CN101134500A - Bionic underwater chelonian robot - Google Patents
Bionic underwater chelonian robot Download PDFInfo
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- CN101134500A CN101134500A CNA2007100721645A CN200710072164A CN101134500A CN 101134500 A CN101134500 A CN 101134500A CN A2007100721645 A CNA2007100721645 A CN A2007100721645A CN 200710072164 A CN200710072164 A CN 200710072164A CN 101134500 A CN101134500 A CN 101134500A
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Abstract
The present invention provides one kind of turtle-shaped bionic underwater robot, which includes one turtle-shaped casing, one sensing and measuring unit in the head and shoulder part, one control and drive unit in the chest, one power source unit in the abdomen, one communication system unit in the tail, one front limb moving unit and one back limb moving unit. The sensing and measuring unit consists of one sonar detector, one underwater CCD camera, and multiple light sources; the control and drive unit consists of one executing controller and one coordinating controller; the power source unit includes one motor driving power module and controller power module; and the communication system unit consists of one communication system module and one external antenna. The present invention has the advantages of high flexibility, low power consumption, one noise, great traveling range, etc.
Description
(1) technical field
What the present invention relates to is a kind of bionic underwater robot, specifically a kind of autonomous type underwater robot of imitative green turtle motion.
(2) background technology
With the exhaustion day by day of landing field non-renewable resources, the ocean has become the treasure and the last space of human kind sustainable development because of its be richly stored with biology and mineral resources.Under-water robot is the important tool that human development utilizes marine resources, it is broadly divided into ROV (ROV:Remotely Operated Vehicle), AUV (AUV:Autonomous UnderwaterVehicle) and bionic underwater robot three classes, ROV and AUV adopt tradition to advance the under-water robot of (screw propeller) mode at the conceptive finger of narrow sense, and bionic underwater robot is meant the under-water robot based on bionic principle, the non-traditional propulsion mode of employing.
Marine life after the long-time survival of the fittest of experience are moving about and the ability of aspect such as attitude control is to advance with the under-water robot of maneuvering system incomparablely at present based on tradition, and bionic underwater robot has become one of important content of under-water robot area research.Propulsion mode mainly contains four kinds of swing method, paddling method, hydrofoil method and gunitees in the biological water, current aquatic bionic Push Technology research focus, mainly concentrate on imitative fish swing method Push Technology, obtained the excellent research achievement, and to being that the hydrofoil method propulsion mode research of representative is less with green turtle forelimb motion.So-called hydrofoil method advances, it is exactly some aquatic animal, as green turtle etc., they are when moving about, the forelimb of wing is flapped up and down in water, and the method for moving about that makes the water generates antagonistic force promote them to advance is aloft flapped the wing flight just as flying bird, therefore their streamline motion organ also is called hydrofoil (drawing from Qin Junde academician chief editor " motion of animal ", press of Tsing-Hua University).This propulsion mode has the outstanding feature that alerting ability is good and noise is low, attitude mode uniqueness.Shanghai Communications University once applied for the patent of invention of " Amphibious bionics Mechanical tortoise " by name, and number of patent application is: 200310108109.9.Their Mechanical tortoise is a research object with amphibious terrapin, and its four limbs structure is identical, symmetrical distribution, function singleness, realizes the mechanical movement of single limb by intermittent gear group and connecting rod mechanism with single motor.The motion of this Mechanical tortoise is the mechanical type paddling of fixed cycle, has non-adjustablely, and can't realize heave movement.Our invention is to be research object with the green turtle, and the limb function was clearly demarcated before and after the couple drive of the double-motor of single limb made, action is adjustable.It is kinematic model that forelimb moves about with green turtle hydrofoil method, can be the active force that robot provides all directions; Hind leg is a kinematic model with the swing of green turtle hind leg, has balanced rudder and additional thrust function.Each motor freedom is adjustable, and limb can change mode of motion at any time before and after making, and realizes the flexible three-dimensional motion water condition environment different with adaptation in the robot water.
(3) summary of the invention
The object of the present invention is to provide a kind of can independent and flexible the bionic underwater chelonian robot of low, the low noise of navigation, energy consumption, imitative green turtle motion that range of movement is big.
