CN108528666B - Ray-imitating underwater robot - Google Patents
Ray-imitating underwater robot Download PDFInfo
- Publication number
- CN108528666B CN108528666B CN201810249697.4A CN201810249697A CN108528666B CN 108528666 B CN108528666 B CN 108528666B CN 201810249697 A CN201810249697 A CN 201810249697A CN 108528666 B CN108528666 B CN 108528666B
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- Prior art keywords
- differential
- motor
- wheel
- wheel set
- gear
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
Abstract
The invention discloses a ray-imitating underwater robot, which consists of a main body frame, a battery, a control module, a water pump, a tail assembly and a plurality of pairs of fluctuation rods; the motor is positioned at the head of the main body frame and fixedly connected with the first-stage transmission wheel set through a coupling, the differential motion fluctuation structures on the two sides correspond to one motor respectively, the motor inputs power to enable the structure to move, and the motor is connected with the control module and forms a bionic differential motion fluctuation structure with the transmission wheel set through differential motion; the pairs of the fluctuation rods are connected with the soft membrane, so that the bionic mechanical simulation and the appearance simulation of the ray are realized. The tail connecting piece is connected with the steering engine fixing piece, and the tail component realizes the functions of auxiliary advancing and steering; the water storage cabin and the water pump are carried to realize sinking and floating movement. The bionic ray underwater robot has the characteristics of small volume, light weight, strong three-dimensional motion capability and flexible action; the robot can carry out underwater work of various environmental water quality detections and underwater detection activities, and has wide application prospect.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an underwater robot taking ray as a bionic object.
Background
At present, conventional propeller propellers are mostly adopted by common unmanned underwater vehicles, such as Autonomous Underwater Vehicles (AUV), remote controlled underwater vehicles (ROV), and the like. The propeller propulsion technology has irreplaceable advantages in practical application, and both theoretical research and practical application are mature; but the method has the defects of large noise, large disturbance to the environment, poor motion flexibility and concealment and limited application occasions. The fish in the wave fin propulsion mode represented by ray has superior advantages in concealment and energy saving. At present, the bionics of the ray is less researched, and the ray is necessary to be used as a bionic object for research.
The invention patent CN201610120449.0 discloses a sea purse-imitated propelling device. The propelling device comprises a motor for providing power, a rocker, a connecting rod, a pinion, a gearwheel, a transmission shaft, a gearwheel support, a motor support, a long shaft support and a base, wherein the rocker is arranged on the motor; the device drives the transmission shaft to rotate through the motor, the transmission shaft drives the small gear and the large gear to rotate, the large gear drives the connecting rod to move through the short shaft, and the connecting rod drives the rocker to move. Because the short shaft is eccentrically fixed relative to the large gear, the short shaft does circular motion under the drive of the large gear and simultaneously drives the connecting rod to swing, and the swinging of the connecting rod drives the rocker to swing. In order to enable the rocker to generate a fluctuation effect and further generate a propelling force, the short shafts on the large gears in different directions along the transmission shaft are sequentially fixed on the large gears at a certain angle; and a flexible film is adopted to connect adjacent rocking bars. The wave effect is realized through the wheel train. However, the gear train has a simple structure, so that the differential wave motion process of the ray is not really simulated, and only a wave-type propulsion device is adopted.
Disclosure of Invention
In order to avoid the defects in the prior art, the invention provides a bionic ray underwater robot; the robot realizes the simulation of a bionic machine and the simulation of the appearance of the ray through a bionic differential fluctuation structure consisting of a differential motion and a transmission wheel set; the embarkation water storage cabin is utilized to realize the sinking and floating functions. The robot has the characteristics of small volume, light weight, strong three-dimensional motion capability and flexible action; the robot can carry out underwater operation of various environmental water quality detections and underwater detection activities, and has wide application prospect.
