CN107472472A - Hydroplaning Bionic water strider robot - Google Patents
Hydroplaning Bionic water strider robot Download PDFInfo
- Publication number
- CN107472472A CN107472472A CN201710561918.7A CN201710561918A CN107472472A CN 107472472 A CN107472472 A CN 107472472A CN 201710561918 A CN201710561918 A CN 201710561918A CN 107472472 A CN107472472 A CN 107472472A
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- China
- Prior art keywords
- frame
- leg
- skating
- water
- hydroplaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 241001489698 Gerridae Species 0.000 title claims abstract description 36
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 22
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims abstract description 6
- 229920000715 Mucilage Polymers 0.000 claims abstract description 5
- 239000000853 adhesive Substances 0.000 claims abstract description 5
- 230000027455 binding Effects 0.000 claims abstract description 5
- 238000009739 binding Methods 0.000 claims abstract description 5
- 230000003075 superhydrophobic effect Effects 0.000 claims abstract description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 239000004033 plastic Substances 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 48
- 241000630329 Scomberesox saurus saurus Species 0.000 abstract description 14
- 230000033001 locomotion Effects 0.000 abstract description 9
- 238000012545 processing Methods 0.000 abstract description 5
- 238000007667 floating Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 239000003381 stabilizer Substances 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 12
- 238000010276 construction Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000005173 gliding motility Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000002209 hydrophobic effect Effects 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- 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
- B63H1/32—Flaps, pistons, or the like, reciprocating in propulsive direction
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of hydroplaning Bionic water strider robot, belongs to bio-robot field, including frame and skating leg, and frame both sides are symmetrically installed with least 3 pairs of skating legs；Skating leg is made using a diameter of 0.2mm~0.3mm copper wire, and one end flips up the bottom surface for being connected to frame, and the other end is upturned into 120 °~140 °；The surface of skating leg is coated using super hydrophobic material；The front-end and back-end of frame at least one end is provided with propeller and drives the motor of propeller rotational；In frame, propeller is connected motor mucilage binding with motor shaft close-fitting.Skating leg is made using copper wire, difficulty of processing can be reduced, improve supporting stabilizer and deformation extent, simultaneously, the other end of skating leg is upturned, skating leg is more smoothly slided, reduce resistance, obtain larger movement velocity as much as possible in motion process, can the stable floating on the water surface using the tension force of water surface as water skipper, the structure of the water strider robot is simple, small volume and manufacturing cost are low.
Description
Technical field
The present invention relates to bio-robot field, specifically, be related to it is a kind of can planking Bionic water strider machine
Device people.
Background technology
Water skipper is a kind of small-sized aquatic insect being common in river and pond, changeable natural environment is suitable for, can be with
The motion slided and jumped on the water surface.Meanwhile it is adapted to the wave of the water surface and is fluctuated caused by a variety of causes
And ensure that leg is not wetted, act on one's own.This be mainly all attributed to the fact that the super-hydrophobicity of water skipper enable adaptation to as the water surface this
The flexible fluid non-structure environment of sample, not only will not submerged, and can quickly move, have motion flexible, to the water surface
Destruction it is small, noise is small, it is disguised extremely strong the features such as.This causes Bionic water strider robot in the detecting of inner-walls of duct, water quality prison
Survey, monitoring environmental data, military surveillance etc. are widely used.In recent years, opened by water skipper aquatic sports mechanism
Send out, scientists wish that a kind of small-sized water surface activities robot can be developed, can be as water skipper, in the nature of complexity
Can be while again light and handy enough and flexibly with normal operation in environment.
Publication No. is that CN102556318A Chinese patent literature discloses a kind of Bionic water strider robot, mainly including machine
Frame, two legs of striking of front and rear four supporting legs being symmetrically mounted in frame and middle left and right, steering wheel component and control circuit, draw
The water leg leg that includes striking is struck and mechanism and struck leg leg lifting mechanism, and steering wheel component includes strike steering wheel component and lift leg steering wheel group
Part；Upper connecting rod, middle connecting rod and floating support leg, the upper connecting rod that supporting leg includes being sequentially connected are connected with frame；Strike
Leg mechanism of striking is four-bar mechanism；Leg leg lifting mechanism of striking is parallel-crank mechanism；Leg of striking strike mechanism and strike leg lift
Leg mechanism is installed in series, and is cooperated and moved by controlling organization.The invention can realize the arm stroke of water skipper, load energy
Power is strong, and translational speed is fast, but its is inefficient, and self vibration is larger, and without the ability of reply stormy waves.
