CN107380387A - A kind of double pendulum tail formula miniature underwater robot and its control method - Google Patents
A kind of double pendulum tail formula miniature underwater robot and its control method Download PDFInfo
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- CN107380387A CN107380387A CN201710644704.6A CN201710644704A CN107380387A CN 107380387 A CN107380387 A CN 107380387A CN 201710644704 A CN201710644704 A CN 201710644704A CN 107380387 A CN107380387 A CN 107380387A
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- tail
- underwater robot
- rotating disc
- empennage
- bar
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Abstract
The invention discloses a kind of double pendulum tail formula miniature underwater robot and its control method, belong to robotic technology field.It includes body and fish tail drive component, the fish tail drive component include motor, rotating disc, on wag the tail mechanism and under wag the tail mechanism, motor is connected and is fixed on body with rotating disc, driving rotating disc circle, rotate dish driving on wag the tail mechanism and under wag the tail mechanism opposing body swing.The present invention realizes the driving to double tail using single power source, empennage can utilize the restoring force of spring to automatically revert to original position after swing, and the swing in next cycle is carried out under the drive of rotating disc, driven using double tail, operating efficiency is high, small volume, power foot, meets the use needs of deeper water, and will not produce big noise, it is friendly to surrounding environment, there is the advantages of simple in construction, reasonable in design, easily fabricated.
Description
Technical field
The invention belongs to robotic technology field, more specifically to a kind of double pendulum tail formula miniature underwater robot and
Its control method.
Background technology
Along with the development of human civilization, the land resources that can be exploited and utilize just increasingly is reducing and exhaustion.Ocean area
Take up an area the 71% of sphere area, be richly stored with living resources and mineral resources in ocean, human development and the pin using ocean
Step is gradually accelerated with the development of science and technology.Meanwhile Development of Marine environmental monitoring technology is for protecting the marine environment, developing ocean money
Source, safeguard that national marine rights and interests and interests with sovereign right, enhancing national marine scientific research strength and developing national economy etc. are all multi-party
Face is significant.As ocean development activity more and more frequently and is goed deep into, to marine survey technology and the demand of equipment
Also more and more higher.Conglomerate of the underwater robot as a underwater high-tech instrument and equipment, led in military, civilian, scientific research etc.
Domain embodies wide application prospect and huge potential value.
At present, the big-and-middle-sized underwater man-based development driven with traditional propeller has reached practical degree,
The research of microminiature underwater robot, it is still within testing the stage of fumbling.With more and more for underwater Man's Demands,
It is particularly just increasingly urgent to can adapt to demand in the miniature underwater robot of sea bottom complex small space environment, such as seabed
Biological monitoring, the seam Minerals sampling of seabed rock etc. in monitoring, the detection in submarine pipeline and the maintenance, coral reef in volcano.Water
When lower robot is used to complete different tasks, its shape, size, motion mode etc. just have different requirements, consider simultaneously
To the influence to surrounding environment, certain challenge is proposed to the type of drive of underwater robot.