The object of the present invention is achieved like this: it comprises green turtle shape aerodynamic housing, is installed in communication system units and the forelimb moving cell and the hind leg moving cell of the power reserves unit of the control drive unit of the sensing testing unit of green turtle shape aerodynamic housing head shoulder, chest, belly, afterbody.The header stream volute casing realizes that with flange mode and body static seal is connected, aft antenna realizes that by the waterproof electrical connector hair style spiral static seal of easy accessibility connects, the sensing testing unit connects control drive unit, control drive unit connects communication system units and forelimb moving cell and hind leg moving cell, the power reserves unit connects the sensing testing unit, control drive unit, communication system units and forelimb moving cell and hind leg moving cell, the sensing testing unit is by the sonar detector, the underwater camera head, the multi beam light source is formed, control drive unit is made up of an execution level controller and a coordination level controller, the power reserves unit comprises motor-driven supply module and controller supply module, and communication system units is made up of communication system module and exterior antenna.
The present invention also has some architectural features like this:
1, described forelimb moving cell comprises that symmetry is installed in the identical forelimb kinematic mechanism of two covers of the anterior left and right sides of robot, with left side one cover is example, it is made up of forelimb plate 1, attaching parts 25, bevel-gear pair 2, little bearing 3, little axle 4, motor shaft sleeve 5, little bearing 26, sealing member 6, sealing member 7, bearing 8, motor sleeve 9, straight gear 10, straight gear 24, straight-tooth wheel shaft 23, servomotor 12 and servomotor 22, servomotor 12 fixedly is enclosed in the motor sleeve 9, and its output shaft is inserted in the motor shaft sleeve 5; And the front end of motor shaft sleeve 5 stretches out in motor sleeve 9 behind the location of too small bearing 26, and sealing member 7 is enclosed within the sponson of motor shaft sleeve 5, is embedded on the motor sleeve 9; A finishing bevel gear cuter in the bevel-gear pair 2 is installed in motor shaft sleeve 5 foremost, and another then is installed on the little axle 4; 4 on little axle passes through two little bearings 3 and flexibly connects with motor sleeve 9, and forelimb plate 1 is fixed on the little axle 4 through two attaching partss 25; Servomotor 22 is fixed on robot interior, and its output shaft is inserted in the straight gear axle 23; Straight gear 24 is installed on the straight-tooth wheel shaft 23, and straight gear 10 is installed on the motor sleeve 9, two gears mesh; Two bearings 8 are installed on the motor sleeve 9, and sealing member 6 is enclosed within on the motor sleeve 9, are embedded on the shell 21;
2, described hind leg moving cell comprises that symmetry is installed in the identical hind leg kinematic mechanism of two covers of the left and right sides, robot rear portion, with right side one cover is example, it is by hind leg plate 15, attaching parts 33, sealing member 34, motor tube 29, motor tube protecgulum 35, little bearing 36, motor shaft sleeve 37, real-turn axle 30, hollow rotating shaft 38, bearing 31, bearing 39, sealing member 32, sealing member 40, synchronizing juggedly take turns 16, synchronizing juggedly take turns 14, cog belt 28, big motor shaft sleeve 27, servomotor 17 and servomotor 41 are formed, servomotor 41 fixedly is enclosed in the motor tube 29, and its output shaft is inserted in the motor shaft sleeve 37; The front end of motor shaft sleeve 37 stretches out motor tube protecgulum 35 behind the location of too small bearing 36; Motor tube protecgulum 35 and motor tube 29 sealing and fixing; Sealing member 34 is enclosed within the sponson of motor shaft sleeve 37, is embedded on the motor tube protecgulum 35; Attaching parts 33 is installed in motor sleeve 37 foremost, and is connected with hind leg plate 15; Coaxial respectively real-turn axle 30 and the hollow rotating shaft 38 of being equipped with in the two ends up and down of motor tube 29, and they are located on shell 21 with bearing 31 and bearing 39 respectively; Sealing member 32 and sealing member 40 are embedded on the shell 21, are enclosed within respectively on real-turn axle 30 and the hollow rotating shaft 38 again; Hollow rotating shaft 38 is a hollow shaft, and the upper end of real-turn axle 30 is equipped with and is synchronizing juggedly taken turns 16, and takes turns 14 and be connected with synchronizing jugged by cog belt 28, synchronizing juggedly takes turns 14 and is installed on the big motor shaft sleeve 27, and big motor shaft sleeve 27 is installed on the servomotor 17.