Publication No. is that CN104229087A Chinese patent literature discloses a kind of imitative water skipper hydroplaning robot.It is wrapped
Including rack, driving leg and supporting leg, frame include base, axle one, axle two, axle three and axle four, and driving leg includes driving leg support, axle
5th, axle six, axle seven, axle eight, cam wheel, swinging kick frame, axle nine, swinging kick, DC micromotor, worm screw, worm-gear toothing, double-layered tooth
Wheel and connecting rod；Two driving legs are symmetrically mounted at left and right sides of frame, and a plurality of supporting leg is located in same level and right respectively
Claim the front-end and back-end for being fixed on frame.The invention is used to imitate water skipper water sports robot.The invention solves the existing water surface
Robot can not fundamentally realize to water skipper hydroplaning movement mechanism it is bionical the problem of, but its cost is high, and manufacture is difficult,
And installation accuracy requires high.
The content of the invention
Low cost, small volume, weight can be achieved to provide a kind of hydroplaning Bionic water strider robot in the purpose of the present invention
Gently, the features such as simple in construction, good concealment, big load-carrying surplus.
To achieve these goals, hydroplaning Bionic water strider robot provided by the invention includes frame and skating leg,
The both sides of frame are symmetrically installed with least 3 pairs of skating legs；Skating leg using a diameter of 0.2mm~0.3mm copper wire make and
Into its one end flips up the bottom surface for being connected to frame, and the other end is upturned into 120 °~140 °；The surface of skating leg uses
Super hydrophobic material is coated；The front end and/or rear end of frame are provided with propeller and drive the motor of propeller rotational；Motor
In frame, propeller is connected mucilage binding with motor shaft close-fitting.
In above-mentioned technical proposal, the overall weight about 4.65g of water strider robot, 1.15g weight can be carried, by skating leg
Installation end flip up after be connected to the bottom surface of frame, it, which turns down end, can play a part of frames, be easy to frame drift
Float on the surface.Skating leg is made using copper wire, difficulty of processing can be reduced, improve supporting stabilizer and deformation extent, meanwhile, it is sliding
The other end of row leg is upturned, and skating leg is more smoothly slided, and reduces resistance, is obtained as much as possible in motion process
Larger movement velocity, it is upturned into 120 °~140 ° and is so that water strider robot skating leg during striking is not easy to puncture
The preferred angle scope of the water surface, can as water skipper using water surface tension force on the water surface stably adrift, and enter
Row gliding motility, surface coat hydrophobic material to provide enough surface tension, it is possessed ultra-hydrophobicity, using super thin
The water-based leg stroke water surface carries out sliding on the water surface, realizes the gliding motility for imitating water skipper on the water surface.The water strider robot
Simple in construction, small volume and manufacturing cost is low, it can be widely applied to the fields such as military investigation and water quality monitoring.
Preferably, the angle between the two neighboring skating leg of frame the same side is 15 °~20 °.The angle is set
Degree scope is in order to avoid because skating leg is too intensive or too sparse and influence to slide effect.
Preferably, frame is decussate texture, its thickness is 0.18~0.23mm.Decussate texture is easy to carry motor
And other microsensors, microchip etc., while facilitate being symmetrically installed for skating leg.0.18~0.23mm thickness is set
So that frame is more prone to float on the water surface in the case where ensureing itself load scope.
It is further preferred that frame is handled to obtain by aluminium flake by wire cutting.Because the shape of frame is regular and thickness is small,
Cost can be reduced using wire cutting.
Preferably, the rear and front end of frame is mounted on propeller and drives the motor of propeller rotational.Two spirals
Oar operates simultaneously, and power is slided in increasing, makes sliding speed of the water strider robot in water faster.
Further preferably motor is DC micromotor.The small volume of DC micromotor, and its performance completely can be with
Meet the requirement for carrying Bionic water strider robot.
