CN104590519A - Shape-controllable underwater biomimetic propulsion device - Google Patents
Shape-controllable underwater biomimetic propulsion device Download PDFInfo
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- CN104590519A CN104590519A CN201510054420.2A CN201510054420A CN104590519A CN 104590519 A CN104590519 A CN 104590519A CN 201510054420 A CN201510054420 A CN 201510054420A CN 104590519 A CN104590519 A CN 104590519A
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Abstract
The invention discloses a shape-controllable underwater biomimetic propulsion device. The device comprises a frame consisting of a group of symmetric four-link structures and a coating film. The shape of the biomimetic propulsion device is smoothly and continuously changed according to environments such as direct flow, reverse flow, wind wave, tide and vortex and different required tasks such as cruising, linear acceleration and turning while a robot moves, and response is made to a continuously changing swimming condition and task characteristics; the function of the biomimetic propulsion device can be improved by changing the shape of the biomimetic propulsion device, and the device has long-endurance long-voyage capacity and also has high-speed and high-mobility propulsion capacity so as to greatly improve the propulsion performance and improve the adaptability to the environment. The shape change and the task execution of the biomimetic propulsion device can be simultaneously performed, and the robot is not required to be taken out of an operating environment for manual adjustment.
Description
Technical field
The invention belongs to intelligent robot technology field, being specifically related to one can control biomimetics propelling unit alteration of form, thus improves the device of propulsion quality.
Background technology
" aquatic bio-propulsion device " i.e. Underwater biomimetic pusher, because it has efficient propelling, high maneuverability and high Stealth, therefore having important application prospect in the field such as exploration, disaster relief under water, is a current very popular in the world field of research.
Underwater bionic robot often needs operation in the underwater environment of complexity.Therefore, bionical underwater vehicle will possess long voyage, high maneuverability, high stability, propelled at high velocity ability to complete, cruise by efficient long voyage, high-performance cruise, prominent anti-motor-driven, stablize the multiple-tasks such as operation, the aquatic bio-propulsion device of traditional fixed profile is very difficult keeps good maneuvering performance and propulsion quality all the time simultaneously.On structure design, must attend to one thing and lose sight of another.
The propulsive force of fish mainly comes from fin, and most of aquatic bio-propulsion device all adopts health to add the motion propulsion mode of fin.At occurring in nature, it is found that being good at the fish that long distance cruises has half moon-shaped fin shape usually, and the fish of being good at fast reserve has the fin of mullet fin shape usually, are good at the fish of turning flexibly and usually have fan-shaped fin shape.But although traditional underwater propulsion unit is using fin as bionical object, its shape is all that fixing, such bionic coatings device is difficult to remain good propulsion quality and maneuvering performance when moving.That is, under identical water environment, robot performs different motion task, as cruised, linear accelerating, turning time a kind of bionic coatings device of shape all can only be adopted move, robot can not be made all to reach best propulsion quality and maneuvering performance when all tasks of execution; Under different water environments, as following current, adverse current, stormy waves, tide, whirlpool etc., when robot does same motion, the bionic coatings device of solid shape for the rapid degree of different current and the adaptive capacity of water (flow) direction very low, robot can not be made to execute the task in different environments and all to reach best propulsion quality and maneuvering performance.And, for traditional robot bionic propelling unit, if need the shape changing bionic coatings device to complete required task or to adapt to complex environment, all robot can only be departed from work area, then change artificially.
Summary of the invention
The object of the invention is to solve above-mentioned problems of the prior art, enabling bionic coatings device adapt to different environmental requirements and different mission requirementses, realizing optimum shape.The present invention is by the metamorphosis of bionic coatings device and structural change, smooth and change profile constantly, makes response to changing travelling condition and task feature; The function of bionic coatings device can be improved by the profile changing bionic coatings device, both possessed long boat duration voyage ability, and possessed again the ability of high speed, high motor-driven propelling, thus improve propulsion quality greatly.