The single limb of each of green turtle robot of the present invention all has two motor couplings, and two degree of freedom are arranged.Forelimb can be done the bat water motion around little axle 4 axis, can do rotatablely moving around motor sleeve 9 axis again.Hind leg both can have been done can do the motion of striking around real-turn axle 30 axis again around the rotatablely moving of motor tube 29 axis.This be we from bionical angle, employing near the mechanism scheme of green turtle motion, the hydrofoil method of the motion mimics green turtle forelimb of forelimb is moved about, hind leg then imitates the green turtle hind leg and advances as balanced rudder and auxiliary striking.Front and back limb shape is all imitated the green turtle biological prototype, adopts streamlined cross section, makes every effort to meet the hydrodynamics principle.Robot all adopts outside framework oil seal dynamic seal mode at the rotation output, prevents that current from flowing into robot interior from the rotation slit.
Between each unit of the present invention the contact tight, in picturesque disorder, made full use of the robot interior space, simulated figure's characteristic of green turtle.The invention has the advantages that: a kind of novel autonomous type underwater robot based on bionic principle is provided, this robot architecture's compactness, small and light, be easy to make, the hydrofoil method of the imitating green turtle fully mode of moving about, can be from rotation direction, angle, the speed of each motor of main regulation, underwaterly advance to finish, turn to, fundamental operation such as heave; Under the coordination of its sensor and control computer, also can carry out operations such as autonomous navigation and data acquisition under water; Can accept simultaneously the control signal of upper computer in real time.In addition, robot shells 21 is the installation carrier of internal module, again for the entire machine people provides protection, also takes into account hydrodynamics and bionics principle on the profile.The concrete mode of motion of robot will be described in this paper the 5th part.
The present invention is a biological prototype with the green turtle, has researched and developed a kind of bionical green turtle robot of autonomous type, intends studying the hydrofoil method propelling mechanism and the maneuverability pattern of carrier under water, and the under-water robot propulsion mode is carried out new trial.For the new under-water robot type of drive of research, research microminiature modular construction, reduce noise, improve the manoevreability and the hidden property of under-water robot, the navigation of realization autonomous type, improve under-water robot and upper computer communication stability, use under-water robot and finish tasks such as surveying operation, all have the important theoretical research meaning and be worth with exploring.
The contriver passes through related experiment, true green turtle has been carried out field observation, a large amount of entity motion image data have been accumulated, methods such as analysis of utilization image and mathematical analysis have been carried out systematic study to biological prototype and locomotive organ thereof, substantially grasp the movement mechanism of hydrofoil method propulsion mode and the essential of exercise that green turtle moves about, developed this bionical green turtle robot.By researching and developing this robot, be expected to advance the propulsion quality and the maneuvering performance of propulsion mode in this important water to carry out systematic study to the hydrofoil method, this all has important exploration to be worth for the cutting down the consumption of energy, improve propulsion coefficient, enlarge range of movement of underwater sailing body, developing underwater exploration mode etc.In addition, research and develop this robot, simulate the motion feature of green turtle prototype, help lend some impetus to the research of green turtle biology, aspect animal morphology and the Animal Behavior Science research using value is being arranged also.
(4) description of drawings
Fig. 1-Fig. 2 is the overall appearance figure of the bionical green turtle robot of the present invention;
Fig. 3 is the cut-away view of the bionical green turtle robot of the present invention;
Fig. 4 is the forelimb mechanism map of the bionical green turtle robot of the present invention;
Fig. 5 is the hind leg mechanism map of the bionical green turtle robot of the present invention;
Fig. 6-Fig. 9 is the electric machine controller figure of the bionical green turtle robot of the present invention;
Figure 10-Figure 12 is the tuning controller figure of the bionical green turtle robot of the present invention;
Figure 13 is the bionical green turtle ROBOT CONTROL of a present invention system schematic.
(5) specific embodiments
For example the present invention is done more detailed description below in conjunction with accompanying drawing:
Some frame of broken lines in the embodiment 1:(accompanying drawing can be used as an element and mark and describe, and hand over these elements or the unit is to have a lot of methods to solve in the prior art, otherwise may be considered to disclose insufficient.)
In conjunction with Fig. 1-Fig. 5, present embodiment comprises green turtle shape aerodynamic housing, be installed in the sensing testing unit of a green turtle shape aerodynamic housing front shoulder, the control drive unit of front chest, the power reserves unit of abdomen beneath, the communication system units of back afterbody and forelimb moving cell and hind leg moving cell, the sensing testing unit is by the sonar detector, the underwater camera head, the multi beam light source is formed, control drive unit is made up of execution level and coordination level two parts controller, the power reserves unit comprises motor-driven supply module and controller supply module, and communication system units is made up of communication system module and exterior antenna.Aerodynamic housing 21 is promptly copied the green turtle hull shape and design-calculated robot aerodynamic housing, not only provides carrier for reducing that the robot water resistance is considered but also installing for the robot interior parts.
