An underwater flying robot comprises a fish-shaped shell (1), a bionic wing driving module (2), an electronic module (3), a bionic tail fin module (4) and a base (6) for bearing the modules. The bionic wing driving module (2) comprises a pair of bionic wings, two rotor wing steering engines and two wing rowing steering engines; the bionic tail fin module (4) comprises a bionic tail fin, a space crank and rocker mechanism and a tail fin steering engine. In combination with bionics, flying of birds in air is converted into swimming of the birds in water, a driving method that wings replace propellers is adopted, and posture control and omnidirectional movement are achieved by controlling the bionic wings to poke the water; meanwhile, the tail fin of the robot is designed by referring to thetail fin of the whale, and auxiliary control over the posture and movement of the robot is provided. The unmanned underwater flying robot is flexible, high in speed, efficient, low in noise, safe, light, flexible, convenient to carry and easy to operate.

    一种水下飞行机器人,包含鱼型壳体(1)、仿生翅膀驱动模块(2)、电子模块(3)、仿生尾鳍模块(4)、以及承载所述模块的底座(6)。所述仿生翅膀驱动模块(2)包括:一对仿生翅膀,两个旋翼舵机和两个划翼舵机;所述仿生尾鳍模块(4)包括:一个仿生尾鳍,一个空间曲柄摇杆机构,一个尾鳍舵机。本发明结合仿生学,将鸟类在空气中的飞行转化为在水中的游动,采取翅膀代替螺旋桨的驱动方法,通过控制仿生翅膀对水的拨动实现姿态控制和全向移动;同时还参考鲸鱼的尾鳍设计机器人的尾鳍,提供机器人姿态和运动的辅助控制。本发明实现一种灵活、高速、高效、低噪、安全的无人水下飞行机器人,整体轻盈灵活,便于携带且易于操作。


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    Title :

    Underwater flying robot


    Additional title:

    水下飞行机器人


    Contributors:
    MA SIQI (author) / YAO YAN'AN (author)

    Publication date :

    2020-06-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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