The aquatic bio-propulsion device of a kind of controlled shape that the present invention proposes comprises: centre post, head rod, the second pipe link, two the 3rd pipe links, the 4th pipe link, the 5th pipe link, two distortion pipe links and sliding bar, coatings, wherein: the two ends of described sliding bar are out of shape pipe link with two respectively and are connected; The other end of two distortion pipe links is connected with one end of head rod and the second pipe link respectively; The other end of described head rod is connected with the other end of the second pipe link; 3rd pipe link is connected near the one end being out of shape pipe link with described head rod, and another root the 3rd pipe link is connected near the one end being out of shape pipe link with described second pipe link; One end of described 4th pipe link is connected with one end of the 5th pipe link, the other end of described 4th pipe link is connected with the 3rd pipe link one end away from head rod, and the other end of described 5th pipe link is connected with another root the 3rd pipe link one end away from the second pipe link; Described centre post is connected with the point of connection between head rod with the second pipe link and the point of connection between the 4th pipe link with the 5th pipe link respectively, composition bionic coatings device skeleton; Described sliding bar has projection, and described centre post is provided with groove, and described projection snaps in the groove of described centre post; Described coating is wrapped on described bionic coatings device skeleton, forms described bionic coatings device.
Alternatively, described device also comprises multiple joint, for connecting each pipe link.
Alternatively, described projection is kidney-shaped.
Alternatively, described coating is elastic film.
Alternatively, described pipe link is pole spar, sheet or hollow bar.
Alternatively, described pipe link linearly shape or arc.
Alternatively, described device is symmetrical four-bar linkage.
Beneficial effect of the present invention is: when robot such as cruise under identical water environment, linear accelerating, the action such as turning change time, sliding bar can be controlled slide according to required action, to realize the change of bionic coatings device shape, thus robot is reached fast and keeps optimal movement state, and action change can be realized fast; When robot carries out same movement at different water environment, can the shape of different control bionic coatings devices environmentally to reach optimal movement state, thus effectively enhance manoevreability and the propulsion quality of robot.In addition, the bionic coatings device alteration of form of robot and motion can be carried out simultaneously, without the need to changing bionic coatings device of robot being taken out movement environment descendant is, thus greatly increase the adaptive capacity to environment of robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of the aquatic bio-propulsion device of controlled shape of the present invention;
Fig. 2 a is a kind of according to an embodiment of the invention bionic coatings device change shape;
Fig. 2 b is another kind of according to an embodiment of the invention bionic coatings device change shape;
Fig. 2 c is another kind of according to an embodiment of the invention bionic coatings device change shape;
Fig. 2 d is another kind of according to an embodiment of the invention bionic coatings device change shape;
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 1 is the structural representation of the aquatic bio-propulsion device of controlled shape of the present invention, as shown in Figure 1, the aquatic bio-propulsion device of described controlled shape comprises centre post 1, head rod 2, second pipe link 3, two the 3rd pipe links 4, the 4th pipe link 5, the 5th pipe link 6, two distortion pipe link 7, sliding bar 8, multiple joint 9, coating, wherein:
The two ends of described sliding bar 8 are out of shape pipe link 7 with two respectively and are connected, to ensure that sliding bar 8 can slide without resistance;
The other end of two distortion pipe links 7 is connected respectively by joint 9 one end with head rod 2 and the second pipe link 3;
The other end of described head rod 2 is connected by joint 9 with the other end of the second pipe link 3;
3rd pipe link 4 is connected by joint 9 near the one end being out of shape pipe link 7 with described head rod 2, and another root the 3rd pipe link 4 is connected by joint 9 near the one end being out of shape pipe link 7 with described second pipe link 3;
One end of described 4th pipe link 5 is connected by joint 9 with one end of the 5th pipe link 6, the other end of described 4th pipe link 5 is connected by joint 9 with the 3rd pipe link 4 one end away from head rod 2, and the other end of described 5th pipe link 6 is connected by joint 9 with another root the 3rd pipe link 4 one end away from the second pipe link 3;
Described centre post 1 is connected with the point of connection between head rod 2 with the second pipe link 3 and the point of connection between the 4th pipe link 5 with the 5th pipe link 6 respectively, composition bionic coatings device skeleton;
Wherein, described sliding bar 8 has projection, the front end of described centre post 1, be namely provided with groove near one end of described sliding bar 8, described projection snaps in the groove of described centre post 1, slides without resistance in a groove.In an embodiment of the present invention, described projection is kidney-shaped, so just can ensure described sliding bar 8 with the groove of centre post 1 for rotating during orbiting motion.