Through retrieval, underwater robot can be divided into by several classes according to propulsion plant：1) mechanical equivalent of light feeding device, such as Chinese patent
CN200520020571.8 discloses a kind of mechanical driving device of imitative fish tail propulsion system, the motor driving worm gear snail of the device
Bar pair, and rotated by worm gear band movable eccentric wheel, and then drive sliding frame to make straight reciprocating motion, then put L-type through pull bar
Bar and while L-type swing rod is swung, fixes half gear and forces driving gear set to rotate again around the pivot of its corner,
And then swung in the same direction together with driven fork, spring leaf, tail fin；As Chinese patent CN201610489896.3 discloses a kind of Scad sections
Class bionic machine fish, fish tail are connected by afterbody transmission mechanism with afterbody steering wheel, and sealing drum and buoyancy adjustment cylinder are provided with fish body,
Battery, controller and pectoral fin steering wheel are provided with sealing drum, the rear end of buoyancy adjustment cylinder is provided with buoyancy motor, and fish body head is provided with and opened
Pass and camera, above-mentioned two pieces patent is using gear as transmission parts, and in the transmittance process of power, moment of torsion is big, energy damage
Consumption is big, and for miniature underwater robot, power is small, can not meet its power use needs propulsion plant；2) electromagnetism
Propulsion plant, as Chinese patent CN201610851210.0 discloses a kind of controllable aquatic bio-propulsion device of rigidity, the dress
Put including bionic coatings apparatus main body, variation rigidity joint, joint connection framework, Biomimetic Fish tail fin, wherein：Bionic coatings device master
Body is made up of two or more stiffness-changing systems, and each stiffness-changing system is by variation rigidity joint and joint connection framework group
Into；Joint connection framework in one system is rotatablely connected with movable members in the middle part of the variation rigidity joint of previous system, is used for
The swing of bionical underwater propulsion unit；As Chinese patent CN201510383391.4 discloses a kind of underwater bio-robot
Propulsion plant, the device include stress unit, forcing unit, pedestal, upper backup pad and lower supporting plate；Stress unit includes tail
Fin, tail fin connecting rod, rotary shaft, permanent magnet and permanent magnet fastening frame；Forcing unit patches including magnetic coil, iron core and watertight
Head；As Chinese patent CN201410167326.3 discloses the bionic machine fish that a kind of small-sized mangneto swings, fish body moves with magnetic
Power fish tail includes magnetic induction coil, rotary shaft, PVC bobbins, circular permanent magnet and flexibility by U-shaped piece of connection, magnetomotive fish tail
Fish tail；As United States Patent (USP) US20130017754A1 discloses a kind of Biomimetic Fish, include left shell and right side shell in body component
Body, wherein being respectively equipped with a magnetite, the polarity of two magnetite opposite faces is identical；Rail unit includes sealing ring and support；It is left
Side body and right shell, which are floated rail unit by the sealing ring and support of rail unit, to be supported；Afterbody axle passes through close
The hole at seal center and fix, the outboard end of afterbody axle is arranged with fish tail, and inner opposite end inserts the lateral small of coil brace
Kong Zhong, a coil is fixed with the middle macropore of coil brace, above-mentioned several patents are attracted by magnet coil
Iron hoop or magnetite realize the swing of afterbody, but due to the limitation of electromagnetic coil structure so that tail swing amplitude is small, this
Outside, above-mentioned structure is single fish tail, there is provided power it is small, in deeper waters, water resistance can not then meet to use need greatly
Ask；At the same time the driving under microenvironment can not be completed, produces influence of the loud noise to surrounding environment in use
Greatly.
The content of the invention
1. to solve the problems, such as
The power provided for existing miniature underwater robot power part is small, can not meet the use need of deeper water
Will, and the driving under microenvironment is completed, while the problem of influence in use to surrounding environment is big, the present invention carries
For a kind of double pendulum tail formula miniature underwater robot and its control method, the drive to double tail is realized using single power source
Dynamic, empennage can utilize the restoring force of spring to automatically revert to original position after swing, and be carried out under the drive of rotating disc
The swing in next cycle, is driven using double tail, and operating efficiency is high, small volume, power foot, is met the use of deeper water and is needed
Will, and big noise will not be produced, it is friendly to surrounding environment.
2. technical scheme
In order to solve the above problems, the technical solution adopted in the present invention is as follows：
A kind of double pendulum tail formula miniature underwater robot of the present invention, including body and fish tail drive component, the fish tail drive
Dynamic component include motor, rotating disc, on wag the tail mechanism and under wag the tail mechanism, motor is connected and is fixed on rotating disc
On body, driving rotating disc circle, rotate dish driving on wag the tail mechanism and under wag the tail mechanism opposing body swing.
In a kind of possible embodiment of the present invention, it is described on mechanism of wagging the tail include upper spring, upper pendulum bar and upper empennage,
The head of upper pendulum bar contacts with rotating disc line or point, and the afterbody of upper pendulum bar fixes upper empennage, and upper pendulum bar is hinged with body, upper spring
One end connects upper pendulum bar, and the other end is connected on body, and upper spring provides pulling force for the reply of upper pendulum bar.
