CN104943832B - Bionic wind-proof and wave-proof type water strider robot with schema translation function - Google Patents
Bionic wind-proof and wave-proof type water strider robot with schema translation function Download PDFInfo
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- CN104943832B CN104943832B CN201510310233.6A CN201510310233A CN104943832B CN 104943832 B CN104943832 B CN 104943832B CN 201510310233 A CN201510310233 A CN 201510310233A CN 104943832 B CN104943832 B CN 104943832B
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Abstract
The invention discloses a bionic wind-proof and wave-proof type water strider robot with a schema translation function. The bionic wind-proof and wave-proof type water strider robot comprises four support legs which are arranged on the periphery of a main base plate, each support leg comprises a lateral support leg, a longitudinal support leg and a floating support leg, wherein one end of the lateral support leg is laterally hinged to the main base plate in a ratable mode, one end of the longitudinal support leg is longitudinally hinged to the free end of the lateral support leg in a ratable mode, and the top of the floating support leg is connected with the free end of the longitudinal support leg. The bionic wind-proof and wave-proof type water strider robot further comprises a keeping main base plate, a keeping component for keeping the relative position of the lateral support leg and the longitudinal support leg and a first driving part used for driving the lateral support leg to rotate laterally relative to the main base plate and driving the longitudinal support leg to rotate relative to the lateral support leg. By means of the location and form adjustment of the supporting legs, the attitude and modes of the robot are changed, and the robot can be suitable for natural environment well; when wind and waves are larger, the robot is adjusted to be in a stable mode, and invading of the wind and the wave is defended; when the wind and the waves are smaller, the robot is adjusted to be in a moving mode, the moving resistance is small, and the movement is flexible.
Description
Technical field
The present invention relates to Bionic water strider robot, more particularly to a kind of Radix Saposhnikoviae Wave-proof type with mode conversion function is bionical
Water strider robot.
Background technology
Water skipper can utilize the hydrophobic property of leg quickly to advance and jump in the water surface, and the interference to the water surface is compared
It is little.Inspired by water skipper, the development of Bionic water strider robot in recent years obtains very many concerns.Due to Bionic water strider machine
The mechanical efficiency of people is high, in the quick advantage for disturbing smaller, light and noise little to the water surface of the traveling of the water surface so that
Bionic water strider robot has obtained extensive at the aspect of detecting of military surveillance, water quality monitoring, monitoring environmental data, inner-walls of duct
Using.At present, the research of Bionic water strider robot predominantly stays in the motion simulation to water skipper, but for the actual feelings of nature
The reply of condition there are problems that it is larger, it is such as very weak to the adaptability of stormy waves, cause riding stability not high.
Such as publication No. for CN104176223A patent documentation disclose one kind being capable of planking and continuous
The Bionic water strider robot of jump, this robot is using complicated gear transmission structure it is achieved thereby that imitating water skipper on the water
Motion conditions, but this robot itself is heavier, it is impossible to carry more equipment and realize otherwise effect.
Publication No. discloses a kind of Bionic water strider robot for the patent documentation of CN102556318A, including frame, symmetrical
Before and after rack-mounted, two lower limbs of striking, steering wheel component and control circuits of four supporting legs and middle left and right, described to strike
The lower limb lower limb that includes striking is struck mechanism and lower limb leg lifting mechanism of striking, and the steering wheel component includes strike steering wheel component and lift lower limb steering wheel group
Part；The supporting leg includes upper connecting rod, middle connecting rod and the floating support lower limb being sequentially connected, and upper connecting rod is connected with frame；
The lower limb of striking strikes mechanism for four-bar mechanism；It is described to strike lower limb leg lifting mechanism for parallel-crank mechanism；The lower limb of striking is drawn
Water dispenser structure is installed in series with the lower limb leg lifting mechanism of striking, and is cooperated motion by controlling organization.The energy of above-mentioned robot
The efficiency of the pull of water skipper is preferably realized, but its drawback is that inefficient, self vibration is larger, and do not tackle wind
The ability of wave.