The invention solves the technical problems by adopting the technical scheme that the device comprises a main body frame, a battery, a control module, a water pump, a motor, a fluctuation rod and a tail component, wherein the main body frame comprises a transmission wheel set, a differential wheel set, a middle plate, an upper cover plate, a lower cabin plate and a head part, the middle plate is respectively and fixedly connected with the upper cover plate, the lower cabin plate, the head part and the tail component, and the transmission wheel set and the differential wheel set are connected with the fluctuation rod corresponding to two sides along the axial direction of the middle plate according to the head part;
the transmission wheel sets comprise a first gear, a second gear, a transmission shaft and two rotating disks, the transmission wheel sets are multiple and are symmetrically installed along the axial central line of the middle plate, the first gear is fixedly connected with the differential connecting shaft, the second gear and the two rotating disks are positioned on each level of positioning holes of the middle plate through the transmission shaft, the second gear and the two rotating disks are meshed with the first gear coaxially and fixedly connected with the differential connecting shaft to input power to the first gear fixedly connected with the transmission shaft, and the power is output through the two rotating disks; the slide block is coaxially connected with each rotating disk positioning hole, and the positioning slide block is coaxially connected with the positioning hole in the middle plate;
the differential wheel set comprises a first sun wheel, a second sun wheel, a first planet wheel, a second planet wheel, a planet carrier and a differential connecting shaft, the first sun wheel and the second sun wheel are axially positioned on the positioning holes of the middle plate through the differential connecting shaft respectively, the first planet wheel and the second planet wheel are axially positioned at two ends of the planet carrier, and a main shaft of the planet carrier is coaxial with the differential connecting shaft, so that differential assembly is realized; each stage of differential wheel set is input with power by the first sun wheel and is in meshing transmission with the first planet wheel, the second planet wheel and the second sun wheel, so that differential speed reduction is realized; the transmission wheel set and the differential wheel set form a single-side fluctuation transmission structure;
the wave bars are in multiple pairs and comprise a first wave bar, a second wave bar, a third wave bar, a fourth wave bar, a fifth wave bar and a sixth wave bar, each pair of wave bars is symmetrically installed, two positioning shafts of the corresponding wave bars sequentially penetrate through a sliding block on the transmission wheel set and a corresponding positioning sliding block, and the root planes of the positioning shafts of the wave bars and the external planes of the positioning sliding blocks are fixed in a coplanar manner;
the motor and motor connecting piece is fixedly connected with the head of the main body frame, and the head is fixedly connected with the middle plate; the motor is connected with the first-stage transmission wheel set through a coupler, the differential fluctuation structures on the two sides correspond to one motor respectively, the motor inputs power to enable the structure to move, and the motor is connected with the control module through a lead;
the battery, the control module and the water pump are fixed in the lower cabin plate, the water inlet of the water pump is communicated with the outside through a hose, the water outlet of the water pump is connected with the water storage cabin in the lower cabin plate, and the water inlet amount of the water storage cabin is controlled through the water pump to realize floating and sinking movement; the battery is respectively connected with the motor, the control module and the water pump for power supply;
the tail assembly comprises a tail connecting piece, a steering engine fixing piece, a steering engine U-shaped piece and a tail vane, wherein the tail connecting piece is connected with the steering engine fixing piece and fixedly connected with the middle plate through a screw; the tail assembly realizes the functions of auxiliary advancing and steering.
Every two transmission wheel sets are meshed with the differential wheel set, and the gear module in each wheel set is 1.
The flexible membrane is connected with a plurality of pairs of wave bars.
Advantageous effects
The invention provides a ray-imitating underwater robot, which consists of a main body frame, a battery, a control module, a water pump, a tail assembly and a plurality of pairs of fluctuation rods; the motor is positioned at the head of the main body frame and fixedly connected with the first-stage transmission wheel set through a coupling, the differential fluctuation structures on two sides correspond to one motor respectively, the motor inputs power to enable the structure to move, the motor is connected with the control module, the pairs of fluctuation rods are connected with the soft membrane through the bionic differential fluctuation structure formed by the differential wheel and the transmission wheel, and the bionic mechanical simulation and the appearance simulation of the ray are realized. The tail connecting piece is connected with the steering engine fixing piece, and the tail component realizes the functions of auxiliary advancing and steering; the water storage cabin and the water pump are carried to realize sinking and floating movement. The bionic ray underwater robot has the characteristics of small volume, light weight, strong three-dimensional motion capability and flexible and convenient action; the robot can carry out underwater work of various environmental water quality detections and underwater detection activities, and has wide application prospect.
Drawings
The underwater robot for the bionic ray of the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
Fig. 1 is an axonometric view of the bionic ray underwater robot.
Fig. 2 is a side view of the ray-imitating underwater robot of the present invention.
Fig. 3 is a top view of the bionic ray underwater robot of the present invention.
Fig. 4 is a schematic view of a differential wave structure of the bionic ray underwater robot of the present invention.