In conjunction with the picture frame part of picture frame among Fig. 3 11 and robot both shoulders, the sensing testing unit of described shoulder is made up of sonar detector, underwater camera head, multi beam light source and interlock circuit thereof etc.It is installed in robot head and shoulder, and wide sphere of action is arranged, and for robot obtains extraneous information, keeps away operations such as barrier and underwater photograph technical.
In conjunction with 13 parts of the picture frame among Fig. 3, the control drive unit of described chest is made up of execution level and coordination level two parts controller.The execution level controller comprises motor driver and electric machine controller, electric machine controller adopts ripe AVR technology, its main composition figure sees Fig. 6-Fig. 9, in order to finish the driving and the control of body moving cell (single limb), coordinate the level controller and adopt ripe DSP technology, its main composition figure sees Figure 10-Figure 12, in order to according to various each the limb motion of attitude harmony of moving about of green turtle biological prototype, moves to realize corresponding body.The motor of green turtle robot needs running, and special-purpose motor driver and the electric machine controller of finishing single limb motion control just must be arranged.As an autonomous under-water robot, the green turtle robot also must have coordinates the level controller, converts instruction to after the extraneous information of obtaining is merged, and controls each motor rotation, realizes independently navigation.Control system scheme drawing of the present invention is seen Figure 13, and control system adopts stacking-type to install.
In conjunction with 20 parts of the picture frame among Fig. 3, the power reserves unit of described belly, select lithium cell commonly used for use, it provides the electric power support for other unit, be entire machine people's energy warehouse, it is divided into two parts, and a part is the motor-driven power supply, a part is the controller power supply, and separately power supply has guaranteed the stability and the safety of electric power system.Consider that power module weight is bigger, it is placed on the robot belly, to adjust entire machine people's center of gravity, in order to simulate the aspectual character of true green turtle.
In conjunction with block diagram among Fig. 3 19 and exterior antenna 18 parts, the communication system units of described afterbody, it is made up of communication system module and exterior antenna 18.No matter be that the green turtle robot is with the data back upper computer of gathering, still upper computer is to the robot issue an order, all need communication system to make robot and upper computer carry out real-time information exchange, therefore we make full use of the less space mounting communication system module of robot afterbody, and in green turtle tail position exterior antenna 18 has been installed, smooth and easy to keep robot in the communication of certain depth of water.
In conjunction with Fig. 3 and Fig. 4, described forelimb moving cell, promptly symmetry is installed in the identical forelimb kinematic mechanism of two covers of the anterior left and right sides of robot, and left side one cover of now getting wherein connects description.It is made up of forelimb plate 1, attaching parts 25, bevel-gear pair 2, little bearing 3, little axle 4, motor shaft sleeve 5, little bearing 26, sealing member 6, sealing member 7, bearing 8, motor sleeve 9, straight gear 10, straight gear 24, straight-tooth wheel shaft 23, servomotor 12 and servomotor 22 etc.Servomotor 12 fixedly is enclosed in the motor sleeve 9, and its output shaft then is inserted in the motor shaft sleeve 5, and the front end of motor shaft sleeve 5 stretches out in motor sleeve 9 behind the location of too small bearing 26.Sealing member 7 adopts outside framework oil seal dynamic seal mode, is enclosed within the sponson of motor shaft sleeve 5, is embedded on the motor sleeve 9.A finishing bevel gear cuter in the bevel-gear pair 2 is installed in motor shaft sleeve 5 foremost, and another then is installed on the little axle 4.4 on little axle passes through two little bearings 3 and flexibly connects with motor sleeve 9.Forelimb plate 1 also is fixed on the little axle 4 through two attaching partss 25, and motor 12 rotatablely moving of output finally have been delivered on the forelimb plate 1 like this.Servomotor 22 is fixed on robot interior, and its output shaft then is inserted in the straight-tooth wheel shaft 23.And straight gear 24 is installed on the straight-tooth wheel shaft 23, straight gear 10 is installed on the motor sleeve 9, two gear correct engagement, there are two bearings 8 to be installed on the motor sleeve 9 again, therefore motor 22 rotatablely moves through this to spur gear pair, to be delivered on the motor sleeve 9, and finally drive forelimb plate 1 and together rotate.Sealing member 6 also adopts outside framework oil seal dynamic seal mode, is enclosed within on the motor sleeve 9, is embedded on the shell 21, prevents that current from entering robot interior.