Described coating is wrapped on described bionic coatings device skeleton, forms described bionic coatings device, and described coating is as shown in Fig. 1 bend region.
Wherein, described coating is elastic film, the film that the materials such as such as polyamide, oxford, latex are made.
Described centre post 1 is the supporter of described bionic coatings device, in an embodiment of the present invention, after described head rod 2 is connected with joint 9 with the second pipe link 3, be hinged on described centre post 1, after two the 3rd pipe links 4 are connected with joint 9 respectively with head rod 2 and the second pipe link 3 hinged, after 4th pipe link 5 is connected by joint 9 with one end of the 5th pipe link 6, also be hinged on described centre post 1, the other end is connected respectively with two the 3rd pipe links 4, the primary deformable part of described like this bionic coatings device completes with regard to connecting, because described bionic coatings device is symmetrical four-bar linkage, therefore can ensure that upper and lower two parts deformed region is symmetrical.
After in the groove projection of sliding bar 8 being put into centre post 1, described groove is as the track of the protruding movement of sliding bar 8, in addition, be connected with the second pipe link 3 with head rod 2 by sliding bar 8 by distortion pipe link 7, described like this sliding bar 8 just can as the pull bar pulling bulk deformation device.Like this, sliding bar 8 just can drive bionic coatings device generation alteration of form while groove intrinsic displacement, thus can adapt to different environment and different mission requirementses.
To sum up, according to technical scheme of the present invention, described bionic coatings device, by the change in displacement of sliding bar 8, pulls connecting rod mechanism, makes connecting rod mechanism generation alteration of form, thus cause the global shape of bionic coatings device to change.
Fig. 1, Fig. 2 a to Fig. 2 d is 4 kinds of different shapes of the aquatic bio-propulsion device of controlled shape.Wherein, Fig. 1 is the situation of sliding bar 8 when being in centre post 1 low order end, now bionic coatings device is fan-shaped, along with being moved to the left of sliding bar 8, what can occur as shown in Figure 2 a successively is trapezoidal, class mullet tail type shown in Fig. 2 b, the shape of the class triangle fish tail shown in Fig. 2 c and the class sailfish fishtail shown in Fig. 2 d, the pilot process of certain deformation also can according to practical application need be adjusted to different shapes, because described sliding bar 8 is slide continuously, so for described aquatic bio-propulsion device, its shape can change according to the change of residing environment, relatively unfixing.Such as, show according to research, when needs accelerate, the effect of mullet fishtail is best, can be now class mullet fish tail type by the alteration of form of described aquatic bio-propulsion device; When needs are turned, fan-shaped propulsive mechanism has again maximum manoevreability, can be now fan-shaped by the alteration of form of described aquatic bio-propulsion device as required, to obtain best manoevreability; And when needs cruise, the shape of described aquatic bio-propulsion device is that sailfish fish tail type is for best.
Wherein, connection between above-mentioned each pipe link can adopt multiple connection mode; such as hinged etc.; can connect as described above by multiple joint 9; other connection modes can certainly be adopted; the present invention does not repeat it, should understand, all possible, reasonably between pipe link connection modes all fall within the scope of protection of the present invention.
Wherein, above-mentioned each pipe link can be the various ways such as pole spar, sheet, hollow bar, pipe link can for straight also can according to bionic coatings device need do camber.In addition, the shape of sliding bar also can difference according to circumstances and changing, and the present invention is all not construed as limiting for the concrete existence form of pipe link, the concrete existence form of sliding bar, any possible, reasonably existence form all fall within the scope of protection of the present invention.