Fig. 5 is a schematic view of the bionic ray underwater robot of the present invention.
In the drawings
1. Middle plate 2, upper cover plate 3, lower cabin plate 4, head 5, motor 6, motor connector 7, coupler 8, transmission wheel set 9, differential wheel set 10, slider 11, positioning slider 12, first fluctuation rod 13, second fluctuation rod 14, third fluctuation rod 15, fourth fluctuation rod 16, fifth fluctuation rod 17, sixth fluctuation rod 18, battery 19, control module 20, water pump 21, tail connector 22, steering engine fixing frame 23, steering engine 24, steering engine U-shaped piece 25, tail vane 26, first sun gear 27, second sun gear 28, first planet gear 29, second planet gear 30, planet carrier 31, differential gear 32, first gear 33, second gear 34, transmission shaft 35, rotating disk 36 and soft film connecting shaft 35
Detailed Description
The embodiment is a bionic ray underwater robot.
Referring to fig. 1 to 5, the underwater robot for simulating ray in the present embodiment is composed of a main body frame, a battery 18, a control module 19, a water pump 20, a motor 5, a wave rod and a tail assembly; the main body frame comprises a transmission wheel set 8, a differential wheel set 9, a middle plate 1, an upper cover plate 2, a lower cabin plate 3 and a head part 4, the middle plate 1 is fixedly connected with the upper cover plate 2, the lower cabin plate 3, the head part 4 and a tail part assembly respectively, and the transmission wheel set 8 is connected with the corresponding wave bars on two sides along the axial direction of the middle plate 1 according to the head part 4. The intermediate plate 1 is used as a frame of a composite gear train consisting of a transmission wheel set 8 and a differential wheel set 9, and is fixedly connected with the upper cover plate 2, the lower cabin plate 3, the head part 4 and the tail part assembly to be used as a robot main body. The middle plate 1 is symmetrical along the longitudinal axis of the robot, a plurality of transmission wheel sets 8 are arranged on one side, every two transmission wheel sets 8 are sequentially connected through a differential wheel 9, all gear modules in the wheel sets are 1 group, and a one-side bionic fluctuation transmission structure formed by the transmission wheel sets 8 and the differential wheel sets 9 is realized.
In this embodiment, the transmission wheel set 8 includes a first gear 32, a second gear 33, a transmission shaft 34 and two rotating discs 35, the transmission wheel set 8 is a plurality of sets, and is symmetrically installed along the axial center line of the middle plate 1, the first gear 32 is fixedly connected with the differential connection shaft 31, the second gear 33 and the two rotating discs 35 are positioned on each level of positioning holes of the middle plate 1 through the transmission shaft 34, and are engaged with the first gear 32 coaxially and fixedly connected with the differential connection shaft 31, power is input to the first gear 32 fixedly connected with the transmission shaft 34, and power is output through the two rotating discs 35; the slide block 10 is coaxially connected with a positioning hole of the rotating disk 35, and the positioning slide block 11 is coaxially connected with a positioning hole on the middle plate 1. The differential wheel set 9 comprises a first sun wheel 26, a second sun wheel 27, a first planet wheel 28, a second planet wheel 29, a planet carrier 30 and a differential connecting shaft 31, wherein the first sun wheel 26 and the second sun wheel 27 are axially positioned on positioning holes of the intermediate plate 1 through the differential connecting shaft 31 respectively, the first planet wheel 28 and the second planet wheel 29 are axially positioned at two ends of the planet carrier 30, and a main shaft of the planet carrier 30 is coaxial with the differential connecting shaft 31, so that differential assembly is realized. In each stage of differential wheel set, power is input by the first sun gear 26, and differential speed reduction is realized by meshing transmission to the first planet gear 28, the second planet gear 29 and the second sun gear 27.
The wave bars are in multiple pairs, each wave bar comprises a first wave bar 12, a second wave bar 13, a third wave bar 14, a fourth wave bar 15, a fifth wave bar 16 and a sixth wave bar 17, each pair of wave bars are symmetrically arranged, two positioning shafts of each corresponding wave bar sequentially penetrate through the slide blocks 10 on the transmission wheel assemblies 8 at all levels and the positioning slide blocks 11 corresponding to all levels, and the root planes of the positioning shafts of the wave bars are coplanar and fixed with the external planes of the positioning slide blocks 11; a plurality of teeter bars are connected to the flexible membrane 36.
