CN102631786A - Robot octopus - Google Patents
Robot octopus Download PDFInfo
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- CN102631786A CN102631786A CN2012101167807A CN201210116780A CN102631786A CN 102631786 A CN102631786 A CN 102631786A CN 2012101167807 A CN2012101167807 A CN 2012101167807A CN 201210116780 A CN201210116780 A CN 201210116780A CN 102631786 A CN102631786 A CN 102631786A
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- bar
- claw
- rod member
- octopus
- plastic drum
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Abstract
The invention discloses a robot octopus comprising a cylindrical plastic barrel serving as a robot octopus body, wherein claw parts are arranged below the plastic barrel, a claw part action driving mechanism used for driving the claw parts to perform grabbing actions is arranged in the plastic barrel, a sinking and floating mechanism used for driving the robot octopus body to sink and float is arranged in the plastic barrel, four water pumps uniformly distributed along the circumference are fixedly installed on the outer wall of the plastic barrel, the drainage directions of the four water pumps are respectively front, back, left and right, and the four water pumps control the movement direction of the robot octopus; and a control system controls the claw part action driving mechanism, the sinking and floating mechanism and the water pumps to work. The robot octopus disclosed by the invention has reasonable structure and excellent working performance, provides more extensive entertainment items for the youngsters and children, and brings more rich life for families.
Description
Technical field
The present invention relates to a kind of toy, is a kind of machine octopus.
Background technology
The domestic and international current situation of bionical fish robot:
BJ University of Aeronautics & Astronautics's robot research bionical with Institute of Automation, Chinese Academy of sociences's joint study
Machine fish under water: on December 5th, 2008; By BJ University of Aeronautics & Astronautics's robot research with the bionical fish of the machine under water project of Institute of Automation, Chinese Academy of sociences's joint study through checking and accepting and identifying, declared that the bionic machine fish that China's article one can be used for practical application formally succeeds in developing.This bionical fish of machine under water with China's independent intellectual property right, stability is strong, action flexibly, self-navigation control is engaged in archaeological studies under water, photographs, surveys and draws, cultures, is fished for, and aspect such as small-sized delivery under water, is with a wide range of applications.
2. MIT machine tuna.This prototype has supple body, and 1 engine and 6 moving-members only are housed in the body, makes it simulate moving of true fish to a greater extent.Because health is processed by the soft polymer material of a monoblock fully, avoided the possibility of the fragile inner body of water destruct.Though emulation is strong, people will never think this robot by mistake real tuna.The real tuna per second furthest of moving about can reach long 10 times of body, and the achievement of machine tuna has only 1 height.
The Market and Technology situation of underwater toys:
Above-mentioned project is primarily aimed at the scientific research of underwater robot, exists cost high, and complex design is unfavorable for the problem of promoting to family.On the other hand, the bionic machine fish that is used for amusement is also very rare, the toy that uses in the visible water on the market; Such as artificial fish; Can only swim in simply on the water surface, uncontrollable its horizontal motion and sink-float, entertainment effect is not remarkable; Function singleness can not satisfy the demand of modern to life & amusement.
Toy in the market is many to be main with electron type and amusement type toy; The interactive toy that wherein has toy such as sounding, luminous electronic toy, the remote-control toy of high-tech appearance and can speak or do a series of actions all is in great demand very much, receives the favor of youngsters and children deeply.And this type toy relates under water seldom, therefore, design a underwater toys and bring feeling of freshness must for vast youngsters and children, and be the necessary complement of current toy.Design the aquatic bionic toy on the other hand, can promote youngsters and children to understand the sea, the understanding marine creature increases experience in amusement.
Summary of the invention
The object of the present invention is to provide a kind of rational in infrastructure, the machine octopus that service behaviour is excellent.
Technical solution of the present invention is:
A kind of machine octopus; It is characterized in that: comprise cylinder Plastic Drum as machine octopus health; The Plastic Drum below is provided with claw, is provided with in the Plastic Drum to drive the claw action drives mechanism that claw carries out grasping movement, and the sink-float mechanism that makes machine octopus health sink-float is set in the Plastic Drum; Install four on the Plastic Drum outer wall along the equally distributed water pump of circumference, the drainage direction of four water pumps is respectively front, rear, left and right; The work of control claw action drives mechanism of control system, sink-float mechanism and a water pump.
Said claw action drives mechanism comprises the claw drive motors; The output shaft gear of claw drive motors and the engagement of first tooth bar; The lower end of first tooth bar is connected with an end rod member of through rod type cylinder; The other end rod member of through rod type cylinder is connected with claw, and two end rod members of through rod type cylinder are as central shaft.