According to technique scheme, the controlled shape aquatic bio-propulsion device that the present invention proposes has symmetrical linkage, can ensure that propelling unit alteration of form is symmetrical, carry out bionical to fin, improve the long boat duration voyage ability that robot moves under water, possess again the ability of high speed, high motor-driven propelling simultaneously, improve propulsion quality greatly.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. the aquatic bio-propulsion device of a controlled shape, it is characterized in that, this device comprises: centre post, head rod, the second pipe link, two the 3rd pipe links, the 4th pipe link, the 5th pipe link, two distortion pipe links and sliding bar, coatings, wherein:
The two ends of described sliding bar are out of shape pipe link with two respectively and are connected;
The other end of two distortion pipe links is connected with one end of head rod and the second pipe link respectively;
The other end of described head rod is connected with the other end of the second pipe link;
3rd pipe link is connected near the one end being out of shape pipe link with described head rod, and another root the 3rd pipe link is connected near the one end being out of shape pipe link with described second pipe link;
One end of described 4th pipe link is connected with one end of the 5th pipe link, the other end of described 4th pipe link is connected with the 3rd pipe link one end away from head rod, and the other end of described 5th pipe link is connected with another root the 3rd pipe link one end away from the second pipe link;
Described centre post is connected with the point of connection between head rod with the second pipe link and the point of connection between the 4th pipe link with the 5th pipe link respectively, composition bionic coatings device skeleton;
Described sliding bar has projection, and described centre post is provided with groove, and described projection snaps in the groove of described centre post;
Described coating is wrapped on described bionic coatings device skeleton, forms described bionic coatings device.
2. device according to claim 1, is characterized in that, described device also comprises multiple joint, for connecting each pipe link.
3. device according to claim 1, is characterized in that, described projection is kidney-shaped.
4. device according to claim 1, is characterized in that, described coating is elastic film.
5. device according to claim 1, is characterized in that, described pipe link is pole spar, sheet or hollow bar.
6. device according to claim 1, is characterized in that, described pipe link is shape or arc linearly.
7. device according to claim 1, is characterized in that, described device is symmetrical four-bar linkage.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510054420.2A CN104590519B (en) | 2015-02-02 | 2015-02-02 | A kind of aquatic bio-propulsion device of controlled shape |
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| CN201510054420.2A CN104590519B (en) | 2015-02-02 | 2015-02-02 | A kind of aquatic bio-propulsion device of controlled shape |
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| CN104590519B CN104590519B (en) | 2017-03-08 |
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Cited By (7)
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| CN106346462A (en) * | 2016-09-19 | 2017-01-25 | 哈尔滨工业大学深圳研究生院 | Snake-like amphibious robot provided with modular joints |
| CN108163176A (en) * | 2018-01-18 | 2018-06-15 | 中国人民解放军陆军军事交通学院镇江校区 | A kind of gliding detector wave energy Water Surface Propulsion Device |
| CN108177753A (en) * | 2018-01-18 | 2018-06-19 | 中国人民解放军陆军军事交通学院镇江校区 | A kind of imitative fish tail wave glider of long continuation of the journey |
| CN112109868A (en) * | 2020-08-31 | 2020-12-22 | 浙江理工大学 | Flipper propulsion device imitating hind limb of beaver |
| CN113104188A (en) * | 2021-03-15 | 2021-07-13 | 江苏科技大学 | Bionic fish propulsion device and control method thereof |
| CN114735177A (en) * | 2022-04-14 | 2022-07-12 | 中国科学院深圳先进技术研究院 | Underwater movement mechanism and underwater robot |
| CN114834616A (en) * | 2022-05-19 | 2022-08-02 | 南京航空航天大学 | Dolphin-imitated unmanned underwater vehicle and driving method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114735177A (en) * | 2022-04-14 | 2022-07-12 | 中国科学院深圳先进技术研究院 | Underwater movement mechanism and underwater robot |
| CN114735177B (en) * | 2022-04-14 | 2024-01-12 | 中国科学院深圳先进技术研究院 | Underwater movement mechanism and underwater robot |
| CN114834616A (en) * | 2022-05-19 | 2022-08-02 | 南京航空航天大学 | Dolphin-imitated unmanned underwater vehicle and driving method thereof |
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Effective date of registration: 20230720 Address after: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee after: Zhang Shiwu Address before: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee before: University of Science and Technology of China Patentee before: Zhang Shiwu Effective date of registration: 20230720 Address after: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee after: University of Science and Technology of China Patentee after: Zhang Shiwu Address before: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee before: University of Science and Technology of China Effective date of registration: 20230720 Address after: 1406, Floor 14, Building Al, Zhong'an Chuanggu Science Park, No. 900, Wangjiang West Road, High tech Zone, Hefei, Anhui 230088 Patentee after: Zhongke Bote Intelligent Technology (Anhui) Co.,Ltd. Address before: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee before: Zhang Shiwu |
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