The motor 5 is fixedly connected with the motor connecting piece 6 and is positioned at the head of the main body frame, and the head 4 is fixedly connected with the middle plate 1 through a screw; the motor 5 is fixedly connected with the first-stage transmission wheel set through a coupler 7, the differential fluctuation structures on the two sides correspond to one motor respectively, the motor inputs power to enable the structure to move, and the motor 5 is connected with the control module 19 through a lead; controlled by the control module 19. The upper cover plate 2 is fixedly connected with the head 4 and the middle plate 1 through screws, and the upper cover plate 2 plays a role in protecting the bionic differential fluctuation structure. The battery 18, the control module 19, the water pump 20 is fixed in under deck plate 3 inside, and the water inlet of water pump 20 passes through the hose and communicates with the outside, and the delivery port of water pump 20 links to each other with the water storage cabin of under deck plate 3 inside, and the water pump realizes come-up, the motion of sinking through controlling the water storage cabin inflow. The water pump 20 is controlled by a control line connected to the control module 19. The battery 18 is connected with the stepping motor 5, the control module 19 and the water pump 20 for supplying power. The tail connecting piece 21 is fixedly connected with the steering engine fixing piece 22 through a screw,
the tail component comprises a tail connecting piece 21, a steering engine fixing piece 22, a steering engine 23, a steering engine U-shaped piece 24 and a tail vane 25, the tail connecting piece 21 is connected with the steering engine fixing piece 22 and fixedly connected with the middle plate 1 through a screw, the steering engine 23 is fixedly connected with the steering engine fixing piece 22, and the steering engine 23 is connected with the tail vane 25 through the steering engine U-shaped piece 24; the tail assembly realizes the functions of auxiliary advancing and steering.
Controlling the motion process:
the control module outputs signals to drive the two stepping motors, the waterproof steering engine and the water pump to work, so that the bionic differential fluctuation structure, the tail component and the water storage cabin are driven to move, and the three-dimensional motion of the robot in water is realized.
(1) And (3) vertical movement, namely, when the robot moves vertically, the water pump works, the density of the whole robot is increased by injecting water into the water storage cabin, the robot realizes sinking movement, and the density of the robot is reduced by discharging water into the water storage cabin, so that the robot realizes floating movement.
(2) And the tail component is matched with the robot to move with the same left and right swing amplitudes, so that the robot can move forwards.
(3) And (3) steering movement, namely when the robot performs steering movement, the speed of the stepping motor on the side to be steered is reduced, the speed of the stepping motor on the other side is increased, differential movement of structures on two sides is realized, and the bearing force difference of two sides is realized by matching with the reduction of the swing amplitude of the tail component to the steering side, so that corresponding steering movement is performed.
Claims (3)
1. A ray-imitating underwater robot is characterized by comprising a main body rack, a battery, a control module, a water pump, a motor, a fluctuation rod and a tail assembly, wherein the main body rack comprises a transmission wheel set, a differential wheel set, a middle plate, an upper cover plate, a lower cabin plate and a head part, the middle plate is fixedly connected with the upper cover plate, the lower cabin plate, the head part and the tail assembly respectively, and the transmission wheel set and the differential wheel set are connected with the fluctuation rod corresponding to two sides along the axial direction of the middle plate according to the head part;
the transmission wheel sets comprise a first gear, a second gear, a transmission shaft and two rotating disks, the transmission wheel sets are multiple and are symmetrically installed along the axial central line of the middle plate, the first gear is fixedly connected with the differential connecting shaft, the second gear and the two rotating disks are positioned on each level of positioning holes of the middle plate through the transmission shaft, the second gear and the two rotating disks are meshed with the first gear coaxially and fixedly connected with the differential connecting shaft to input power to the first gear fixedly connected with the transmission shaft, and the power is output through the two rotating disks; the slide block is coaxially connected with each rotating disk positioning hole, and the positioning slide block is coaxially connected with the positioning hole in the middle plate;