In a kind of possible embodiment of the present invention, mechanism of being wagged the tail under described includes lower spring, draft link and lower empennage,
The head of draft link contacts with rotating disc line or point, and the afterbody of draft link fixes lower empennage, and draft link is hinged with body, lower spring
One end connects draft link, and the other end is connected on body, and lower spring provides pulling force for the reply of draft link.
In a kind of possible embodiment of the present invention, the rotating disc is round tooth slotted disk, and round tooth slotted disk is provided with even
Several teeth groove, and the tooth top of teeth groove or tooth root are relative all the time, mechanism of wagging the tail in realization and under wag the tail the action phase all the time of mechanism
Pair when, it is necessary to by the head of upper pendulum bar and draft link simultaneously positioned at teeth groove root or top.
In a kind of possible embodiment of the present invention, the tooth top of the round tooth slotted disk is cambered surface, and cambered surface is by the first circle
Cambered surface, the second arc surface and three-arc face connect and compose, the radius in the first arc surface and three-arc face for upper pendulum bar or under
The 1/10-1/8 of the radius of gyration of swing rod, the radius of the second arc surface are the 1/8-1/4 of the radius of gyration of upper pendulum bar or draft link,
Designed by the cambered surface of tooth top so that upper pendulum bar or draft link continuity when swinging are more preferable, and avoid upper pendulum bar or draft link
Generation is rocked, and ensures the reaching unanimity property of action of upper pendulum bar and draft link.
In a kind of possible embodiment of the present invention, the head of described upper pendulum bar is provided with top sheave, the head of draft link
Portion is provided with lower sheave, and when turn disc, upper pendulum bar and draft link are sliding friction between rotating disc, on the one hand reduces
Friction of motion resistance, on the other hand reduce the abrasion of upper pendulum bar and draft link, extend the service life of upper pendulum bar and draft link.
In a kind of possible embodiment of the present invention, the radius and the first arc surface of described top sheave and lower sheave or
The radius in three-arc face is consistent, and such structure make it that top sheave and lower sheave are with the first arc surface or three-arc face
Seamlessly transit.
In a kind of possible embodiment of the present invention, it is described on wag the tail mechanism also include first connecting rod, second connecting rod and
Regulation motor, one end of second connecting rod are connected with first connecting rod, and the other end is connected with regulation motor rotating shaft, and regulation motor is connected in
On body, first connecting rod is hinged with upper pendulum bar, changes the amplitude of oscillation of side empennage and angle using bar linkage structure, and then to control
The direction of advance of robot, without individually setting up steering mechanism, simplify the structure of robot so that the overall structure of robot
Reduce, be easy to the application in microminiature occasion.
In a kind of possible embodiment of the present invention, in addition to pressure sensor and controller, pressure sensor are set
In the front end of body, controller is electrically connected with motor, regulation motor and pressure sensor respectively, passes through pressure sensor
Receive the pressure signal of water, pressure sensor feedback signal to controller, then controller send information, motor work
Make.
The double pendulum tail formula miniature underwater robot course of work of the present invention is as follows：
1) underwater robot, which advances, controls：
When motor rotates, turn disc is driven, top sheave and lower sheave are pressed on the circular teeth groove of rotating disc
In, when turn disc certain angle, top sheave and lower sheave slide into tooth top from the tooth root of rotating disc circular teeth groove, drive
Upper pendulum bar and draft link are swung, and upper empennage and lower empennage are close to each other, when rotating disc is rotated further certain angle, top sheave and
Lower sheave slides into tooth root from the tooth top of rotating disc circular teeth groove, drives upper pendulum bar and draft link to swing, upper empennage and lower empennage
It is located remotely from each other, as not stalling for rotating disc is dynamic, upper empennage and lower empennage are periodically completed to pat up and down, to underwater robot
Thrust forward is produced, promotes underwater robot to move ahead；
2) underwater robot direction controlling：
Regulation motor rotates, and drives second connecting rod and first connecting rod to swing, drives upper pendulum bar to swing, by controlling to adjust electricity
The corner of machine, amplitude of fluctuation and shift in position to upper pendulum bar are completed, so as to reach the control to the underwater robot direction of motion.