In conjunction with Fig. 3 and Fig. 5, described hind leg moving cell, promptly symmetry is installed in the identical hind leg kinematic mechanism of two covers of the left and right sides, robot rear portion, and right side one cover of now getting wherein connects description.It by hind leg plate 15, attaching parts 33, sealing member 34, motor tube 29, motor tube protecgulum 35, little bearing 36, motor shaft sleeve 37, real-turn axle 30, hollow rotating shaft 38, bearing 31, bearing 39, sealing member 32, sealing member 40, synchronizing juggedly take turns 16, synchronizing juggedly take turns 14, cog belt 28, big motor shaft sleeve 27, servomotor 17 and servomotor 41 etc. form.Servomotor 41 fixedly is enclosed in the motor tube 29, and its output shaft then is inserted in the motor shaft sleeve 37, and the front end of motor shaft sleeve 37 stretches out motor tube protecgulum 35 behind the location of too small bearing 36.Motor tube protecgulum 35 and motor tube 29 sealing and fixing.Sealing member 34 adopts outside framework oil seal dynamic seal mode, is enclosed within the sponson of motor shaft sleeve 37, is embedded on the motor tube protecgulum 35.Attaching parts 33 is installed in motor sleeve 37 foremost, and is connected with hind leg plate 15, so just rotatablely moving of motor 41 has been passed to hind leg plate 15.Coaxial respectively real-turn axle 30 and the hollow rotating shaft 38 of being equipped with in the two ends up and down of motor tube 29, and they are located on shell 21 with bearing 31 and bearing 39 respectively.Sealing member 32 and sealing member 40 also all adopt outside framework oil seal dynamic seal mode, are embedded on the shell 21, are enclosed within respectively on real-turn axle 30 and the hollow rotating shaft 38 again, prevent that current from entering robot interior.Hollow rotating shaft 38 adopts the hollow shaft forms, is in order to allow the link tester mistake of motor 41, the ponding that may infiltrate in the motor tube 29 in time can be discharged the protection motor again.The upper end of real-turn axle 30 is equipped with and is synchronizing juggedly taken turns 16, and takes turns 14 and form a complete Synchronous Belt Drives mechanism with synchronizing jugged by cog belt 28.Synchronizing juggedly take turns 14 and be installed on the big motor shaft sleeve 27, big motor shaft sleeve 27 then is installed on the servomotor 17.Rotatablely moving of motor 17 just passed to motor tube 29 by Synchronous Belt Drives mechanism like this, also makes hind leg plate 14 follow motor tube 29 and rotates together.
The contriver is carrying out finding after a large amount of biological viewing tests that green turtle has three kinds of basic mode of motion: horizontal rectilinear motion, heave movement and divertical motion.Therefore, green turtle robot of the present invention has designed three kinds of motion schemes according to the movement characteristic of biological prototype.In conjunction with Fig. 3, Fig. 4, Fig. 5, this horizontal rectilinear motion embodiment is that forelimb carries out the hydrofoil method and moves about; And hind leg is assisted when straight-line motion starts and is struck, start finish after then maintenance level glide.With the left side forelimb is example, and carrying into execution a plan that forelimb hydrofoil method is moved about is: when shown position, motor 22 cws start, and the rotation by spur gear pair is delivered to rotation on the motor sleeve 9.9 of motor sleeve drive 1 beginning of forelimb plate together around its axis (marking on the figure) left-hand revolution.Stop after motor 22 turns an angle, forelimb plate 1 rotates counterclockwise with paper angled from shown position, promptly sinks just as the leading edge of green turtle forelimb.This moment, motor 12 cws started, and forelimb plate 1 begins to do around the rotatablely moving of little axle 4 axis (marking on the figure) when making by bevel-gear pair 2, has so just formed forelimb plate 1 water is flapped to the back lower place.This forelimb that just is equivalent to green turtle at first sinks leading edge when motion, flaps to the back lower place then, makes water generates the same to the antagonistic force of front upper place.When forelimb plate 1 flaps to posterior end and housing 21 when approximate parallel, motor 12 promptly stops, and cling to the body when flapping to bottom just as the green turtle forelimb this moment.And then motor 22 conter clockwises start, and stop after rotating its double angle when rotating for the first time, make forelimb