the differential wheel set comprises a first sun wheel, a second sun wheel, a first planet wheel, a second planet wheel, a planet carrier and a differential connecting shaft, the first sun wheel and the second sun wheel are axially positioned on the positioning holes of the middle plate through the differential connecting shaft respectively, the first planet wheel and the second planet wheel are axially positioned at two ends of the planet carrier, and a main shaft of the planet carrier is coaxial with the differential connecting shaft, so that differential assembly is realized; each stage of differential wheel set is input with power by the first sun wheel and is in meshing transmission with the first planet wheel, the second planet wheel and the second sun wheel, so that differential speed reduction is realized; the transmission wheel set and the differential wheel set form a single-side fluctuation transmission structure;
the wave bars are in multiple pairs and comprise a first wave bar, a second wave bar, a third wave bar, a fourth wave bar, a fifth wave bar and a sixth wave bar, each pair of wave bars is symmetrically installed, two positioning shafts of the corresponding wave bars sequentially penetrate through a sliding block on the transmission wheel set and a corresponding positioning sliding block, and the root planes of the positioning shafts of the wave bars and the external planes of the positioning sliding blocks are fixed in a coplanar manner;
the motor and motor connecting piece is fixedly connected with the head of the main body frame, and the head is fixedly connected with the middle plate; the motor is connected with the first-stage transmission wheel set through a coupler, the differential fluctuation structures on the two sides correspond to one motor respectively, the motor inputs power to enable the structure to move, and the motor is connected with the control module through a lead;
the battery, the control module and the water pump are fixed in the lower cabin plate, the water inlet of the water pump is communicated with the outside through a hose, the water outlet of the water pump is connected with the water storage cabin in the lower cabin plate, and the water inlet amount of the water storage cabin is controlled through the water pump to realize floating and sinking movement; the battery is respectively connected with the motor, the control module and the water pump for power supply;
the tail assembly comprises a tail connecting piece, a steering engine fixing piece, a steering engine U-shaped piece and a tail vane, wherein the tail connecting piece is connected with the steering engine fixing piece and fixedly connected with the middle plate through a screw; the tail assembly realizes the functions of auxiliary advancing and steering.
2. The underwater robot of claim 1, wherein each two transmission wheel sets are engaged with the differential wheel set, and the gear module of each wheel set is 1.
3. The underwater robot of claim 1, wherein the flexible membrane is connected to a plurality of pairs of wave bars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810249697.4A CN108528666B (en) | 2018-03-26 | 2018-03-26 | Ray-imitating underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810249697.4A CN108528666B (en) | 2018-03-26 | 2018-03-26 | Ray-imitating underwater robot |
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| Publication Number | Publication Date |
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| CN108528666A CN108528666A (en) | 2018-09-14 |
| CN108528666B true CN108528666B (en) | 2020-04-03 |
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| CN201810249697.4A Expired - Fee Related CN108528666B (en) | 2018-03-26 | 2018-03-26 | Ray-imitating underwater robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111268086A (en) * | 2020-03-06 | 2020-06-12 | 中国电子科技集团公司第三十八研究所 | Novel bionic airship |
| CN112249286B (en) * | 2020-10-27 | 2022-03-01 | 吕梁学院 | Bionic robot fish with multiple driving systems |
| CN113511318B (en) * | 2021-05-13 | 2022-07-01 | 浙江大学 | Flexible machine ray device |
| WO2023102775A1 (en) * | 2021-12-08 | 2023-06-15 | 西湖大学 | Underwater vehicle |
| CN114701629B (en) * | 2022-03-22 | 2023-05-16 | 上海交通大学 | Flexible shaft-driven bionic robot fish with variable fin fluctuation waveform |
| CN115126962A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Bionic unpowered pipeline robot and control method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3416522B2 (en) * | 1997-09-18 | 2003-06-16 | 三菱重工業株式会社 | Underwater vehicle with vibrating wings |
| CN103950527B (en) * | 2014-05-09 | 2016-08-24 | 兰州交通大学 | The piezoelectricity coupling propulsive mechanism of bionical ray pectoral fin |
| CN104816808B (en) * | 2015-05-25 | 2017-03-08 | 中国科学院自动化研究所 | A kind of long fin underwater propeller of bionical fluctuation |
| CN104943839B (en) * | 2015-07-16 | 2017-04-19 | 北京航空航天大学 | Modular bionic underwater robot based on full-flexible pectoral fins |
| CN105173042B (en) * | 2015-08-28 | 2017-07-14 | 北京航空航天大学 | Underwater propulsion unit based on planet circular system and synchronous belt drive mechanism |
| CN105620704A (en) * | 2016-03-03 | 2016-06-01 | 代林桐 | Ray-imitating propulsion device for ships |
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2018
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