3. beneficial effect
Compared to prior art, beneficial effects of the present invention are：
(1) double pendulum tail formula miniature underwater robot of the present invention is designed using bionic principle, has abandoned traditional underwater robot
The mode driven using propeller, driving is softer with advancing, and the driving to double tail is realized using single power source,
Empennage can utilize the restoring force of spring automatically revert to original position after swing, and carry out under the drive of rotating disc next
The swing in cycle, is driven using double tail, and operating efficiency is high, small volume, power foot, meets the use needs of deeper water,
And big noise will not be produced, it is friendly to surrounding environment；
(2) drive mechanism that double pendulum tail formula miniature underwater robot of the present invention uses, small in volume, can adapt in
Detection under microenvironment, and extreme environment can be entered and worked, the use range of underwater robot is on the one hand improved,
On the other hand the life for people provides convenient；
(3) double pendulum tail formula miniature underwater robot of the present invention realizes the driving to double tail using single power source,
Empennage can utilize the restoring force of spring automatically revert to original position after swing, and carry out under the drive of rotating disc next
The swing in cycle, swing freely, while be easy to the miniaturization of robot and the realization of lightness；
(4) double pendulum tail formula miniature underwater robot of the present invention changes the amplitude of oscillation of side empennage and angle using bar linkage structure
Degree, and then carry out the direction of advance of control machine people, without individually setting up steering mechanism, simplify the structure of robot so that machine
The overall structure of device people reduces, and is easy to the application in microminiature occasion；
(5) double pendulum tail formula miniature underwater robot of the present invention completes the driving of robot using double tail, and its work is former
Reason reduces noise during robot motion, when being detected under water, reduced similar to the gap sex work of biological muscles
Interference to aquatic organism, and add the disguise of robot；
(6) double pendulum tail formula miniature underwater robot of the present invention is designed by the arc surface of tooth top so that upper pendulum bar or the bottom
Bar continuity when swinging is more preferable, and avoids upper pendulum bar or draft link from producing and rock, and ensures that the action of upper pendulum bar and draft link becomes
In uniformity；
(7) control method of double pendulum tail formula miniature underwater robot of the present invention, step linking is orderly, and control method is novel.
Brief description of the drawings
Technical scheme is described in further detail below with reference to drawings and examples, but should
To know, these accompanying drawings only design for task of explanation, therefore not as the restriction of the scope of the invention.In addition, except non-specifically
Point out, these accompanying drawings are meant only to conceptually illustrate structure construction described herein, without to be drawn to scale.
Fig. 1 is the schematic diagram of double pendulum tail formula miniature underwater robot of the present invention；
Fig. 2 is double pendulum tail formula miniature underwater robot of the present invention along line A-A sectional view；
Fig. 3 is double pendulum tail formula miniature underwater robot of the present invention along line B-B sectional view；
Fig. 4 is the rotating disc structural representation of double pendulum tail formula miniature underwater robot of the present invention.
In figure：1st, body；2nd, pressure sensor；3rd, motor；4th, rotating disc；4-1, the first arc surface；4-2, second
Arc surface；4-3, three-arc face；5th, top sheave；6th, upper spring；7th, upper pendulum bar；8th, upper empennage；9th, lower sheave；10th, lower spring；
11st, draft link；12nd, lower empennage；13rd, first connecting rod；14th, second connecting rod；15th, regulation motor.
Embodiment
Accompanying drawing hereafter with reference to the detailed description of the exemplary embodiment of the present invention, the accompanying drawing forms one of description
Point, show the enforceable exemplary embodiment of the present invention as example in the figure.Although these exemplary embodiment quilts
Fully describe in detail to enable those skilled in the art to implement the present invention, it is to be understood that can realize other embodiment and
Can without departing from the spirit and scope of the present invention to the present invention various changes can be made.Hereafter to embodiments of the invention
More detailed description is not limited to required the scope of the present invention, and just to be illustrated and do not limit pair
The description of the features of the present invention and feature, to propose to perform the best mode of the present invention, and it is sufficient so that those skilled in the art
The present invention can be implemented.Therefore, the scope of the invention is only defined by the appended claims.
Hereafter detailed description of the present invention and example embodiment can be more fully understood with reference to accompanying drawing, wherein the present invention
Element and feature are identified by reference.