plate 1 forward preceding lower end to from just now posterior end, promptly transfer leading edge to from leading edge sinking state and upwarp state, and motor 12 another mistake hour hands start.When this process flaps to bottom just as the green turtle forelimb, change leading edge earlier and sink, flap to the back upper place again,, keep the stressed continuity of working direction to obtain antagonistic force to the front lower place for leading edge upwarps.When forelimb plate 1 flaps to when upper end back when approximate parallel once more with housing 21, motor 12 stops, and motor 22 clockwise rotates again then, forwards forelimb plate 1 to preceding upper end, prepares once more to back lower place bat water.Below each motor back and forth open, stop by said sequence again, reciprocally clap water to realize forelimb plate 1 to the back lower place and back upper place, make the green turtle robot obtain almost continual component forward.In time change when whole motion process flaps to end just as the green turtle forelimb that leading edge upwarps, the sinking state, oppositely flap again, the same to obtain continuous component forward.The forelimb moving cell has the forelimb kinematic mechanism of two cover symmetries, the action that above-mentioned left side mechanism finishes, and right side mechanism can finish equally.Moving the hydrofoil method of just having finished the imitative green turtle forelimb of this robot in the time of the mechanism of the left and right sides moves about.With the right side hind leg is example, and auxiliary the strike scheme of hind leg when the robot straight-line motion starts is: during at shown position, servomotor 17 at first conter clockwise starts, and makes real-turn axle 30 follow to do by synchronous cog belt and rotates counterclockwise.Because real-turn axle 30 is connected with motor tube 29, this moment, motor tube 29 and hind leg plate 15 began to do left-hand revolution around the axis (marking on the figure) of real-turn axle 30, will deliver to the starting point of striking before the hind leg plate 15, and the hind leg before preparing to strike just as the green turtle hind leg protracts.When hind leg plate 15 forwarded to foremost, motor 17 stopped, and motor 41 cws start, and hind leg plate 15 beginning leading edges are sunk.Stop behind motor 41 half-twists, hind leg plate 15 transfers to perpendicular to the paper state from the paper state that is parallel to shown in Figure 2, and promptly the hind leg as green turtle is plumbness from the horizontality upset, prepares to strike with maximum water side.Then motor 17 cws start operation, and running velocity is fast during than conter clockwise, and 15 of hind leg plates begin sprinting pull with maximum water side, make robot obtain a component of reaction forward, as the propelling of striking of green turtle hind leg.Stop after motor 17 rotates 90 °, hind leg plate 15 arrives the final position of striking, and motor 41 another mistake hour hands start, and make hind leg plate 14 come back to horizontality.This rear motor 17 rotates counterclockwise, and hind leg plate 15 is returned to the starting point of striking at a slow speed with the water side of minimum, finishes an arm cycle, delivers to the starting point of striking before being parallel to the water surface again after the green turtle hind leg is struck and finished seemingly.Below each motor again by above-mentioned steps periodic duty, finish the periodicity arm stroke of hind leg plate 15.Because hind leg plate 15 is to strike backward with maximum water side, with minimum water side backhaul, and the speed of striking is greater than opening speed, thus it at suffered antagonistic force forward of this stage greater than backward water resistance.About two cover hind leg mechanisms move simultaneously, just as green turtle two hind legs are struck backward, to robot with forward thrust.When robot reaches certain speed of a ship or plane, it is level glide state that controller will change the hind leg state, and specifically carrying into execution a plan is: motor 41 goes back to level attitude with hind leg plate 15 from state at that time, and its terminal point of striking delivered to hind leg plate 15 again by motor 17, promptly arrive the rearmost end of health, remain unchanged then.About two hind leg plates after the robot horizontal rectilinear motion is stable, promptly keep glide attitude like this, when level is moved about, hind leg is remained on health rear end level with green turtle and glides exactly the same.