Preferably, it is 59mm~89mm to slide leg length.The length range can reach optimal and slide effect.
Preferably, propeller is two blade propeller, it is made of thin plastic.Two blade propeller can be driven with positive direction
It is dynamic, reduction own wt is made using thin plastic so that overall to divide toward lightweight to development.
Overall preferred scheme, the thickness of frame is 0.2mm；It is 89mm to slide leg length, a diameter of 0.3mm, end end
The angle flipped up is 135 °, and the angle between adjacent two skating leg 1 is 15 °.Based on this, water strider robot of the invention
Integrated machine height 12.4cm, wide 10.3cm, possess low cost, small volume, in light weight, simple in construction, good concealment, load-carrying surplus
The advantages that big, build is sufficiently small to adapt to more complex environment.
Compared with prior art, beneficial effects of the present invention are：
The hydroplaning Bionic water strider robot of the present invention can realize low cost, water strider robot hydroplaning is miniaturized
Action.The effect that its cost is low, small volume, in light weight, simple in construction, good concealment, load-carrying surplus are big, realizes and imitates water skipper
The motion slided is completed on the water surface, while can be used for studying other biological surface motions mechanism and its bionics such as water skipper
The further research of aspect.
Brief description of the drawings
Fig. 1 is the top view of the embodiment of the present invention；
Fig. 2 is the stereogram of the embodiment of the present invention；
Fig. 3 is the front view of the embodiment of the present invention；
Fig. 4 is the front view of the skating leg of the present invention；
Fig. 5 is the frame schematic diagram of the present invention；
Wherein：1st, skating leg；2nd, motor；3rd, propeller；4th, frame.
Embodiment
With reference to embodiments and its accompanying drawing the invention will be further described.
Embodiment
Referring to Fig. 1 and Fig. 2, hydroplaning Bionic water strider robot includes frame 4, skating leg 1, propeller 3 and motor 2.
Wherein, skating leg 1 is symmetrically mounted on the left and right sides of frame 4.Propeller 3 is two blade propeller, and uses frivolous plastics system
Form, be connected with the output shaft close-fitting of motor 2.Motor 2 is DC micromotor, and is fixedly connected on frame 4 by mucilage binding
On, for driving propeller 3 to rotate to drive Bionic water strider robot to slide forward.
Referring to Fig. 5, frame 4 is a 0.18~0.23mm of thickness cross platform, and wire cutting processing is done by 2mm aluminium flake
Obtain, decussate texture is easy to carry micromachine and other microsensors, microchip etc., while facilitates skating leg 1
Installation.Water strider robot is under floating on water state, and aluminum frame is at water surface 7mm.
In the present embodiment, the skating leg 1 provided with 5 pairs of left and right sides for being symmetrically distributed in frame 4 altogether, adjacent two skating leg 1
Between angle be 15 °~20 °；Set two electrode propeller groups altogether, two motors 2 distinguish mucilage bindings in the front and rear part of frame 4, two
Propeller operates simultaneously, and power is slided in increasing, makes sliding speed of the water strider robot in water faster.
Referring to Fig. 3 and Fig. 4, the length of skating leg 1 is 59mm~89mm, select 0.2mm~0.3mm copper wire make and
Into, and super hydrophobic material coating processing, the comprehensive surface tension obtained on the water surface and deadweight are passed through in surface, wall scroll leg can
The support force of offer is 0.59g.One end of skating leg 1 flips up 90 ° of bottom surfaces for being connected to frame 4, and the other end flips up
Into 120 °~140 °, so that skating leg 1 more smoothly slides in a fluid, so as to reduce overall resistance, in gliding motility
During obtain bigger speed as much as possible.Measured by testing, the water strider robot can reach most fast straight line fortune on the water
Dynamic speed is 6cm/s, and the tolerable wave of maximum is 1.5Hz, and wave height is about 10mm.
To reach maximum in view of both hydrophobic performance and surface support power, the length of skating leg 1 of the present embodiment design is excellent
Elect 89mm as, diameter is preferably 0.3mm, and the angle that end end flips up is preferably 135 °, between adjacent two skating leg 1
Angle is preferably 15 °.Based on this, water strider robot integrated machine the height 12.4cm, wide 10.3cm of the present embodiment.
