| 摘要 |
The present invention relates to an underwater robot, a direction control method thereof, and a flapper allowing the same to swim. According to an aspect of the present invention, the underwater robot comprises: a main body (100) capable of moving underwater; a pair of the flappers (200) formed to protrude from the sides of the main body (100) and reciprocating in the front and rear direction of the main body (100); and guide parts (300) formed at the sides of the main body (100) and guiding the motions of the flappers (200). The flapper (200) includes: a fin-shaped wing (270) protruding from the side of the main body (100); driving parts (210, 230, 250) moving the wing (270); and followers (260) connecting the wing (270) to the driving parts (210, 230, 250) so that the wing (270) can rotate, and the guide part (300) includes: a first cam (310) forming the outer border of a space in which the follower (260) moves; and a second cam (320) forming the inner border of the space in which the follower (260) moves, wherein the follower (260) has an angle which is varied when the follower (260) is interrupted by the first cam (310) or the second cam (320). |