Embodiment 2:
In conjunction with Fig. 3, Fig. 4, Fig. 5, the basic structure of the bionical green turtle robot of present embodiment is with embodiment 1, and heave movement is changed on the basis of horizontal rectilinear motion, and its embodiment is that forelimb carries out asymmetric hydrofoil method and moves about; And hind leg keeps the glide state of certain drift angle.Moving about with the robot rising is example, carrying into execution a plan that the asymmetric hydrofoil method of forelimb is moved about is: according to the operation order of each motor in the described hydrofoil method of epimere, when forelimb plate 1 leading edge sinks to flapping to the posterior end, motor 22 continues cw and starts, and rotates 180 ° of preceding upper ends that forelimb plate 1 forwarded to its motion.Motor 12 starts then, still carry out clapping water to the back lower place, and omitted forelimb clap water to the back upper place, this is equivalent to an asymmetric hydrofoil method and moves about the cycle.Below each motor again by above-mentioned steps operation, 1 of forelimb plate is carried out to the flapping of the back lower place, and does not carry out so just making robot only be subjected to antagonistic force, and not being subjected to downward component to the front upper place to the flapping of back upper place, promote the robot rising and move about.And the embodiment of the drift angle glide state of hind leg when the robot rising is moved about is: when a coordination level controller provided the rising order, hind leg should be in level glide state.With the right hind is example, and motor 41 at first rotates counterclockwise, and makes the leading edge of hind leg plate 15 upwarp.Then motor 17 conter clockwises go back to about position shown in Figure 2 with hind leg plate 15 from the health rearmost end, and hind leg plate 15 will be in an acute angle with the robot working direction at this moment, will be subjected to incoming flow to the application force of hind leg plate 15 to oblique back upper place.Because left and right sides hind leg is symmetrical, with the component that makes progress robot is worked so have only in this application force backward.After this each motor will keep motionless, make hind leg plate 15 keep this drift angle glide state.So on the whole, limb all only is subjected to component upwards before and after the robot, and does not have downward component, also moves about with regard to the rising that has realized robot.The sinking of robot is moved about, and reason is identical therewith, and just the rotational angle of front and back limb changes to some extent.
Embodiment 3:
In conjunction with Fig. 3, Fig. 4, Fig. 5, the basic structure of the bionical green turtle robot of present embodiment is with embodiment 1, and divertical motion is also changed on the basis of horizontal rectilinear motion, and its embodiment is: when allowing big turn radius, forelimb is proceeded the hydrofoil method and is moved about, and hind leg serves as and turns to rudder; And when needing tight turn radius, forelimb then carries out single limb hydrofoil method and moves about, and hind leg serves as and turns to rudder.The hydrofoil method of the forelimb vide ut supra that moves about; And hind leg turn to rudder action, with the right hind is example, and its specific embodiments is: the glide state when advancing with horizontal linear is an initial position, when needs are turned right, stop behind 90 ° of motor 41 clickwises, make hind leg plate 15 transfer plumbness to from horizontality.Then motor 17 conter clockwises start, and make hind leg plate 15 from the rearmost end turning clockwise, and rotational angle depends on the circumstances.The rudder wing of this and boats and ships when boats and ships need be turned right to the right the deflection certain angle be same reason.Hind leg plate 15 will keep this right avertence state, finish until right-hand rotation, come back to level glide state again.Meanwhile, left hind will no longer be done the symmetry motion with right hind, and only transfer the hind leg plate to plumbness from horizontality, still remain on the health rearmost end.After treating that the right-hand rotation process is finished, left side hind leg plate also goes back to level glide state again, and entire machine people then begins to carry out horizontal linear and advances on new course.And when robot need turn left, principle was with last identical, and this moment, left hind served as the left avertence rudder, and right hind then remains on the health rearmost end.When if robot need be turned right than tight turn radius, coordinate the level controller and can order the right fore stop motion, keep glide state shown in Figure 3, allow left fore carry out single limb hydrofoil and move about; The while hind leg still plays a part to turn right and turns to rudder.So, robot not only has hind leg to turn to rudder as turning right, and also has forelimb that differential steering is provided, and makes robot obtain the less turn radius of turning right.The motion of turning left rapidly, reason is identical therewith.
Below promptly be several foundation motion schemes that this green turtle robot is set from mimic biology prototype angle, reached the purpose of motion biomimetics.Wherein the concrete running velocity of each motor, angle etc. all will be decided on demand at that time.Certainly, as an autonomous under-water robot, this green turtle robot is not limited in the above set action, and it can adjust the mode of motion of four limbs according to the control command of controller and upper computer, finishes other function actions.This robot biggest advantage that Here it is, freely the turning round of each motor, mutually noninterfere, the high-speed decision of controller and with the real-time Communication for Power of upper computer, make robot to carry out the real-time action adjustment according to concrete water condition and task.
Claims (3)
1. bionic underwater chelonian robot, it comprises green turtle shape aerodynamic housing, it is characterized in that it also comprises the sensing testing unit that is installed in a green turtle shape aerodynamic housing front shoulder, the control drive unit of front chest, the power reserves unit of abdomen beneath, the communication system units of back afterbody and forelimb moving cell and hind leg moving cell, head is connected with the body static seal in the flange mode, aft antenna is connected with the spiral static seal of body by waterproof electrical connector head mode, the sensing testing unit connects control drive unit, control drive unit connects communication system units and forelimb moving cell and hind leg moving cell, the power reserves unit connects the sensing testing unit, control drive unit, communication system units and forelimb moving cell and hind leg moving cell, the sensing testing unit is by the sonar detector, the underwater camera head, the multi beam light source is formed, control drive unit is made up of an execution level controller and a coordination level controller, the power reserves unit comprises motor-driven supply module and controller supply module, and communication system units is made up of communication system module and exterior antenna.