The patent documentation of 203318656 U of publication number CN discloses the novel bionic that a kind of leg has reserve buoyancy to act on
The part such as water strider robot, the lower limb of striking being symmetrically arranged by four supporting legs, two, main body frame, steering gear component constitutes,
Robot is supported to float on the water surface by the buoyancy supporting leg with small-waterplane-area feature of design, the little water when rips are run into
The buoyancy supporting leg of line face feature can reduce the motion response of robot, improve stability.
Above-mentioned this robot can increase the power of body when wave is little by the elongated streamline pillar of leg
Learn characteristic, can when rips reserve buoyancy, with certain resistance to wave property, but for still cannot when stormy waves is larger
Stable operation.
The content of the invention
The invention provides a kind of Radix Saposhnikoviae Wave-proof type Bionic water strider robot with mode conversion function, can be directed to water
The state of body is adjusted to motor pattern, stormy waves significantly when still held stationary, and running resistance is little, motion is flexible.
A kind of Radix Saposhnikoviae Wave-proof type Bionic water strider robot with mode conversion function, including main body base plate and be arranged on
Support component and component of striking on main body base plate, the support component include four supports being arranged in around main body base plate
Lower limb,
Every supporting leg includes：
Cross-brace lower limb, one end are hinged with main body base plate lateral rotation；
Longitudinal bracing lower limb, one end are longitudinally rotated with the free end of cross-brace lower limb and are hinged；
Floating support lower limb, top are connected with the free end of longitudinal bracing lower limb；
The Bionic water strider robot also includes relative position between retainer body base plate, cross-brace lower limb and longitudinal bracing lower limb
The holding member put, and for driving cross-brace lower limb with respect to main body base plate lateral rotation, driving longitudinal bracing lower limb relatively horizontal
To the first driver part that supporting leg is rotated；
First driver part makes the Bionic water strider robot exist by driving cross-brace lower limb and longitudinal bracing lower limb
Four supporting legs are being parallel to each other and center of gravity parallel with direction of advance, overall exists in high-order forward mode and four supporting legs
Mutually angle in 90 °, overall center of gravity are changed between the steady pattern of low level.
In the present invention, each section of four supporting legs of support Bionic water strider robot (hereinafter referred to as robot) can be carried out
Adjustment, is that cross-brace lower limb can be indulged with relatively transverse supporting leg with respect to main body base plate lateral rotation, longitudinal bracing lower limb respectively
To rotation；And be additionally provided with holding member and supporting leg be maintained at into certain state and position, and adjustment supporting leg state and
The drive mechanism of position, realizes the Bionic water strider robot in forward mode and steady pattern so as to pass through the first drive mechanism
Between change.
Drive the relative main body base plate lateral rotation correspondence adjustment of cross-brace lower limb is the position pass between four supporting legs
System, is being parallel to each other and is changing between parallel with direction of advance or mutual angle in 90 °, by the regulation of the first driver part
Mutually conversion can be realized.
Drive the relatively transverse supporting leg rotation correspondence adjustment of longitudinal bracing lower limb is longitudinal bracing lower limb phase in every supporting leg
Position relationship to cross-brace lower limb, this position relationship can affect the change of overall center of gravity, using water surface as horizontal plane, horizontal
It is to maintain to supporting leg relative level angle constant, now adjusts the relatively transverse supporting leg of longitudinal bracing lower limb and rotate, then adjust
The whole angle of longitudinal bracing lower limb relative level, when longitudinal bracing lower limb relative level angle is larger, overall center of gravity is in height
Position；When longitudinal bracing lower limb relative level angle is less, overall center of gravity is in low level；
The forward mode refers to that robot is being parallel to each other and weight parallel with direction of advance, overall in four supporting legs
The heart is in high-order state；Now into stretching forward naturally on the water surface, less to advance resistance, a described high position is for robot
When steady pattern, overall center of gravity due to the effect of driver part, drives longitudinal bracing lower limb relatively horizontal for low level
Rotate to supporting leg, the change of overall center of gravity is realized so as to change overall center of gravity.
