The invention discloses an underwater robot and a driving method thereof. The underwater robot comprises a shell and an advancing actuator. The advancing actuator comprises a flipper and an advancing driving assembly used for driving the flipper to swing. The flipper comprises a flipper control device and a flipper plate module; the paddle board module comprises a first elastic piece and a plurality of base plates which are rotationally connected in sequence from inside to outside; the first elastic pieces are mounted on the substrates; the first elastic piece is used for driving the paddle board module to return to the initial state; the substrates in an initial state are arranged into a straight line; the flipper control device comprises a locking plate chain assembly and a locking plate driving assembly; the locking plate chain assembly comprises a plurality of locking plates which are rotationally connected in sequence; the locking plates and the substrates are equal in number and are in one-to-one correspondence; the locking plate and the corresponding base plate form a sliding pair; the flipper control device is used for controlling the flipper to be vertical or bent, so that the contact area between the flipper and water is increased when the flipper moves forwards, and meanwhile, the water flow resistance borne by the flipper is reduced in the resetting process.

    本发明公开了一种水下机器人及其驱动方法,包括壳体和行进执行器;行进执行器包括脚蹼,以及用于驱动脚蹼摆动的行进驱动组件;所述的脚蹼包括脚蹼控制装置和蹼板模块;蹼板模块包括第一弹性件,以及由内向外依次转动相连的多个基板;第一弹性件安装在各基板上;第一弹性件用于带动蹼板模块回复至初始状态;初始状态下的各基板排列成一条直线;脚蹼控制装置包括锁位板链组件和锁位板驱动组件;锁位板链组件包括依次转动相连的多块锁位板;锁位板与基板数量相等且一一对应;锁位板与对应的基板构成滑动副;本发明通过脚蹼控制装置控制脚蹼的竖直或者弯曲,使得脚蹼在前进时与增加了水的接触面积,同时在复位过程中减小了受到的水流阻力。


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    Title :

    Underwater robot and driving method thereof


    Additional title:

    一种水下机器人及其驱动方法


    Contributors:
    XU MING (author) / LIU SHUO (author) / KONG XIANGKAI (author) / ZHANG HANJUN (author)

    Publication date :

    2023-08-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / 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



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