Said claw comprises the first rod member connector that is sleeved on the central shaft; The first rod member connector is fixedly connected with Plastic Drum; The central shaft lower end installs second, third rod member connector successively, and the second rod member connector is connected with the 4th bar turnably, and the 3rd rod member connector is connected with second bar turnably; The end of second bar is connected with the 3rd bar turnably; The 4th bar rear portion is connected with the 3rd bar middle part turnably, and the first rod member connector is connected with first bar upper end turnably, and the first bar lower end is connected with the 4th bar is anterior turnably; The first rod member connector upper edge circumference is many first bars of distribution evenly, and the second rod member connector upper edge circumference is many 4th bars of distribution evenly, even many second bars that distribute of the 3rd rod member connector upper edge circumference.
The said mechanism that rises and falls comprises that head stretches out the syringe that suction water is carried out in the Plastic Drum bottom; Injector cartridge is fixed; Syringe piston rod is connected with the up-down aluminium sheet; The up-down aluminium sheet is fixedly connected with the sink-float drive motors, the output shaft gear of sink-float drive motors and the engagement of second tooth bar, and second tooth bar is fixed form.
Bottom in Plastic Drum is provided with Weight plate, is provided with on the Weight plate syringe horizontal direction positioning means for positioning; Injector cartridge is provided with the pressing plate of syringe in the vertical direction location.
The lead of dress up-down aluminium sheet motion on the Weight plate, the slide block of lead is fixed on the up-down aluminium sheet through the angle fasten aluminium.
Said control system is a distance type control system, comprises main control module, and main control module is connected with infrared receiving module, and main control module is connected with motor drive module.
Structure novel reasonable of the present invention, unique properties for vast youngsters and children provides entertainment selection more widely, is brought more colourful life to family.The present invention uses the health of cylinder Plastic Drum as the machine octopus, has designed telescopic machine octopus claw; The all around motion and the sink-float mechanism of four direction have been designed; Remote controller is combined with single-chip microcomputer, realized control the machine octopus.
Main innovate point of the present invention:
Function innovation: be directed against the few present situation of underwater toys on the market, simulated the ocean octopus, designed a machine octopus, to enrich people's family life.This machine octopus can all around move up and down, can realize grasping a certain size object, such as the ball about 8cm.Not having relevant report at present, is a basic innovation of the present invention.
Structure innovation:
1) about the claw motion, absorb the operation principle of umbrella portion, make up based on four-bar mechanism, like Fig. 2,3, specifically combine a combined type six-bar mechanism by deciding block mechanism and double rocker mechanism.This combined type six-bar mechanism is driven through rack-and-pinion by the motor in the machine octopus body, has formed the grasping movement of claw dexterously, is the most outstanding structure innovation of the present invention.
2) about sink-float, avoided needing to adopt the way of similar air bladder make-up air in other machine fish exploitation, and adopted some syringes to realize entry and the draining of octopuses, designed relevant sink-float mechanism.When draining; Syringe piston will be discharged downwards, and piston rod one end does not need special compensated with air and directly communicates with whole octopus intracoelomic cavity, have enough compensated with air water to discharge the vacuum that the back forms; The vacuum that forms is very little, can plumbing not cause too big resistance.The reason of entry is opposite and the like.Special compensated with air device is not wanted by this sink-float mechanism, and structure is simpler, and the buoyancy that produces can have bigger excursion, is convenient to the sink-float of octopus.
3) adopt external water pump draining conduct driving force all around, save the space in the machine octopus body on the one hand, this on the other hand water pump water flow jet ability is strong, and stronger motive force is arranged, and is beneficial to the motion of guiding machine octopus in water.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the claw structural representation.
Fig. 3 is the claw mechanism map.
Fig. 4 is a through rod type cylinder schematic diagram.
Fig. 5 is the Weight plate structural representation.
Fig. 6 is the pressure plate structure sketch map.
Fig. 7 is the structural representation of up-down aluminium sheet.
Fig. 8 is the water pump distribution schematic diagram.
Fig. 9 is the vertical view of Fig. 8.
Figure 10 is a control system architecture sketch map.
Figure 11 is a control flow chart.
Figure 12 is that the present invention controls the single-chip minimum system figure of system.
Figure 13 is that the claw rod member constitutes the detent mechanism sketch map.
Figure 14 is that the claw rod member constitutes the double rocker mechanism sketch map.
Figure 15, Figure 16 are respectively claw contraction state and open configuration sketch map.