The steady pattern refers to that robot is in low level in mutual angle in 90 °, overall center of gravity in four supporting legs
State；Even if now stormy waves is larger, robot still can be transformed into the feelings that the pattern can correspond to high sea with held stationary
Condition.
The robot of the present invention can carry out the adjustment of posture according to the situation of the current water surface, when water surface relatively placidity,
It is adapted to advance, now the posture of robot is being parallel to each other and center of gravity parallel with direction of advance, overall in four supporting legs
In high-order forward mode；And when the water surface has larger wave, by the driving of the first drive mechanism, robot changes appearance
Gesture, now steady pattern of the posture of robot in four supporting legs in mutual angle in 90 °, overall center of gravity in low level,
The pattern can be in the case of larger stormy waves, still held stationary.
The maintaining body and drive mechanism are used cooperatively, and drive mechanism provides power to maintaining body, so as to change
Become the state of maintaining body so as to realize the change of four supporting leg forms and position.
Relatively simple method is that the maintaining body and drive mechanism are one, i.e., each longitudinal bracing lower limb and
The motion of cross-brace lower limb is controlled by single motor；Or use the structures such as other frame for movements, such as crank connecting link, leading screw
To realize keeping and drive.
The present invention reduces the setting of power source to simplify overall structure, it is preferred that the holding member includes correspondence
Four groups on four supporting legs, per group includes：
First spring, between cross-brace lower limb and main body base plate, for keeping cross-brace lower limb and main body base plate
Relative position；
First drawstring, connection cross-brace lower limb and main body base plate, compress during tension the first spring keep cross-brace lower limb and
The relative position of main body base plate；
Second spring, between cross-brace lower limb and longitudinal bracing lower limb, for keeping cross-brace lower limb and longitudinal direction
The relative position of support leg；
Second drawstring, connection longitudinal bracing lower limb and main body base plate, compress during tension second spring keep cross-brace lower limb and
The relative position of longitudinal bracing lower limb；
First driver part is arranged on main body base plate, realizes driving horizontal for tensing and loosening the first drawstring
Support leg is realized driving the relatively transverse support of longitudinal bracing lower limb for tensing and loosening the second drawstring with respect to main body base plate lateral rotation
Lower limb is longitudinally rotated.
The motion of each cross-brace lower limb and longitudinal bracing lower limb is realized by arranging drawstring and spring, the drawstring can pass through
First driver part is tensed and is loosened, such as described first drawstring is in tension, now the first spring stored energy, when the
When one driver part loosens the first drawstring, the first spring releases energy, so as to change the position of the relative main body base plate of cross-brace lower limb
Put；
Second drawstring is in relaxation state, and now second spring is in free state, keeps cross-brace lower limb and indulges
To supporting leg relative position, when the first driver part tenses two drawstrings, second spring storage energy, so as to change cross-brace
Position of the lower limb with respect to main body base plate；
Holding member and the first driver part simple structure used in the present invention, it is convenient to realize, it is possible to use only one
First driver part, such as motor carry out all drawstrings of folding and unfolding, so as to position and the form of each supporting leg are realized in the same time
Change.
First spring and second spring can adopt torsion spring or other kinds of spring, it is preferred that described first
Spring is respectively hinged at the first air spring on cross-brace lower limb and main body base plate for two ends；
The second spring is respectively hinged at the second air spring on cross-brace lower limb and longitudinal bracing lower limb for two ends.
Air spring has variation rigidity characteristic, is readily obtained relatively low eigentone, when can improve robot motion
Ride comfort, and long service life, quality be little, is particularly suitable for applications in the present invention.
In order to further simplify structure, while extending the stress balance of the first driver part, increase the service life, preferably
, first driver part is motor, is fixed with the first drawstring of folding and unfolding and second and draws on the output shaft of the motor
The axle sleeve of rope.The control to all supporting legs is realized using same motor, the linkage of all supporting legs, patten transformation is realized
Rapidly, emergency capability is strong；And the torque that each supporting leg is applied on motor is cancelled out each other, motor can be reduced defeated
The pressure of shaft, increases the service life.
Preferably, the floating support lower limb is longitudinally rotated with longitudinal bracing lower limb and is hinged.Floating support lower limb can so be caused
Change with the change of the water surface with the angle between longitudinal bracing lower limb, so that the robot of the present invention obtains the more preferable water surface
Adaptability.
In order to reduce advance resistance of the robot under forward mode, while and increase the stationarity under steady pattern, it is excellent
Choosing, the length direction of the length direction and longitudinal bracing lower limb of the floating support lower limb extends in the same plane.Above-mentioned setting
Robot is made in forward mode, all floating support lower limbs are parallel in the longitudinal direction, further reduce advance resistance；Robot
In steady pattern, each floating support lower limb into 90 degree of angle, further improves stability in the longitudinal direction.
In order to further reduce advance resistance, it is preferred that the floating support lower limb is streamlined.The floating support lower limb is adopted
Made with foam plasticss, for providing buoyancy of the robot on the water surface so as to possess preferable hydrodynamic characterisitic.
In order to improve the dynamic property of the present invention, it is preferred that the component of striking includes that at least one pair of is arranged symmetrically in main body
The part of striking of base plate both sides, each part of striking include：
Strike lower limb, one end is longitudinally rotated with main body base plate and is hinged；
Second drive mechanism, on main body base plate, drives lower limb of striking to swing up and down with respect to main body base plate；
Paddle board, relative level right angle setting, paddle board are made up of foam plasticss, can produce certain buoyancy,
So as to keep stablizing for robot side, rollover in preventing from advancing occurs.
3rd drive mechanism, on lower limb of striking, output shaft connection paddle board rotates to carry out before and after driving paddle board
Strike；
The component of striking realizes that the process of striking is comprised the following steps：
(1) paddle board stretches into the water surface and vertical direction of advance, and the 3rd drive mechanism drives paddle board to turn round
It is dynamic to strike；
(2) after paddle board completes an arm stroke, second drive mechanism drives and strikes lower limb with respect to main body base plate
It is swung up so that paddle board departs from the water surface；The anglec of rotation that second drive mechanism drives can be 45 °, can also be which here
His angle, such as 30 °, 60 °, in order to make paddle board depart from the water surface；
(3) after paddle board departs from the water surface, the 3rd drive mechanism driving paddle board is rotated before returning to vertically forward
Enter direction；
(4) treat that paddle board returns to vertical direction of advance, second drive mechanism drives and lower limb struck with respect to main body base plate
To lower swing so that paddle board stretches into the water surface；
(5) repeat step (1)～(4).
Control module can control the cycle for carrying out step (1)～(4) of the part of striking of base plate both sides, when both sides are struck
Robot keeps straight ahead simultaneously for the cycle phase of part, when both sides strike part cycle it is different when, robot both sides are subject to
Propulsive force it is of different sizes, so as to change the direct of travel of robot.
In order to reduce the resistance of advance, it is preferred that the 3rd drive mechanism described in step (1) drives paddle board to rotate backward
Strike
Face is synchronously carried out, due to when advancing, if paddle board enters water with the position of vertical direction of advance, producing unnecessary resistance
Power, therefore, the 3rd drive mechanism driving paddle board described above rotates backward to strike to drive with second drive mechanism and strikes
Lower limb is with respect to main body base plate to lower swing so that paddle board stretches into two actions of the water surface while carrying out reducing advance resistance.
In order to further reduce advance resistance, it is preferred that in step (1), the 3rd drive mechanism drive paddle board to
After turn to the parallel direction of advance of the paddle board.Lower limb is lifted again after the parallel direction of advance of paddle board, can be reduced needed for lift lower limb
Power, while also reducing advance resistance.
Beneficial effects of the present invention：
Position and form of the present invention by adjustment supporting leg, so as to change the attitude and pattern of robot, can be more preferable
Reform of nature environment；When stormy waves is larger, steady pattern, the invasion and attack of storm resisting are adjusted to；When stormy waves is less, it is adjusted to
Forward mode, running resistance is little, motion is flexible；The present invention can adjust the attitude of itself according to the change of environment, be adjusted to fit
The pattern of environment is answered, stormy waves is effective against.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention.
Fig. 2 be the present invention in forward mode when structural representation.
Upward views of the Fig. 3 for Fig. 2.
Left views of the Fig. 4 for Fig. 3.
Fig. 5 be the present invention in steady pattern when structural representation.
Fig. 6 is the close-up schematic view of the present invention.
Fig. 7 is another close-up schematic view of the present invention.
Specific embodiment
As shown in figure 1, the Radix Saposhnikoviae Wave-proof type Bionic water strider robot with mode conversion function of the present embodiment includes master
Body base plate 4, the support component on main body base plate 4 and component of striking, and be made up of holding member and driver part
Attitude control system；
Support component includes four supporting legs being arranged in around main body base plate,
Every supporting leg includes：
Cross-brace lower limb 3, one end are hinged with 4 lateral rotation of main body base plate；
Longitudinal bracing lower limb 2, one end are longitudinally rotated with the free end of cross-brace lower limb 3 and are hinged；
Floating support lower limb, in the present embodiment, floating support lower limb is the freedom of streamlined floating block 1, top and longitudinal bracing lower limb 2
End connection.
As it can be seen in figures 5 and 6, in the present embodiment, the holding member of attitude control system includes longitudinal bracing and two ends difference
The air spring 5 being hinged on cross-brace lower limb 3 and longitudinal bracing lower limb 2, cross-brace and two ends are respectively hinged at cross-brace
Air spring 6 on lower limb 3 and main body base plate 4, tenses to control the nylon rope 16 of 3 position of cross-brace lower limb and tense to control
The nylon rope 17 of 2 position of longitudinal bracing lower limb；
The driver part of attitude control system be motor 9, the outfan connecting bushing 15 of motor 9, nylon rope
On the axle sleeve 15 of motor 9, the other end is fixed on cross-brace lower limb 3 16 one ends wounds, and 17 one ends wound of nylon rope exists
On the axle sleeve 15 of motor 9, the other end is fixed on longitudinal bracing lower limb 2, when 15 rotating of motor, 16 He of nylon rope
Nylon rope 17 can be tightened up (loosen) so as to change the load on cross-brace lower limb 3 and longitudinal bracing lower limb 2, so as to change cross-brace
The position of lower limb 3 and longitudinal bracing lower limb 2.
When the robot of the present invention is in forward mode, each supporting leg is parallel to each other, and parallel with direction of advance, such as schemes
Shown in 2, each supporting leg is stretched naturally forward, to reduce resistance of the water to robot.When robot is subject to stormy waves, by stepping
Motor 9 adjusts each leg-supporting and is deformed, and reaches steady pattern as shown in Figure 5, from forward mode to steady patten transformation
Detailed process be：
Motor 9 is rotated forward, and loosens nylon rope 16 so that 6 stress of air spring between cross-brace lower limb 3 and base plate subtracts
Little, air spring 6 drives cross-brace lower limb 3 to rotate, and the extremity of robot is outwards rotated by power so that four supporting legs it
Between angle be 90 °, 16 line situation of nylon rope is as shown in Figure 7；
Motor 9 tightens up nylon rope 17 simultaneously, 5 stress of air spring between longitudinal bracing lower limb 2 and cross-brace lower limb 3
Increase, the angle between the longitudinal bracing lower limb 2 and cross-brace lower limb 3 of robot diminishes, so that the overall center of gravity of robot
Reduce, 17 line situation of nylon rope is as shown in Figure 6.Longitudinal bracing lower limb 2 is longitudinally rotated with streamlined floating block 1 and is connected so that machine
More smoothly on forefront surface, when the water surface has fluctuation, streamlined floating block 1 is rotated people relative to longitudinal bracing lower limb 2, so that machine
People's held stationary.
