Bionic undulating fin robot amphibious propelling mechanism with reverse deflection wheel structure

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Bionic undulating fin robot amphibious propelling mechanism with reverse deflection wheel structure

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HU QIAO / ZHANG HAO / SUN LIANGJIE / ZENG YANGBIN / CHEN LONG / ZU SIYU / JIANG CHUAN

The invention discloses a bionic undulating fin robot amphibious propulsion mechanism with a reverse deflection wheel structure, a waterproof sealed cabin is embedded in the middle of an integrated skeleton, FOC waterproof motors are mounted on two sides of the integrated skeleton, and the amphibious propulsion mechanism is driven to fluctuate in a sine-like manner through cooperative control of the waterproof motors on one side; a rotating piece in the swing fin ray unit is connected with a flexible fluctuating fin face, the swing fin ray unit fluctuates to drive the flexible fluctuating fin face to present sine-like fluctuation so that the bionic fluctuating fin robot can move underwater, and a reverse deflection wheel structure is installed at the bottom of a fixing piece outside the swing fin ray unit. The swinging fin ray unit fluctuates to drive the reverse deflection wheel structure to swing left and right, the reverse deflection wheel structure swings to generate reverse deflection force, and the force in the horizontal direction drives the bionic fluctuating fin robot to move on land.

本发明公开了一种具备反偏向轮结构的仿生波动鳍机器人两栖推进机构，一体化骨架中间内嵌防水密封舱、两侧安装FOC防水电机，通过单侧防水电机协同控制带动两栖推进机构呈类正弦波动，摆动鳍条单元内部转动件连接一个柔性波动鳍面，摆动鳍条单元波动带动柔性波动鳍面呈现类正弦波动实现仿生波动鳍机器人水下运动，摆动鳍条单元外部固定件底部安装有反偏向轮结构，摆动鳍条单元波动带动反偏向轮结构左右摆动，反偏向轮结构摆动产生反偏向力沿水平方向的力驱动仿生波动鳍机器人的陆上运动。

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Title :

Bionic undulating fin robot amphibious propelling mechanism with reverse deflection wheel structure

Additional title:

一种具备反偏向轮结构的仿生波动鳍机器人两栖推进机构

Contributors:

HU QIAO (author) / ZHANG HAO (author) / SUN LIANGJIE (author) / ZENG YANGBIN (author) / CHEN LONG (author) / ZU SIYU (author) / JIANG CHUAN (author)

Publication date :

2024-01-30

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING