CN101033000A - Multi-joint fluctuation-propulsion fish-shape robot - Google Patents
Multi-joint fluctuation-propulsion fish-shape robot Download PDFInfo
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Abstract
The polyarticular wave propelled fish-shaped robot includes one polyarticular tail swing drive mechanism, one synchronous pectoral fin rotating mechanism, one drive controlling circuit and one weight balancing, shape supporting and sealing unit. The polyarticular tail swing drive mechanism includes one drive motor, one multistage four-link rod drive mechanism and one tail fin; the synchronous pectoral fin rotating mechanism includes one supporting and fixing unit, one driving motor, two pectoral fins and one driving rod; the drive controlling circuit includes one infrared remote sensing control unit and one lower computer circuit connected through an signal transmission interface. The polyarticular wave propelled fish-shaped robot can swim freely in water, and has the functions of upward floating, diving, remote controlling, rapid accelerated motion, etc.
Description
(1) technical field
The present invention relates to the bionics technical field, particularly a kind of bionic machine fish.
(2) background technology
Mainly was the research of carrying out theoretical side for the bionic research of fish in the past in the nineties.After the nineties, along with the fast development of Eltec, new material, Robotics, the research of bionic machine fish is at home and abroad progressively carried out.Obtain the VCUUV that U.S. C.S.Draper laboratory development is arranged (vorticity control driverless operation submarine navigation device) of better achievement in this respect, it is the latent device of automatic control type of first practicality, uses hydraulic efficiency gear to drive.This VCUUV is the autonomous type research device of diving that moves about, and the form of imitative yellowfin tuna and the mode of moving about have been utilized the afterbody kinematic parameter of MIT Robotuna (tuna robot), and VCUUV can carry out stable moving about.The machine eel that U.S. Northeastern University utilizes marmem and connecting rod mechanism to develop.The Kato development in laboratory of Japan's Tokai University study the manoevreability of artificial pectoral fin and the test platform of propelling---imitative black perch machine fish.Since 1999, Japan's transportation economized marine technology research institute and has begun a series of machine fish research project, and has developed the propulsion source of the semi-free piston-type of a kind of new work engine Stirling driving engine as the machine fish.Univ Florida USA utilizes MERIF, the SMA fabrication techniques micro-machine fish, mechanism is studied.U.S. University of New Mexico is to artificial synthetic muscle, and the polyelectrolyte ion-exchange membrane is studied.Univ Pennsylvania USA is studied fish body muscle consumption of power.The Michigan, United States university research fish body stability of moving about.Tokyo Univ Japan has carried out the bionical advanced mechanism research that advances.The Canada Columbia University has carried out determination test to fish quick operated start performance.
At home, Harbin Engineering University has carried out the research of bionic machine octopus under the support of National Defence Fund.Shenyang automation research institute of the Chinese Academy of Sciences has made diarticular bionic machine fish model.BJ University of Aeronautics ﹠ Astronautics's robot research has been studied machine eel and robotic dolphin.In addition, unit such as Harbin Institute of Technology, Chinese University of Science and Technology has also carried out fish swimming mechanism and the imitative fish of under-water robot advances theoretical investigation work.
(3) summary of the invention
The object of the present invention is to provide a kind of by multi-connecting-rod mechanism form can freely move about, have come-up under water and dive function, dependable performance, volume are small and exquisite, cheap, manufacturing materials extensively, have the microminiature multi-joint fluctuation-propulsion fish-shape robot Remote function and that have brish acceleration motion under complicated water environment.
The object of the present invention is achieved like this: it comprises multi-joint tail swing driver train, the synchronous rotating mechanism of pectoral fin, Drive and Control Circuit and counterweight, shape supports and hermetic unit, multi-joint tail swing driver train comprises drive motor, multistage four jointed gear units and tail fin, drive motor connects multistage transmission device chopped-off head, multistage four jointed gear unit final stages connect tail fin, the synchronous rotating mechanism of pectoral fin comprises support fixation elements, be installed in the drive motor on the support fixation elements, about two pectoral fins and drive link, drive motor connects drive link, drive link connects two pectoral fins, Drive and Control Circuit comprises infrared remote sensing control part and the lower computer circuit that is installed in the robot, and the infrared remote sensing control part connects the lower computer circuit by signal transmission interface.
The present invention also has some architectural features like this:
1, described multistage four jointed gear units comprise series connected three grades of four-bar linkages, T shape bracket chute and are arranged on the interior slide bar 8 of T shape bracket chute, link to each other by axle between each connecting rod, drive motor connects slide bar 8, slide bar 8 connects the 4th joint connecting rod mechanism, the 4th joint connecting rod mechanism connects the 3rd joint kinematic link mechanism, the 3rd joint connecting rod mechanism connects the second joint connecting rod mechanism, and the second joint connecting rod mechanism connects tail fin;
2, described drive motor comprises the drive motor 6 that is arranged on the motor fixing plate 26, motor fixing plate 26 and T shape bracket chute connect firmly, drive motor 6 connects slide bar 8 by connecting rod 7, slide bar 8 connects connecting rod 9, connecting rod 9 connects connecting rod 10, connecting rod 11 again, connecting rod 10 connects the L shaped bar 12 of the 4th joint, connecting rod 11 connects the L shaped connecting rod 15 of the 3rd joint by connecting rod 14, the connecting rod 20 that connects connecting rod 11 connects the L shaped connecting rod 18 of L shaped connecting rod 18, the second joints of second joint again with the connecting rod 17 that is connected connecting rod 20 and connects tail fin by second four-bar linkage that saves;
3, described drive motor comprises drive motor 6 and the drive motor 22 that is arranged on the motor fixing plate 26, motor fixing plate 26 and T shape bracket chute connect firmly, multistage four jointed gear units also comprise the 5th joint four-bar linkage 24 and are arranged on the interior slide bar 23 of T shape bracket chute, drive motor 6 connects slide bar 8 by connecting rod 7, slide bar 8 connects connecting rod 9, connecting rod 9 connects connecting rod 10 again, connecting rod 11, connecting rod 10 connects the L shaped bar 12 of the 4th joint, connecting rod 11 connects the L shaped connecting rod 15 of the 3rd joint by connecting rod 14, the connecting rod 20 that connects connecting rod 11 connects the L shaped connecting rod 18 of second joint again with the connecting rod 17 that is connected connecting rod 20, the L shaped connecting rod 18 of second joint connects tail fin by the four-bar linkage of second joint, drive motor 22 connects the 5th joint four-bar linkage 24, the five joint four-bar linkages 24 by slide bar 23 and connects tail fin;
4, described pectoral fin is two half-crescent shape pectoral fins, and drive link is a spill synchrodrive bar;
5, the bottom of described robot is provided with charging inlet and program test sealed interface.
The present invention is according to existing fish bionics theory, designs: the dexterous machine fish tail portion that the multi-joint fluctuation that is driven flexibly by double-motor or single motor advances; By the pectoral fin of single motor coaxle drive controlling robot come-up, dive, exploitation can be imitated the bionic machine fish of multiple fish motion.The invention of this device can provide experiment body for hydrodynamics, the mechanism of moving about, the motion control method of researching fish motion, for manufacturing efficient height, manoevreability is good, noise is low, provide basic experiment porch to the little transportation device under water of environmental perturbation, makes entertainment type or ornamental type bionic machine fish.
Multi-joint fluctuation-propulsion fish-shape robot principle of work of the present invention is such: Drive and Control Circuit 3 is ROBOT CONTROL maincenters, the rotation of the drive motor on control robot multi-joint tail swing driver train 1 and the synchronous rotating mechanism 2 of pectoral fin on the one hand, thereby the various attitudes of moving about of control robot, for example: advance, turning etc.; The energy and remote sensing control is provided on the other hand; Multi-joint tail swing driving machine 1 provides the propelling thrust that advances for robot, motor 6 and 22 move back and forth and drive swinging up and down of multi-joint tail swing driver train 1, make robot produce the power that advances, simultaneously can be by turning about its pendulum angle control robot of adjusting; Translation, come-up and the dive of the synchronous rotating mechanism 2 of pectoral fin control robot under the thrust of multi-joint tail swing driver train 1; Counterweight, shape support and 4 of hermetic units guarantee robot, and freedom, fast speed move about under water.
The advantage of robot of the present invention is: the design of pure connecting rod mechanism transfer motion power, have that the drive characteristic that fluctuates step by step, multi-joint drive, have the Remote function, the dive of can floating, can realize that brish acceleration under the complicated water environment, low-yield loss, capacity usage ratio height, manufacturing materials are extensive, with low cost, make characteristics such as simple.
The meaning of this invention is under existing bionical fish achievement in research, seek the new propulsive mechanism mode of bionical fish, increase the push structure of robot, pivot angle when the increase afterbody moves about, improve hunting frequency, thereby improve the integral body trip speed of robot, make it better to simulate fish moving about in water, promote the research of travel robot under water.
(4) description of drawings
Fig. 1-Fig. 3 is multi-joint fluctuation-propulsion fish-shape robot overall package figure of the present invention;
Fig. 4 is first kind of scheme sketch of robot multi-joint tail swing driver train of the present invention;
Fig. 5 is second kind of scheme sketch of robot multi-joint tail swing driver train of the present invention;
Fig. 6-Fig. 8 is second kind of scheme swing of multi-joint fluctuation-propulsion fish-shape robot of the present invention scheme drawing;
Fig. 9-Figure 11 is first kind of scheme swing of multi-joint fluctuation-propulsion fish-shape robot of the present invention scheme drawing;
Figure 12-Figure 13 is second kind of scheme multi-joint of the present invention tail swing driver train assembly drawing;
Figure 14 is second kind of scheme scheme drawing of multi-joint fluctuation-propulsion fish-shape robot list motor-driven afterbody of the present invention (motor 6 breaks down or motionless situation);
Figure 15 is second kind of scheme scheme drawing of multi-joint fluctuation-propulsion fish-shape robot list motor-driven afterbody;
Figure 16 is a multi-joint fluctuation-propulsion fish-shape robot infrared remote control control circuit (upper computer);
Figure 17 is multi-joint fluctuation-propulsion fish-shape robot circuit for controlling motor (lower computer);
(5) specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments:
Embodiment 1:
In conjunction with Fig. 1-Fig. 3, present embodiment basic structure comprises following four parts: multi-joint tail swing driver train 1, the synchronous rotating mechanism 2 of pectoral fin, Drive and Control Circuit 3 and counterweight, shape support and hermetic unit 4.Multi-joint tail swing driver train 1 is the part of robot design most critical, and it comprises drive motor, multistage four jointed gear units and tail fin 5.Multistage four jointed gear units comprise series connected three grades of four-bar linkages, T shape bracket chute and are arranged on the interior slide bar 8 of T shape bracket chute, link to each other by axle between each connecting rod, drive motor connects slide bar 8, slide bar 8 connects the 4th joint connecting rod mechanism, the 4th joint connecting rod mechanism connects the 3rd joint kinematic link mechanism, the 3rd joint connecting rod mechanism connects the second joint connecting rod mechanism, and the second joint connecting rod mechanism connects tail fin; Drive motor comprises the drive motor 6 that is arranged on the motor fixing plate 26, motor fixing plate 26 and T shape bracket chute connect firmly, drive motor 6 connects slide bar 8 by connecting rod 7, slide bar 8 connects connecting rod 9, connecting rod 9 connects connecting rod 10, connecting rod 11 again, connecting rod 10 connects the L shaped bar 12 of the 4th joint, connecting rod 11 connects the L shaped connecting rod 15 of the 3rd joint by connecting rod 14, the connecting rod 20 that connects connecting rod 11 connects the L shaped connecting rod 18 of L shaped connecting rod 18, the second joints of second joint again with the connecting rod 17 that is connected connecting rod 20 and connects tail fin by second four-bar linkage that saves; Pectoral fin is two half-crescent shape pectoral fins, and drive link is a spill synchrodrive bar; The bottom of robot is provided with charging inlet and program test sealed interface.
In conjunction with Fig. 4, the basic functional principle of multi-joint tail swing driver train 1 is: multistage four-bar linkage series connection, the difference that connecting rod produces when utilizing a previous joint and a back joint to rotate drives the pivot angle in a back joint, that is to say that the difference size that two connecting rods produced when a back joint relatively rotated angular dimension by the rotation of adjacent two joints decides, thereby produce relative rotation between joint and the joint, and the integral body swing of realization afterbody.Wherein, motor 6 drives slide bar 8 side-to-side movements by connecting rod 7, the motion of the side-to-side movement pulling back connecting rod 9 of slide bar 8, and connecting rod 9 spurs connecting rod 10, connecting rod 11 sway again, connecting rod 10 promotes the L shaped bar 12 of the 4th joint and rotates around axle 13, realizes the swing of the 4th joint mechanism; The connecting rod 14 that moves through of connecting rod 11 drives the L shaped connecting rod 15 of next the 3rd joint again around its axle 16 rotations, realizes the swing of the 3rd joint mechanism; Moving of connecting rod 20 and connecting rod 17 promotes the L shaped connecting rod 18 of second joint again around its axle 19 rotations, the L shaped connecting rod 18 of second joint drives the swing of the tail fin 5 of back around axle 21 by the four-bar linkage of second joint, thereby realize the swing of whole afterbody driver train, other connecting rods play the effect of forming four-bar linkage.Because the L shaped connecting rod 12 of the 4th joint, the 3rd L shaped connecting rod 15 of joint and the L shaped connecting rod 18 of second joint had the rotation difference when each joint four-bar linkage rotated, thereby all can produce relative rotation between every joint.Whole rotation process can be with reference to figure 9-multi-joint tail swing driver train swing state figure shown in Figure 11.
The multistage four-bar linkage of present embodiment adopts single motor 6 to drive four joint transmission devices (three joint four-bar linkage+tail fins) cascaded structure, the pendulum angle and the speed of motor 6 control back four joint transmission devices, characteristics are that the path of motion of every joint connecting rod mechanism all is swinging up and down along robot longitudinal axis X, just the joint amplitude of fluctuation away from motor is big more more, and the swinging track of tail fin 5 is the translation up and down (swing state such as Fig. 9-shown in Figure 11) along robot longitudinal axis X all the time.The track of robot mass motion is exactly the curve of cyclical fluctuations as sine curve like this, and the path of motion of each joint also is the sinusoidal the same curve of cyclical fluctuations, just the amplitude of fluctuation maximum of tail fin 5.
What wherein the motor output mechanism adopted is the distant linkage of crank.This output position of present embodiment is not limited only to the distant linkage of crank, and cam mechanism, gear mechanism, slider-crank mechanism etc. also can be realized same transmission effect.
In conjunction with Fig. 1-3, the synchronous rotating mechanism 2 of pectoral fin comprise a drive motor 31, about two half-crescent shape pectoral fins 32 and 33, spill synchrodrive bar 34 and support fixation elements.Drive motor 31 by 34 controls of spill synchrodrive bar about two half-crescent shape pectoral fins 32 and 33 angle of inclination, thereby the robot needed attitude of moving about is satisfied in the translation of control robot single-piece, come-up and dive.Two motors were controlled translation, come-up and the dive that the pectoral fin angle of inclination changes robot respectively about the synchronous rotating mechanism 2 of pectoral fin also can adopt, and the synchrodrive bar plays the effect of synchrodrive power, need not do concavity.
In conjunction with Figure 16-Figure 17, Drive and Control Circuit 3 is mainly robot and plays the rotation of control motor and the effect of telerobot.The mode that mode adopts the upper and lower machine to detect in good time, the upper computer circuit is a robot infrared remote sensing control part, the mainly transmission of instructing after the acceptance of responsible outer signals and the received signal, it is connected by signal transmission interface with the lower computer circuit.The lower computer circuit is responsible for the control of all motors, the mode of moving about that pendulum angle, time and the speed of regulating each motor just can control robot.Drive and Control Circuit is micro controller system representative type minimum system, also can expand other interface functions on this basis, Drive and Control Circuit master control chip all adopts ATmega16L in the present embodiment, also can adopt other singlechip chips to control, I/O output interface with requirement just, motor adopts the pwm signal control of chip output.
Counterweight, shape support and hermetic unit 4 is that robot is made indispensable slave part, and it is necessary also to be that robot can freely move about under water.Counterweight adopts the method for heavy metal multiple spot distribution counterweight in the present embodiment, in some the specific application of machine fish, can adjust the counterweight of robot with equipment.The shape support section adopts the easy work material of lightweight, and purpose is to protect the stream line pattern of imitative hypophysis of positive robot single-piece and profile, satisfies the needs that move about fast in robot profile and the water.Hermetic unit adopts the method for soft rubber cover integral sealing, wherein the pectoral fin sealing is to belong to dynamic seal, be entire machine people leak free difficult point, what present embodiment adopted is the mode of rubber sleeve pipe, utilizes the elastic-friction between India rubber tube and the pipe to realize sealing.The robot energy adopts the nickel-hydrogen chargeable cell power supply, leaves charging inlet and program test sealed interface in the belly bottom of robot.
Embodiment 2:
Present embodiment robot basic structure is with embodiment 1, difference is that multistage four-bar linkage is composed in series by five joint transmission devices (four joint connecting rod mechanism+tail fins), drive by two motors 6 and 22, wherein back four joint structures and first kind of mode are identical, the swing of four joints behind the motor 6 control afterbodys, be characterized in if motor 22 is motionless or when breaking down, robot type of drive and path of motion and first kind of mode are identical, as the state of Figure 14; The swing of motor 22 control the 5th joint connecting rod mechanism 24 and tail fin 5 are with respect to the pivot angle along robot longitudinal axis X: because the pivot angle and the tail fin 5 of the 5th joint connecting rod mechanism 22 equate with respect to the pivot angle along robot longitudinal axis X, that is to say that the pivot angle of regulating motor 22 controls the 5th joint connecting rod mechanism 24 is just passable when the tail fin swing will be formed an angle with respect to swinging along the non-flat shape of robot longitudinal axis X.
In conjunction with Figure 12-Figure 13, present embodiment fish tail portion swinging transmission mechanism comprises: motor fixing plate 26, T shape bracket chute 27, drive motor 6 and 22, slide bar 8 and 23, level Four kinematic link mechanism and tail fin 5 link to each other by axle between each connecting rod.At first, motor fixing plate 26 and T shape bracket chute 27 connect firmly, slide bar 8 and 23 is driven by afterbody motor 6 and 22, horizontally slip in T shape bracket chute 27 along fish body axis directions X, the slip of slide bar 8 drives the swing of the 4th joint connecting rod mechanism 28, the 3rd joint kinematic link mechanism 29, the second joint kinematic link mechanism 30 and tail fin 5; And the slip of slide bar 23 drives the 5th joint rotation of four-bar linkage 24 and tail fin 5 with respect to the swing along robot longitudinal axis X.Fig. 6-Fig. 8 is a present embodiment machine fish tail portion swing scheme drawing.Fig. 9-Figure 11 is embodiment 1 a tail swing scheme drawing, and this scheme has been removed motor 22 and adopted the result of four joint drive machines fishes, and different-effect is that tail fin is always translation up and down, does not have the relative tilt angle with X-axis.
In conjunction with Fig. 4 and Fig. 5, the swinging track of tail fin 5 is the translation up and down along robot longitudinal axis X all the time among the embodiment 1, and present embodiment has increased by the 5th joint connecting rod mechanism, motor 22 has been controlled the swing of the 5th joint connecting rod mechanism 24 and tail fin 5 with respect to the pivot angle along robot longitudinal axis X by slide bar 23: pivot angle and the tail fin 5 of the 5th joint connecting rod mechanism 24 equate with respect to the pivot angle along robot longitudinal axis X, that is to say that the pivot angle of regulating motor 22 controls the 5th joint connecting rod mechanism 24 is just passable when the tail fin swing will be formed an angle with respect to swinging along the non-flat shape of robot longitudinal axis X.It should be noted that L shaped connecting rod 25 installation directions of the 5th joint are opposite with other L shaped connecting rod directions.
In conjunction with Figure 15, present embodiment motor output mechanism adopts the same connecting rod of a driven by motor two ends output drive controlling.
Claims (7)
1, a kind of multi-joint fluctuation-propulsion fish-shape robot, it comprises counterweight, shape supports and hermetic unit, it is characterized in that it also comprises multi-joint tail swing driver train, synchronous rotating mechanism of pectoral fin and Drive and Control Circuit, multi-joint tail swing driver train comprises drive motor, multistage four jointed gear units and tail fin, drive motor connects multistage transmission device chopped-off head, multistage four jointed gear unit final stages connect tail fin, the synchronous rotating mechanism of pectoral fin comprises support fixation elements, be installed in the drive motor on the support fixation elements, about two pectoral fins and drive link, drive motor connects drive link, drive link connects two pectoral fins, Drive and Control Circuit comprises infrared remote sensing control part and the lower computer circuit that is installed in the robot, and the infrared remote sensing control part connects the lower computer circuit by signal transmission interface.
2, multi-joint fluctuation-propulsion fish-shape robot according to claim 1, it is characterized in that described multistage four jointed gear units comprise series connected three grades of four-bar linkages, T shape bracket chute and are arranged on the interior slide bar (8) of T shape bracket chute, link to each other by axle between each connecting rod, drive motor connects slide bar (8), slide bar (8) connects the 4th joint connecting rod mechanism, the 4th joint connecting rod mechanism connects the 3rd joint kinematic link mechanism, the 3rd joint connecting rod mechanism connects the second joint connecting rod mechanism, and the second joint connecting rod mechanism connects tail fin.
3, multi-joint fluctuation-propulsion fish-shape robot according to claim 2, it is characterized in that described drive motor comprises the drive motor (6) that is arranged on the motor fixing plate (26), motor fixing plate (26) and T shape bracket chute connect firmly, drive motor (6) connects slide bar (8) by connecting rod (7), slide bar (8) connects connecting rod (9), connecting rod (9) connects connecting rod (10) again, connecting rod (11), connecting rod (10) connects the 4th joint L shaped bar (12), connecting rod (11) connects the 3rd joint L shaped connecting rod (15) by connecting rod (14), the connecting rod (20) that connects connecting rod (11) connects the second joint L shaped connecting rod (18) again with the connecting rod that is connected connecting rod (20) (17), and the second L shaped connecting rod of joint (18) connects tail fin by the four-bar linkage of second joint.
4, multi-joint fluctuation-propulsion fish-shape robot according to claim 2, it is characterized in that described drive motor comprises drive motor (6) and the drive motor (22) that is arranged on the motor fixing plate (26), motor fixing plate (26) and T shape bracket chute connect firmly, multistage four jointed gear units also comprise the 5th joint four-bar linkage (24) and are arranged on the interior slide bar (23) of T shape bracket chute, drive motor (6) connects slide bar (8) by connecting rod (7), slide bar (8) connects connecting rod (9), connecting rod (9) connects connecting rod (10) again, connecting rod (11), connecting rod (10) connects the 4th joint L shaped bar (12), connecting rod (11) connects the 3rd joint L shaped connecting rod (15) by connecting rod (14), the connecting rod (20) that connects connecting rod (11) connects the second joint L shaped connecting rod (18) again with the connecting rod that is connected connecting rod (20) (17), the second L shaped connecting rod of joint (18) connects tail fin by the four-bar linkage of second joint, drive motor (22) connects the 5th joint four-bar linkage (24) by slide bar (23), and the 5th joint four-bar linkage (24) connects tail fin.
5, according to claim 1,2,3 or 4 described multi-joint fluctuation-propulsion fish-shape robots, it is characterized in that described pectoral fin is two half-crescent shape pectoral fins, drive link is a spill synchrodrive bar.
6,, it is characterized in that the bottom of described robot is provided with switch, charging inlet and program test sealed interface according to claim 1,2,3 or 4 described multi-joint fluctuation-propulsion fish-shape robots.
7, multi-joint fluctuation-propulsion fish-shape robot according to claim 5 is characterized in that the bottom of described robot is provided with switch, charging inlet and program test sealed interface.
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