When motor 9 is inverted, can march forward patten transformation from steady pattern again.
Under above-mentioned each pattern or in mode change, always there are 4 air springs to be under pressure, 4 air springs are received
To pulling force, using geometrical relationship, each support feet is arranged symmetrically so that the nylon rope of control air spring is on motor 9
Torque is offseted.
One end of cross-brace lower limb 3 is connected on main body base plate 4 by revolute so that cross-brace lower limb 3 can led
The horizontal rotation of small range in the plane of body base plate 4, the revolute are made using bearing.Cross-brace lower limb 3 it is another
End is connected by revolute with longitudinal bracing lower limb 2, and the revolute is made by bearing pin.Streamlined floating block 1 and longitudinal bracing lower limb 2
The revolute connection made also by bearing pin, can so cause angle between streamlined floating block 1 and longitudinal bracing lower limb 2 with
The change of the water surface and change, so as to obtain more preferable water surface adaptability.
As shown in Figure 3 and Figure 4, component of striking mainly includes strike motor 13 (the 3rd drive mechanism), lift lower limb stepping
Motor 7 (the second drive mechanism), electric machine support 8, strike lower limb and the paddle board 14 that are assembled by lift lower limb bar 10,11,12.
Wherein electric machine support 8 is fixed by bolts on main body base plate 4, and motor 13 of striking is cementing or is fixed by bolts to
On electric machine support 8, electric machine support 8 can be made using carbon fibre, lift lower limb motor 7 can adopt micro-step motor with
Mitigate overall weight.
Lift lower limb bar 10,11,12 is solidly connected with each other, and lift lower limb bar 11 is hinged on electric machine support 8 by the hole at center.Draw
Water motor 13 is glued on lift lower limb bar 12, and paddle board 14 connects motor 13 of striking by shaft coupling, there is provided advance
Power.
With Fig. 3 as original position, the control module of setting controls motor 13 of striking, and drives paddle board by shaft coupling
14 90 ° of back rotations, produce propulsive force forward, and robot is advanced forward, as paddle board 14 is turned over after 90 °, paddle board 14
Parallel to the direction of advance of robot, so extra resistance will not be produced, the power of robot is improved.
Lift lower limb motor 7 is fixed on main body base plate 4 by electric machine support 8, and power output shaft fixes lift lower limb bar 11
Central shaft so that central shaft is parallel with the axle center of lift lower limb motor 7.Lift lower limb motor 7 drives lift lower limb bar 11 along in
Heart axle rotates 45 °, can also be other angles here, such as 30 °, 60 °, in order to which paddle board 14 departs from the water surface, lift lower limb
Together with bar 11 is integrally fixed at lift lower limb bar 10 and lift lower limb bar 12, so 11 45 ° of the rotation simultaneously of driven rod 12 of bar so that paddle board
14 are lifted and leave the water surface；Control module controls motor 13 of striking afterwards, drives paddle board 14 reversely to revolve by shaft coupling
Turn 90 ° so that 14 homing of paddle board, then control module console lower limb motor 7 drives lift lower limb bar 11 along center
Axle reversely rotates 45 ° so that paddle board is entered in water, returns to the initial position of Fig. 3.
As when advancing, if paddle board 14 enters water with the position of vertical direction of advance, unnecessary resistance can be produced,
In the present embodiment, 7 downward operation paddle board 14 being put in water of lower limb motor is struck and lifts using paddle board 14 backward same
Step is carried out, so as to effectively reduce the resistance during advancing.