The specific embodiment
A kind of machine octopus; Comprise cylinder Plastic Drum 1 as machine octopus health; The Plastic Drum below is provided with claw 8, is provided with in the Plastic Drum to drive the claw action drives mechanism that claw carries out grasping movement, and the sink-float mechanism that makes machine octopus health sink-float is set in the Plastic Drum; Install four drainage directions on the Plastic Drum outer wall and be respectively front, rear, left and right along 5, four water pumps of the equally distributed water pump of circumference; The work of control claw action drives mechanism of control system, sink-float mechanism and a water pump.
Said claw comprises the first rod member connector 13 that is sleeved on the central shaft; The first rod member connector is fixedly connected with Plastic Drum; The central shaft lower end installs second, third rod member connector 14,15, the second rod member connectors successively and is connected turnably with the 4th bar 19, and the 3rd rod member connector is connected with second bar turnably; The end of second bar is connected with the 3rd bar 18 turnably; The 4th bar rear portion is connected with the 3rd bar middle part turnably, and the first rod member connector is connected with first bar, 16 upper ends turnably, and the first bar lower end is connected with the 4th bar is anterior turnably; The first rod member connector upper edge circumference is many first bars of distribution evenly, and the second rod member connector upper edge circumference is many 4th bars of distribution evenly, even many second bars 17 that distribute of the 3rd rod member connector upper edge circumference.
Said claw action drives mechanism comprises claw drive motors 12; The output shaft gear of claw drive motors and 2 engagements of first tooth bar; The lower end of first tooth bar is connected with an end rod member of through rod type cylinder 9; The other end rod member of through rod type cylinder is connected with claw, and two end rod members of through rod type cylinder are as central shaft 20.
The said mechanism that rises and falls comprises that head stretches out the syringe 10 that suction water is carried out in the Plastic Drum bottom; Injector cartridge is fixed; Syringe piston rod is connected with up-down aluminium sheet 3; The up-down aluminium sheet is fixedly connected with sink-float drive motors 6, the output shaft gear of sink-float drive motors and the engagement of second tooth bar, and second tooth bar is fixed form.
Bottom in Plastic Drum is provided with Weight plate 7, is provided with on the Weight plate syringe horizontal direction positioning means for positioning; Injector cartridge is provided with the pressing plate 11 that syringe is located in vertical direction.
The lead of dress up-down aluminium sheet motion on the Weight plate, the slide block of lead is fixed on the up-down aluminium sheet through angle aluminium 4 connectors.
Said control system is a distance type control system, comprises main control module, and main control module is connected with infrared receiving module, and main control module is connected with motor drive module.
The claw mechanical work principle:
With reference to the structure of umbrella folding and unfolding,, make this machine octopus simulate the claw folding and unfolding action of true octopus, and can simply grasp a certain size object based on four-bar mechanism.Concrete structure such as Fig. 2, claw are by deciding the combined type six-bar mechanism that block mechanism and double rocker mechanism combine, like Fig. 3.Central shaft is that the first order is decided the driving element in the block mechanism; Drive rod member (the 4th bar 19) motion; Rod member (the 4th bar 19) is as the driving element of second level double rocker mechanism; Add the motion of the central shaft of second level double rocker mechanism, unite the motion that drives claw end piece (the 3rd bar 18), the motion of the 3rd bar 18 and the 4th bar 19 is combined to form the folding and unfolding of claw.
The actuating mechanism of claw from the body of octopus to external, need with solving the water proof sealing problem, the present invention utilizes cylinder to deal with in the good seal performance at movable position.Concrete structure is: cylinder 9 is fixed in the Plastic Drum bottom center as the fish body, like Fig. 1.Cylinder adopts a kind of through rod form, and like Fig. 4, promptly two ends all have bar to stretch out, and an end rod member stretches out in the below of machine octopus health, links to each other with other parts of claw motion; Other end rod member is connected with first tooth bar 2 mutually.The two ends rod member constitutes central shaft 20.First tooth bar 2 is driven by the claw drive motors that has gear 12; The drive central shaft moves back and forth; Thereby make claw realize that through the combined type six-bar mechanism of deciding block mechanism and double rocker mechanism and combining it opens and shrinks,, and then realize grasping function like Fig. 3, shown in Figure 4.Pressing plate 11 centers among Fig. 1 have been designed spacing aperture and can have been led to moving up and down of central shaft, prevent its occurred level skew, guarantee the wheel and rack positive engagement on the motor.
Sink-float mechanism and operation principle:
Main ballast tank with reference to submarine; Like Fig. 1; Be fixed on the bottom at machine octopus body interior 4 syringes 10 of design (function of simulated diving ship ballast tank), Weight plate 7 is fixed on the bottom, with the position relation of syringe; Like Fig. 5, it can play the restriction injector cartridge and on the bottom level direction, slide.
