propeller propulsion. Problems such as difficulty in changing have not been widely used in the field of bionic underwater robots. Contents of the invention

[0003] The purpose of the present invention is to provide a long-fin undulating propulsion bionic underwater robot to solve the above-mentioned problems in the prior art, realize high-frequency continuous fluctuation of the fin surface through a series four-bar linkage mechanism, and make full use of the foldable fin surface Adjusting the attitude of the body has the characteristics of high propulsion efficiency, good maneuverability, controllability and anti-interference. I...

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