Control module can control the cycle of the component of striking of 4 both sides of main body base plate, when both sides arm cycle identical opportunity
Device people keeps straight ahead, and the propulsive force that robot both sides are subject to when both sides arm cycle is different is of different sizes, so as to change
The direct of travel of robot so that robot flexibly can turn.
In sum, the Bionic water strider robot of the present embodiment, can imitate topology layout and the movement mechanism of water skipper, and
The breakthrough pattern conversion that increased robot, so that the present invention can be applied under more adverse circumstances, using front
Scape is more wide.
Claims (9)
1. a kind of Radix Saposhnikoviae Wave-proof type Bionic water strider robot with mode conversion function, including main body base plate and be arranged on master
Support component and component of striking on body base plate, the support component include four supporting legs being arranged in around main body base plate,
Characterized in that,
Every supporting leg includes：
Cross-brace lower limb, one end are hinged with main body base plate lateral rotation；
Longitudinal bracing lower limb, one end are longitudinally rotated with the free end of cross-brace lower limb and are hinged；
Floating support lower limb, top are connected with the free end of longitudinal bracing lower limb；
The Bionic water strider robot also includes relative position between retainer body base plate, cross-brace lower limb and longitudinal bracing lower limb
Holding member, and for driving cross-brace lower limb with respect to main body base plate lateral rotation, driving relatively transverse of longitudinal bracing lower limb
The first driver part that support leg is rotated；
First driver part makes the Bionic water strider robot at four by driving cross-brace lower limb and longitudinal bracing lower limb
Supporting leg be parallel to each other and center of gravity parallel with direction of advance, overall in high-order forward mode and four supporting legs mutual
Angle in 90 °, overall center of gravity are changed between the steady pattern of low level；The holding member includes correspondence installed in four
Four groups in support leg, per group includes：
First spring, between cross-brace lower limb and main body base plate, for keeping the phase of cross-brace lower limb and main body base plate
To position；
First drawstring, connection cross-brace lower limb and main body base plate, compress the first spring and keep cross-brace lower limb and main body during tension
The relative position of base plate；
Second spring, between cross-brace lower limb and longitudinal bracing lower limb, for keeping cross-brace lower limb and longitudinal bracing lower limb
Relative position；
Second drawstring, connection longitudinal bracing lower limb and main body base plate, compress second spring and keep cross-brace lower limb and longitudinal direction during tension
The relative position of supporting leg；
First driver part is arranged on main body base plate, realizes driving cross-brace lower limb for tensing and loosening the first drawstring
With respect to main body base plate lateral rotation, realize driving the relatively transverse supporting leg of longitudinal bracing lower limb to indulge for tensing and loosening the second drawstring
To rotation.
2. there is the Radix Saposhnikoviae Wave-proof type Bionic water strider robot of mode conversion function as claimed in claim 1, it is characterised in that
First spring is respectively hinged at the first air spring on cross-brace lower limb and main body base plate for two ends；
The second spring is respectively hinged at the second air spring on cross-brace lower limb and longitudinal bracing lower limb for two ends.
3. there is the Radix Saposhnikoviae Wave-proof type Bionic water strider robot of mode conversion function as claimed in claim 1 or 2, its feature exists
In first driver part is motor, is fixed with the first drawstring of folding and unfolding and second and draws on the output shaft of the motor
The axle sleeve of rope.
4. there is the Radix Saposhnikoviae Wave-proof type Bionic water strider robot of mode conversion function as claimed in claim 1 or 2, its feature exists
In the floating support lower limb is longitudinally rotated with longitudinal bracing lower limb and is hinged.
5. there is the Radix Saposhnikoviae Wave-proof type Bionic water strider robot of mode conversion function as claimed in claim 4, it is characterised in that
The length direction of the length direction and longitudinal bracing lower limb of the floating support lower limb extends in the same plane.
6. there is the Radix Saposhnikoviae Wave-proof type Bionic water strider robot of mode conversion function as claimed in claim 4, it is characterised in that
The floating support lower limb is streamlined.