Like Fig. 7, the piston rod of syringe is fixed on the up-down aluminium sheet 3 through angle fasten aluminium symmetry, and the sink-float drive motors has been installed on the up-down aluminium sheet 3, and second tooth bar that cooperates with motor gear is fixed on the cylinder block wall.Crooked at the volley for preventing aluminium sheet 3, designed guider, the lead of this device is fixed on the Weight plate 7, and the slide block of lead is fixed on the up-down aluminium sheet 3 through the angle fasten aluminium, sees Fig. 7.
The sink-float action drives second tooth bar through remote controller control sink-float drive motors 6.Because of second tooth bar is to be fixed on the cylinder block wall, make tooth bar motionless, but gear move up and down, make up-down aluminium sheet 3 whole reciprocating motions, and then drive the reciprocating motion of syringe piston rod, make syringe suction water.When suction, the water in the syringe increases, and has increased the overall weight of machine octopus.When overall weight during, promptly sink greater than buoyancy of water.When draining, the water in the syringe reduces, and has alleviated the overall weight of machine octopus.When overall weight during less than buoyancy of water, i.e. come-up.
The direction control mechanism operation principle:
Like Fig. 8, Fig. 9, at affixed 4 the external water pumps of the external stickup of octopus, water pump is uniformly distributed with, and realizes the motion of four direction all around respectively.Consider that octopus body interior finite volume and water pump are immersible pump (good airproof performance can be immersed in the water),, control with remote controller equally so water pump is distributed on external.When one of them water pump draining of control, the opposition of its generation can promote the counter motion of entire machine octopus.Totally 4 water pumps are accomplished the motion of four direction all around respectively.
The control system of machine octopus
Based on the related request of machine octopus, designed controller with distant control function.Control section adopt remote control to hold concurrently mode that SCM program control combines can realize other position flicker of octopus eye and health; Through the rotating of remote controller control claw drive motors, with the contraction that realizes claw with open; Through the reciprocating action of remote controller control syringe piston rod, absorb water and draining, realize the sink-float of octopus.
Control section mainly comprises remote controller infrared receiving module, supply module, main control module, motor drive module etc.Its structured flowchart is shown in figure 10, relevant controlling flow process such as Figure 11.
Machine octopus main control module adopts MCS-51 series STC89C52 single-chip microcomputer.This single-chip microcomputer is a kind of low-power consumption, high performance 8 CMOS type single-chip microcomputers.Single-chip minimum system figure such as Figure 12.
Equivalence multi-bar linkage explanation: like Fig. 3, wherein rod member 20 (being central shaft 20), the first rod member connector 13, first bar 16, the 4th bar 20 are constructed as follows the block mechanism of deciding shown in Figure 13.Central shaft 20, the 4th bar 20, second bar 17, the 3rd bar 18 constitute double rocker mechanism shown in figure 14.Both have formed the six-bar mechanism of combined type jointly.
Claims (7)
1. machine octopus; It is characterized in that: comprise cylinder Plastic Drum as machine octopus health; The Plastic Drum below is provided with claw, is provided with in the Plastic Drum to drive the claw action drives mechanism that claw carries out grasping movement, and the sink-float mechanism that makes machine octopus health sink-float is set in the Plastic Drum; Install four on the Plastic Drum outer wall along the equally distributed water pump of circumference, the drainage direction of four water pumps is respectively front, rear, left and right; The work of control claw action drives mechanism of control system, sink-float mechanism and a water pump.
2. machine octopus according to claim 1; It is characterized in that: said claw action drives mechanism comprises the claw drive motors; The output shaft gear of claw drive motors and the engagement of first tooth bar; The lower end of first tooth bar is connected with an end rod member of through rod type cylinder, and the other end rod member of through rod type cylinder is connected with claw, and two end rod members of through rod type cylinder are as central shaft.
3. machine octopus according to claim 2; It is characterized in that: said claw comprises the first rod member connector that is sleeved on the central shaft, and the first rod member connector is fixedly connected with Plastic Drum, and the central shaft lower end installs second, third rod member connector successively; The second rod member connector is connected with the 4th bar turnably; The 3rd rod member connector is connected with second bar turnably, and the end of second bar is connected with the 3rd bar turnably, and the 4th bar rear portion is connected with the 3rd bar middle part turnably; The first rod member connector is connected with first bar upper end turnably, and the first bar lower end is connected with the 4th bar is anterior turnably; The first rod member connector upper edge circumference is many first bars of distribution evenly, and the second rod member connector upper edge circumference is many 4th bars of distribution evenly, even many second bars that distribute of the 3rd rod member connector upper edge circumference.