Embodiment 1
As shown in Figures 1 to 4, a kind of double pendulum tail formula miniature underwater robot of the invention, including body 1 and fish tail driving
Component, fish tail drive component include motor 3, rotating disc 4, on wag the tail mechanism and under wag the tail mechanism, motor 3 is with rotating
Disk 4 is connected and is fixed on body 1, and driving rotating disc 4 circles, mechanism of being wagged the tail in the driving of rotating disc 4 and under wag the tail machine
Structure opposing body 1 swings.
In Fig. 1, mechanism of being wagged the tail on of the invention includes upper spring 6, upper pendulum bar 7 and upper empennage 8, the structure of upper empennage 8
Copy true fish tail to be made, the head of upper pendulum bar 7 contacts with the line of rotating disc 4 or point, and the afterbody of upper pendulum bar 7 fixes upper empennage
8, the middle part of upper pendulum bar 7 is be hinged with body 1, and upper one end of spring 6 connects upper pendulum bar 7, and the other end is connected on body 1, upper spring 6
Reply for upper pendulum bar 7 provides pulling force；Mechanism of being wagged the tail under the present invention includes lower spring 10, draft link 11 and lower empennage 12, on
The structure of empennage 8 is copied true fish tail and is made, and the head of draft link 11 contacts with the line of rotating disc 4 or point, draft link 11
Afterbody fixes lower empennage 12, and the middle part of draft link 11 and body 1 are be hinged, and the one end of lower spring 10 connection draft link 11, the other end connects
It is connected on body 1, lower spring 10 provides pulling force for the reply of draft link 11.
In Fig. 4, rotating disc 4 of the invention is round tooth slotted disk, and round tooth slotted disk is provided with eight teeth groove, and the tooth of teeth groove
Top or tooth root are relative all the time, mechanism of wagging the tail in realization and under wag the tail mechanism action it is relative all the time when, it is necessary to by the He of upper pendulum bar 7
The head of draft link 11 is simultaneously positioned at the root or top of teeth groove.
What deserves to be explained is underwater robot of the invention uses double tail-swinging structures, in use, wanting to ensure in water
The work of double pendulum tail is used in relatively uniform, and this is highly difficult, on the one hand requires high to the fine degree of part, and on the other hand two
Coherence request between group parts action is high, and deviation occurs in one group of any of which, then can cause robot motion's appearance at present
Deviation, swung by repeatedly quick, error can be accumulated, and the movement locus for ultimately resulting in underwater robot is not controlled by people completely
System.
In the prior art, undisclosed related technology, inventor is by largely testing and mechanical analysis, by round tooth
The tooth top of slotted disk is designed as cambered surface, and cambered surface is connected and composed by the first arc surface, the second arc surface and three-arc face, the first circle
The radius in cambered surface and three-arc face is the 1/10-1/8 of the radius of gyration of upper pendulum bar 7 or draft link 11, the first circular arc here
The radius in face and three-arc face can be 1/10,1/9, the 1/8 of the radius of gyration of upper pendulum bar 7 or draft link 11, the second circular arc
The radius in face is the 1/8-1/4 of the radius of gyration of upper pendulum bar 7 or draft link 11, and the radius of the second arc surface here can be upper
1/8,1/7,1/6,1/5, the 1/4 of the radius of gyration of swing rod 7 or draft link 11.
In the present embodiment, the radius of the first arc surface, the second arc surface and three-arc face is upper pendulum bar 7 or draft link
The 1/8 of 11 radius of gyration, on the one hand it is easy to the processing of rotating disc 4, on the other hand invention is by carefully analyzing, mechanism of above wagging the tail
The contour shape of the amplitude of fluctuation for mechanism of being wagged the tail with and the teeth groove of rotating disc 4, the accurate control to underwater robot are played
Vital effect, being designed by the cambered surface of tooth top so that upper pendulum bar 7 or the continuity when swinging of draft link 11 are more preferable, and
Avoid upper pendulum bar 7 or draft link 11 from producing and rock, ensure the reaching unanimity property of action of upper pendulum bar 7 and draft link 11, while upper tail
The wing 8 and the lower amplitude of fluctuation of empennage 12 provide enough power for underwater robot more than 30 °, promote underwater robot to advance.
Embodiment 2
The double pendulum tail formula miniature underwater robot of the present embodiment, on the basis of embodiment 1, as shown in figure 1, upper pendulum bar 7
Head be provided with top sheave 5, the head of draft link 11 is provided with lower sheave 9, when rotating disc 4 rotates, upper pendulum bar 7 and draft link 11
It is sliding friction between rotating disc 4, on the one hand reduces friction of motion resistance, on the other hand reduce upper pendulum bar 7 and draft link
11 abrasion, extend the service life of upper pendulum bar 7 and draft link 11.
In addition, the radius of top sheave 5 and lower sheave 9 is consistent with the radius of the first arc surface or three-arc face, so
Structure cause top sheave 5 and lower sheave 9 and the first arc surface or three-arc face to seamlessly transit.
If upper pendulum bar 7 is dynamic friction with draft link 11 and rotating disc 4 so that the energy consumption of motor greatly increases, while can produce
Raw substantial amounts of heat, because underwater robot is in integrally sealing state, heat can not disperse, easily cause motor overheating and damage.
Embodiment 3
The double pendulum tail formula miniature underwater robot of the present embodiment, on the basis of embodiment 1, mechanism of above wagging the tail also includes the
One connecting rod 13, second connecting rod 14 and regulation motor 15, one end of second connecting rod 14 are connected with first connecting rod 13, the other end and regulation
The rotating shaft of motor 15 is connected, and regulation motor 15 is connected on body 1, and first connecting rod 13 and upper pendulum bar 7 are be hinged, using bar linkage structure come
Change the amplitude of oscillation and angle of side empennage, and then carry out the direction of advance of control machine people, without individually setting up steering mechanism, simplify
The structure of robot so that the overall structure of robot reduces, and is easy to the application in microminiature occasion.
Circular arc projection is provided with the lower surface of first connecting rod 13, at least two circular arcs are accordingly provided with body 1
Neck, and arc neck is located on the movement locus of first connecting rod 13.In the prior art, it is desirable to provide a set of new mechanism comes
Complete the steering of robot or there is no steering mechanism at all, the present inventor is led on the basis of design motivation mechanism
Bar linkage structure is crossed, realizes the regulation of steering, simultaneously because the circular arc of first connecting rod 13 is raised, the end of second connecting rod 14 is consolidated
It is fixed, understand that mechanism of above wagging the tail will not be produced and rocked, and ensure the accuracy used using triangle steadiness.
Embodiment 4
The double pendulum tail formula miniature underwater robot of the present embodiment, on the basis of embodiment 1, in addition to pressure sensor 2
(do not marked in figure) with controller, pressure sensor 2 is arranged on the front end of body 1, controller respectively with motor 3, regulation
Motor 15 and pressure sensor 2 are electrically connected, and the pressure signal of water is received by pressure sensor 2, and pressure sensor 2 feeds back
Signal to controller, then controller sends instruction, and motor 3 works.
Wherein, in actual applications, controller can select Arduino single-chip microcomputers, and Arduino is an open source code
Item of hardware platform, the platform includes one piece of circuit board for possessing simple I/O functions and a set of programming development environment software,
It can be used for developing interactive product, the peripheral device being connected with PC can also be developed, operationally can be entered with the software on PC
Row communication.
Wherein, in actual applications, underwater robot also includes battery (not marked in figure), and battery is lithium ion battery,
The center of gravity of battery position of centre of gravity and underwater robot is located on same vertical curve, keeps good steady posture, has sensitive
Reaction speed and efficient dynamic performance.
Embodiment 5
The double pendulum tail formula miniature underwater robot described based on above-described embodiment 4, its control method include walking in detail below
Suddenly：
1) underwater robot, which advances, controls：
Make the feedback pressure signal of pressure sensor 2 to controller, controller sends instruction, the rotational band turn of motor 3
Moving plate 4 is per minute to rotate 60 circles, and top sheave 5 and lower sheave 9 are pressed in the circular teeth groove of rotating disc 4, when rotating disc 4 rotates one
When determining angle, top sheave 5 and lower sheave 9 slide into tooth top from the tooth root of the circular teeth groove of rotating disc 4, drive upper pendulum bar 7 and the bottom
Bar 11 is swung, and upper empennage 8 and lower empennage 12 are close to each other, when rotating disc 4 is rotated further certain angle, top sheave 5 and downslide
Wheel 9 slides into tooth root from the tooth top of the circular teeth groove of rotating disc 4, drives upper pendulum bar 7 and draft link 11 to swing, upper empennage 8 and lower tail
The wing 12 is located remotely from each other, and as not stalling for rotating disc 4 is dynamic, upper empennage 8 and lower empennage 12 periodically complete beating up and down, to water
Lower robot produces thrust forward, promotes underwater robot to move ahead；
2) underwater robot direction controlling：
Controller is set to send instruction, regulation motor 15, which rotates, drives second connecting rod 14 and first connecting rod 13 to swing, in drive
Swing rod 7 is swung, and by controlling to adjust the corner of motor 15, amplitude of fluctuation and shift in position to upper pendulum bar 7 is completed, to underwater machine
The control of device people's direction of motion.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent change and modification made to above example, in the range of still falling within technical solution of the present invention.
Claims (10)
1. a kind of double pendulum tail formula miniature underwater robot, it is characterised in that including body (1) and fish tail drive component, the fish
Tail drive component include motor (3), rotating disc (4), on wag the tail mechanism and under wag the tail mechanism, motor (3) is with rotating
Disk (4) is connected and is fixed on body (1), and driving rotating disc circles, wagged the tail in rotating disc (4) driving mechanism and the bottom
Tail mechanism opposing body (1) swings.
2. double pendulum tail formula miniature underwater robot according to claim 1, it is characterised in that mechanism of being wagged the tail on described includes
Upper spring (6), upper pendulum bar (7) and upper empennage (8), the head of upper pendulum bar (7) contact with rotating disc (4) line or point, upper pendulum bar (7)
Afterbody fix upper empennage (8), upper pendulum bar (7) is be hinged with body (1), upper spring (6) one end connection upper pendulum bar (7), the other end
It is connected on body (1).
3. double pendulum tail formula miniature underwater robot according to claim 2, it is characterised in that mechanism of being wagged the tail under described includes
Lower spring (10), draft link (11) and lower empennage (12), the head of draft link (11) contact with rotating disc (4) line or point, the bottom
The afterbody of bar (11) fixes lower empennage (12), and draft link (11) is be hinged with body (1), lower spring (10) one end connection draft link
(11), the other end is connected on body (1).
4. double pendulum tail formula miniature underwater robot according to claim 3, it is characterised in that the rotating disc (4) is circle
Shape teeth groove disk, round tooth slotted disk is provided with even number teeth groove, and the tooth top of teeth groove or tooth root are relative all the time.
5. double pendulum tail formula miniature underwater robot according to claim 4, it is characterised in that the tooth of the round tooth slotted disk
Push up and connected and composed for cambered surface, cambered surface by the first arc surface (4-1), the second arc surface (4-2) and three-arc face (4-3), first
Arc surface (4-1) and three-arc face (4-3) radius are the 1/10-1/ of the radius of gyration of upper pendulum bar (7) or draft link (11)
8, the radius of the second arc surface (4-2) is upper pendulum bar (7) or the 1/8-1/4 of the radius of gyration of draft link (11).
6. double pendulum tail formula miniature underwater robot according to claim 5, it is characterised in that described upper pendulum bar (7)
Head is provided with top sheave (5), and the head of draft link (11) is provided with lower sheave (9).
7. double pendulum tail formula miniature underwater robot according to claim 6, it is characterised in that described top sheave (5) and
The radius of lower sheave (9) is consistent with the radius of the first arc surface (4-1) or three-arc face (4-3).
8. the double pendulum tail formula miniature underwater robot according to any one of claim 1 to 7, it is characterised in that the upper pendulum
Tail mechanism also includes first connecting rod (13), second connecting rod (14) and regulation motor (15), one end and first of second connecting rod (14)
Connecting rod (13) is connected, and the other end is connected with regulation motor (15) rotating shaft, and regulation motor (15) is connected on body (1), and first connects
Bar (13) is be hinged with upper pendulum bar (7).