7. there is the Radix Saposhnikoviae Wave-proof type Bionic water strider robot of mode conversion function as claimed in claim 1 or 2, its feature exists
In the component of striking includes that at least one pair of is arranged symmetrically in the part of striking of main body base plate both sides, and each part of striking includes：
Strike lower limb, one end is longitudinally rotated with main body base plate and is hinged；
Second drive mechanism, on main body base plate, drives lower limb of striking to swing up and down with respect to main body base plate；
Paddle board, relative level right angle setting；
3rd drive mechanism, on lower limb of striking, output shaft connection paddle board rotates to be struck before and after driving paddle board；
The component of striking realizes that the process of striking is comprised the following steps：
(1) paddle board stretches into the water surface and vertical direction of advance, and the 3rd drive mechanism drives paddle board to rotate backward and draws
Water；
(2) after paddle board completes an arm stroke, second drive mechanism drives and strikes lower limb with respect to main body base plate upwards
Swing so that paddle board departs from the water surface；
(3) after paddle board departs from the water surface, the 3rd drive mechanism drives paddle board to rotate forward and returns to vertical advance side
To；
(4) treat that paddle board returns to vertical direction of advance, second drive mechanism drives lower limb of striking downward with respect to main body base plate
Swing so that paddle board stretches into the water surface；
(5) repeat step (1)～(4).
8. there is the Radix Saposhnikoviae Wave-proof type Bionic water strider robot of mode conversion function as claimed in claim 7, it is characterised in that
The driving paddle board of 3rd drive mechanism described in step (1) rotates backward to strike and drive with the second drive mechanism described in step (4)
Dynamic lower limb of striking is with respect to main body base plate to lower swing so that paddle board stretches into the water surface and synchronously carries out.
9. there is the Radix Saposhnikoviae Wave-proof type Bionic water strider robot of mode conversion function as claimed in claim 7, it is characterised in that
In step (1), the 3rd drive mechanism drives paddle board to rotate back to the parallel direction of advance of the paddle board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510310233.6A CN104943832B (en) | 2015-06-08 | 2015-06-08 | Bionic wind-proof and wave-proof type water strider robot with schema translation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510310233.6A CN104943832B (en) | 2015-06-08 | 2015-06-08 | Bionic wind-proof and wave-proof type water strider robot with schema translation function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104943832A CN104943832A (en) | 2015-09-30 |
| CN104943832B true CN104943832B (en) | 2017-04-12 |
Family
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| CN106628056A (en) * | 2016-10-20 | 2017-05-10 | 昆明理工大学 | Robot for searching for and fishing physical evidence in deep water environment |
| CN108189979B (en) * | 2018-01-23 | 2024-03-01 | 浙江大学 | High-stability bionic water strider robot and water-rowing method thereof |
| CN110091966B (en) * | 2019-05-31 | 2023-12-15 | 浙江大学 | Anti-capsizing water strider robot with self-adaptive gravity center adjustment |
| CN110526170A (en) * | 2019-09-09 | 2019-12-03 | 广东博智林机器人有限公司 | A kind of transfer robot |
| CN113086101B (en) * | 2021-03-29 | 2022-03-11 | 哈尔滨工业大学 | Robot for jumping and sliding on water surface |
| CN113514800B (en) * | 2021-04-23 | 2022-09-09 | 吉林大学 | Water strider-imitated vibration sensing and positioning system and vibration sensing and positioning method |
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| CN100404371C (en) * | 2006-08-25 | 2008-07-23 | 清华大学 | Floating bionic terrapin robot on water |
| CN102556318B (en) * | 2012-01-12 | 2014-04-16 | 河北工业大学 | Bionic water strider robot |
| CN203318656U (en) * | 2013-07-16 | 2013-12-04 | 韩颖骏 | Bionic water strider robot |
| CN204846312U (en) * | 2015-06-08 | 2015-12-09 | 浙江大学 | Prevent wind bionical water skipper robot of unrestrained type with mode conversion function |
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