The course of work of the present embodiment is as follows：
Bionic water strider robot will be slided smoothly to be positioned on the water surface in waters, by the frame 4 for being mounted in aluminum
On the motor 2 of minisize dc type power, rotate the propeller 3 that its driving is connected with motor 2, so as to drive water skipper leg 1 to
Before slide, realize the emulation of water strider robot hydroplaning mechanism.
Because super hydrophobic material coating processing mistake is passed through on the surface of copper skating leg 1, thus there is super-hydrophobicity, can feed water
Mian is swum on the water surface robot stabilizedly provides support force as big as possible, and this support force is essentially from of water surface
It power, can ideally be floated using surface tension on the water surface, realize the bionical machine to water strider robot floating on water well
The research of reason.
It is some it is special in the case of, can utilize water strider robot carry microchip or microsensor realize it is special
Determine the special duty in field, and the Bionic water strider robot that slides that the present embodiment proposes has low cost, small volume, weight
Gently, the advantages that simple in construction, good concealment, big load-carrying surplus, can be very good to be applied to the necks such as military investigation and water quality monitoring
Domain.
Need to illustrate it is following some：
The preferable implementation example of the present invention is the foregoing is only, the embodiment being not intended to limit the invention is all at this
Within spirit and principle, any modification, equivalent substitution and improvements made etc., protection scope of the present invention should be included in
Within.
Claims (8)
1. a kind of hydroplaning Bionic water strider robot, including frame and skating leg, it is characterised in that：
The both sides of described frame are symmetrically installed with the skating leg at least described in 3 pairs；
The skating leg is made using a diameter of 0.2mm~0.3mm copper wire, and its one end, which flips up, is connected to frame
Bottom surface, the other end are upturned into 120 °~140 °；
The surface of the skating leg is coated using super hydrophobic material；
The front end and/or rear end of the frame are provided with propeller and drive the motor of propeller rotational；
In the frame, the propeller is connected the motor mucilage binding with motor shaft close-fitting.
2. hydroplaning Bionic water strider robot according to claim 1, it is characterised in that：
Angle between the two neighboring described skating leg of frame the same side is 15 °~20 °.
3. hydroplaning Bionic water strider robot according to claim 1, it is characterised in that：
Described frame is decussate texture, and its thickness is 0.18~0.23mm.
4. hydroplaning Bionic water strider robot according to claim 3, it is characterised in that：
Described frame is handled to obtain by aluminium flake by wire cutting.
5. hydroplaning Bionic water strider robot according to claim 1, it is characterised in that：
The rear and front end of described frame is mounted on the motor of described propeller and the driving propeller rotational.
6. hydroplaning Bionic water strider robot according to claim 5, it is characterised in that：
Described motor is DC micromotor.
7. hydroplaning Bionic water strider robot according to claim 1, it is characterised in that：
The described leg length that slides is 59mm~89mm.
8. hydroplaning Bionic water strider robot according to claim 1, it is characterised in that：
Described propeller is two blade propeller, is made of thin plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710561918.7A CN107472472A (en) | 2017-07-11 | 2017-07-11 | Hydroplaning Bionic water strider robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710561918.7A CN107472472A (en) | 2017-07-11 | 2017-07-11 | Hydroplaning Bionic water strider robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107472472A true CN107472472A (en) | 2017-12-15 |
Family
ID=60595035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710561918.7A Pending CN107472472A (en) | 2017-07-11 | 2017-07-11 | Hydroplaning Bionic water strider robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107472472A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145752A (en) * | 2018-01-15 | 2018-06-12 | 华南理工大学 | A kind of marmem supporting leg of water strider robot and its preparation and operation |
| CN109795638A (en) * | 2019-03-11 | 2019-05-24 | 郑州大学 | A kind of imitative water skipper water surface jump mobile robot |
| CN111098647A (en) * | 2019-12-20 | 2020-05-05 | 中国运载火箭技术研究院 | Amphibious microminiature detection robot with variable configuration |
| CN112339957A (en) * | 2020-10-12 | 2021-02-09 | 东北电力大学 | Modal-driven water strider type bionic robot |
| CN113562128A (en) * | 2021-07-28 | 2021-10-29 | 哈尔滨工业大学 | Water surface jumping robot |
| CN113954591A (en) * | 2021-09-23 | 2022-01-21 | 北京航空航天大学 | Electromagnetic-driven miniature amphibious robot |
| CN114055427A (en) * | 2021-12-13 | 2022-02-18 | 哈尔滨工业大学 | Water strider magnet imitating micro robot with flexible hinge and motion control method thereof |
| CN114194341A (en) * | 2021-12-20 | 2022-03-18 | 杭州电子科技大学 | Overwater self-driven photographing robot and using method thereof |
| CN114228982A (en) * | 2021-11-30 | 2022-03-25 | 重庆交通大学绿色航空技术研究院 | Unmanned aerial vehicle support |
| CN116812090A (en) * | 2023-06-30 | 2023-09-29 | 深圳大学 | Greasy dirt absorption imitation water-strider robot based on solar drive |
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| CN203318656U (en) * | 2013-07-16 | 2013-12-04 | 韩颖骏 | Bionic water strider robot |
| CN104071307A (en) * | 2014-07-10 | 2014-10-01 | 哈尔滨工业大学 | Spiral driving type water surface robot |
| CN104229087A (en) * | 2014-10-08 | 2014-12-24 | 哈尔滨工业大学 | Hydroplaning robot imitating water strider |
| CN207029493U (en) * | 2017-07-11 | 2018-02-23 | 浙江大学 | Hydroplaning Bionic water strider robot |
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| CN104071307A (en) * | 2014-07-10 | 2014-10-01 | 哈尔滨工业大学 | Spiral driving type water surface robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145752A (en) * | 2018-01-15 | 2018-06-12 | 华南理工大学 | A kind of marmem supporting leg of water strider robot and its preparation and operation |
| CN108145752B (en) * | 2018-01-15 | 2023-10-13 | 华南理工大学 | Shape memory alloy supporting leg of water strider robot and preparation and operation thereof |
| CN109795638A (en) * | 2019-03-11 | 2019-05-24 | 郑州大学 | A kind of imitative water skipper water surface jump mobile robot |
| CN111098647B (en) * | 2019-12-20 | 2022-02-01 | 中国运载火箭技术研究院 | Amphibious microminiature detection robot with variable configuration |
| CN111098647A (en) * | 2019-12-20 | 2020-05-05 | 中国运载火箭技术研究院 | Amphibious microminiature detection robot with variable configuration |
| CN112339957A (en) * | 2020-10-12 | 2021-02-09 | 东北电力大学 | Modal-driven water strider type bionic robot |
| CN113562128A (en) * | 2021-07-28 | 2021-10-29 | 哈尔滨工业大学 | Water surface jumping robot |
| CN113954591A (en) * | 2021-09-23 | 2022-01-21 | 北京航空航天大学 | Electromagnetic-driven miniature amphibious robot |
| CN113954591B (en) * | 2021-09-23 | 2023-12-22 | 北京航空航天大学 | Electromagnetic driven miniature amphibious robot |
| CN114228982A (en) * | 2021-11-30 | 2022-03-25 | 重庆交通大学绿色航空技术研究院 | Unmanned aerial vehicle support |
| CN114055427A (en) * | 2021-12-13 | 2022-02-18 | 哈尔滨工业大学 | Water strider magnet imitating micro robot with flexible hinge and motion control method thereof |
| CN114194341A (en) * | 2021-12-20 | 2022-03-18 | 杭州电子科技大学 | Overwater self-driven photographing robot and using method thereof |
| CN114194341B (en) * | 2021-12-20 | 2022-11-18 | 杭州电子科技大学 | Overwater self-driven photographing robot and using method thereof |
| CN116812090A (en) * | 2023-06-30 | 2023-09-29 | 深圳大学 | Greasy dirt absorption imitation water-strider robot based on solar drive |
| CN116812090B (en) * | 2023-06-30 | 2024-06-14 | 深圳大学 | Greasy dirt absorption imitation water-strider robot based on solar drive |
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Application publication date: 20171215 |