2. according to claim 1 described a kind of bionic underwater chelonian robot, it is characterized in that described forelimb moving cell comprises that symmetry is installed in the identical forelimb kinematic mechanism of two covers of the anterior left and right sides of robot, the left fore kinematic mechanism is by forelimb plate (1), attaching parts (25), bevel-gear pair (2), little bearing (3), little axle (4), motor shaft sleeve (5), little bearing (26), sealing member (6), sealing member (7), bearing (8), motor sleeve (9), straight gear (10), straight gear (24), straight-tooth wheel shaft (23), servomotor (12) and servomotor (22) are formed, servomotor (12) fixedly is enclosed in the motor sleeve (9), and its output shaft is inserted in the motor shaft sleeve (5); And the front end of motor shaft sleeve (5) stretches out in motor sleeve (9) behind the location of too small bearing (26), and sealing member (7) is enclosed within the sponson of motor shaft sleeve (5), is embedded on the motor sleeve (9); A finishing bevel gear cuter in the bevel-gear pair (2) is installed in motor shaft sleeve (5) foremost, and another then is installed on the little axle (4); Little axle (4) then flexibly connects by two little bearings (3) and motor sleeve (9), and forelimb plate (1) is fixed on the little axle (4) through two attaching partss (25); Servomotor (22) is fixed on robot interior, and its output shaft is inserted in the straight gear axle (23); Straight gear (24) is installed on the straight-tooth wheel shaft (23), and straight gear (10) is installed on the motor sleeve (9), two gears mesh; Two bearings (8) are installed on the motor sleeve (9), and sealing member (6) is enclosed within on the motor sleeve (9), are embedded on the shell (21).
3. according to claim 1 or 2 described a kind of bionic underwater chelonian robots, it is characterized in that described hind leg moving cell comprises that symmetry is installed in the identical hind leg kinematic mechanism of two covers of the left and right sides, robot rear portion, the hind leg kinematic mechanism of a right side is by hind leg plate (15), attaching parts (33), sealing member (34), motor tube (29), motor tube protecgulum (35), little bearing (36), motor shaft sleeve (37), real-turn axle (30), hollow rotating shaft (38), bearing (31), bearing (39), sealing member (32), sealing member (40), the synchronizing jugged wheel (16), the synchronizing jugged wheel (14), cog belt (28), big motor shaft sleeve (27), servomotor (17) and servomotor (41) are formed, servomotor (41) fixedly is enclosed in the motor tube (29), and its output shaft is inserted in the motor shaft sleeve (37); The front end of motor shaft sleeve (37) stretches out motor tube protecgulum (35) behind the location of too small bearing (36); Motor tube protecgulum (35) and motor tube (29) sealing and fixing; Sealing member (34) is enclosed within the sponson of motor shaft sleeve (37), is embedded on the motor tube protecgulum (35); Attaching parts (33) is installed in motor sleeve (37) foremost, and is connected with hind leg plate (15); Coaxial respectively real-turn axle (30) and the hollow rotating shaft (38) of being equipped with in the two ends up and down of motor tube (29), and they use bearing (31) and bearing (39) to go up the location at shell (21) respectively; Sealing member (32) and sealing member (40) are embedded on the shell (21), are enclosed within respectively on real-turn axle (30) and the hollow rotating shaft (38) again; Hollow rotating shaft (38) is a hollow shaft, the synchronizing jugged wheel (16) is equipped with in the upper end of real-turn axle (30), and be connected with synchronizing jugged wheel the (14) by cog belt (28), the synchronizing jugged wheel (14) is installed on the big motor shaft sleeve (27), and big motor shaft sleeve (27) is installed on the servomotor (17).
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| CN200710072164A CN100584695C (en) | 2007-04-30 | 2007-04-30 | Bionic underwater chelonian robot |
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| CN200710072164A CN100584695C (en) | 2007-04-30 | 2007-04-30 | Bionic underwater chelonian robot |
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| CN101134500A true CN101134500A (en) | 2008-03-05 |
| CN100584695C CN100584695C (en) | 2010-01-27 |
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| CN200710072164A Expired - Fee Related CN100584695C (en) | 2007-04-30 | 2007-04-30 | Bionic underwater chelonian robot |
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