9. double pendulum tail formula miniature underwater robot according to claim 8, it is characterised in that also including pressure sensor
(2) and controller, pressure sensor (2) is arranged on the front end of body (1), controller respectively with motor (3), regulation motor
(15) it is electrically connected with pressure sensor (2).
10. a kind of control method of double pendulum tail formula miniature underwater robot, it is characterised in that including step in detail below：
1) underwater robot, which advances, controls：
Make the pressure sensor (2) feedback pressure signal to controller, controller sends instruction, motor (3) rotational band
Turn Moving plate (4) is rotated, and top sheave (5) and lower sheave (9) are pressed in the circular teeth groove of rotating disc (4), when rotating disc (4) turns
During dynamic certain angle, top sheave (5) and lower sheave (9) slide into tooth top from the tooth root of rotating disc (4) circular teeth groove, are put in drive
Bar (7) and draft link (11) are swung, and upper empennage (8) and lower empennage (12) are close to each other, when rotating disc (4) is rotated further certain angle
When spending, top sheave (5) and lower sheave (9) slide into tooth root from the tooth top of rotating disc (4) circular teeth groove, drive upper pendulum bar (7) and
Draft link (11) is swung, and upper empennage (8) and lower empennage (12) are located remotely from each other, as not stalling for rotating disc (4) is dynamic, upper empennage
(8) and lower empennage (12) periodically completes beating up and down, and thrust forward is produced to underwater robot, promotes underwater robot
Move ahead；
2) underwater robot direction controlling：
The controller is set to send instruction, regulation motor (15), which rotates, drives second connecting rod (14) and first connecting rod (13) to swing,
Drive upper pendulum bar (7) to swing, by controlling to adjust the corner of motor (15), complete the amplitude of fluctuation to upper pendulum bar (7) and position
Change, the control to the underwater robot direction of motion.
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| CN201710644704.6A CN107380387A (en) | 2017-07-31 | 2017-07-31 | A kind of double pendulum tail formula miniature underwater robot and its control method |
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| CN201710644704.6A CN107380387A (en) | 2017-07-31 | 2017-07-31 | A kind of double pendulum tail formula miniature underwater robot and its control method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109188408A (en) * | 2018-11-13 | 2019-01-11 | 中科探海(苏州)海洋科技有限责任公司 | A kind of plate sonar towed body |
| CN109835455A (en) * | 2019-01-21 | 2019-06-04 | 西安交通大学 | A kind of flexible imitative tail fin propeller of link mechanism driving |
| CN110925522A (en) * | 2019-11-01 | 2020-03-27 | 安徽工程大学 | Automatic pipeline cleaning machine |
| CN111605685A (en) * | 2020-05-07 | 2020-09-01 | 中国计量大学 | Jellyfish-like detector |
| CN114056520A (en) * | 2021-12-22 | 2022-02-18 | 华中科技大学 | Self-powered floating type bionic ocean exploration turtle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109188408A (en) * | 2018-11-13 | 2019-01-11 | 中科探海(苏州)海洋科技有限责任公司 | A kind of plate sonar towed body |
| CN109188408B (en) * | 2018-11-13 | 2023-11-10 | 中科探海(苏州)海洋科技有限责任公司 | Flat sonar towed body |
| CN109835455A (en) * | 2019-01-21 | 2019-06-04 | 西安交通大学 | A kind of flexible imitative tail fin propeller of link mechanism driving |
| CN110925522A (en) * | 2019-11-01 | 2020-03-27 | 安徽工程大学 | Automatic pipeline cleaning machine |
| CN111605685A (en) * | 2020-05-07 | 2020-09-01 | 中国计量大学 | Jellyfish-like detector |
| CN111605685B (en) * | 2020-05-07 | 2021-04-23 | 中国计量大学 | Jellyfish-like detector |
| CN114056520A (en) * | 2021-12-22 | 2022-02-18 | 华中科技大学 | Self-powered floating type bionic ocean exploration turtle |
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Application publication date: 20171124 |