4. according to claim 1,2 or 3 described machine octopuses; It is characterized in that: the said mechanism that rises and falls comprises that head stretches out the syringe that suction water is carried out in the Plastic Drum bottom; Injector cartridge is fixed, and syringe piston rod is connected with the up-down aluminium sheet, and the up-down aluminium sheet is fixedly connected with the sink-float drive motors; The output shaft gear of sink-float drive motors and the engagement of second tooth bar, second tooth bar is fixed form.
5. machine octopus according to claim 4 is characterized in that: the bottom in Plastic Drum is provided with Weight plate, is provided with on the Weight plate syringe horizontal direction positioning means for positioning; Injector cartridge is provided with the pressing plate of syringe in the vertical direction location.
6. machine octopus according to claim 5 is characterized in that: the lead of dress up-down aluminium sheet motion on the Weight plate, the slide block of lead is fixed on the up-down aluminium sheet through the angle fasten aluminium.
7. machine octopus according to claim 6 is characterized in that: said control system is a distance type control system, comprises main control module, and main control module is connected with infrared receiving module, and main control module is connected with motor drive module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210116780 CN102631786B (en) | 2012-04-20 | 2012-04-20 | Robot octopus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210116780 CN102631786B (en) | 2012-04-20 | 2012-04-20 | Robot octopus |
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| Publication Number | Publication Date |
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| CN102631786A true CN102631786A (en) | 2012-08-15 |
| CN102631786B CN102631786B (en) | 2013-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201210116780 Expired - Fee Related CN102631786B (en) | 2012-04-20 | 2012-04-20 | Robot octopus |
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| CN103192966A (en) * | 2013-04-03 | 2013-07-10 | 南通大学 | Turtle robot |
| CN103921277A (en) * | 2014-04-12 | 2014-07-16 | 吉林大学 | Sucking-type underwater manipulator and sucking method thereof |
| CN104338325A (en) * | 2013-08-01 | 2015-02-11 | 常州金刚文化科技集团有限公司 | Outdoor performance robot |
| CN107596702A (en) * | 2017-10-27 | 2018-01-19 | 台山燊乐塑胶电子制造有限公司 | Remote-control toy fish |
| CN107667962A (en) * | 2017-10-27 | 2018-02-09 | 台山燊乐塑胶电子制造有限公司 | The toy fish of cleanable fish jar |
| CN107792334A (en) * | 2016-08-31 | 2018-03-13 | 江苏金刚文化科技集团股份有限公司 | The bionic device that a kind of creeping motion type promotes |
| CN108622347A (en) * | 2018-05-07 | 2018-10-09 | 中国石油大学(华东) | A kind of Bionic flexible arm drive-type submersible |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103192966A (en) * | 2013-04-03 | 2013-07-10 | 南通大学 | Turtle robot |
| CN104773270B (en) * | 2013-04-03 | 2017-01-11 | 南通大学 | Machine sea turtle for clearing garbage in water |
| CN104773271B (en) * | 2013-04-03 | 2017-01-04 | 南通大学 | Drone version Turtle robot |
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| CN104338325B (en) * | 2013-08-01 | 2016-09-07 | 江苏金刚文化科技集团股份有限公司 | A kind of outdoor performance robot |
| CN104338325A (en) * | 2013-08-01 | 2015-02-11 | 常州金刚文化科技集团有限公司 | Outdoor performance robot |
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| CN103921277A (en) * | 2014-04-12 | 2014-07-16 | 吉林大学 | Sucking-type underwater manipulator and sucking method thereof |
| CN107792334A (en) * | 2016-08-31 | 2018-03-13 | 江苏金刚文化科技集团股份有限公司 | The bionic device that a kind of creeping motion type promotes |
| CN107596702A (en) * | 2017-10-27 | 2018-01-19 | 台山燊乐塑胶电子制造有限公司 | Remote-control toy fish |
| CN107667962A (en) * | 2017-10-27 | 2018-02-09 | 台山燊乐塑胶电子制造有限公司 | The toy fish of cleanable fish jar |
| CN108622347A (en) * | 2018-05-07 | 2018-10-09 | 中国石油大学(华东) | A kind of Bionic flexible arm drive-type submersible |
| CN108622347B (en) * | 2018-05-07 | 2023-10-13 | 中国石油大学(华东) | Bionic flexible arm driving type submersible |
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| CN102631786B (en) | 2013-05-08 |
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Granted publication date: 20130508 Termination date: 20160420 |