CN108609066A - Amphibious bionics machine aquatic bird - Google Patents
Amphibious bionics machine aquatic bird Download PDFInfo
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- CN108609066A CN108609066A CN201810438921.4A CN201810438921A CN108609066A CN 108609066 A CN108609066 A CN 108609066A CN 201810438921 A CN201810438921 A CN 201810438921A CN 108609066 A CN108609066 A CN 108609066A
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- 210000001503 joint Anatomy 0.000 claims abstract description 39
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- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000008093 supporting effect Effects 0.000 claims description 5
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- 230000008859 change Effects 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 abstract description 150
- 238000013461 design Methods 0.000 abstract description 5
- 210000004394 hip joint Anatomy 0.000 abstract description 4
- 238000013016 damping Methods 0.000 abstract 1
- 210000003739 neck Anatomy 0.000 description 82
- 239000011664 nicotinic acid Substances 0.000 description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 14
- 210000002683 foot Anatomy 0.000 description 9
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- 230000010355 oscillation Effects 0.000 description 2
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- 241000252082 Anguilla anguilla Species 0.000 description 1
- 241001416181 Axis axis Species 0.000 description 1
- 235000014653 Carica parviflora Nutrition 0.000 description 1
- 241000243321 Cnidaria Species 0.000 description 1
- 241000254173 Coleoptera Species 0.000 description 1
- 241000237858 Gastropoda Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of Amphibious bionics machine aquatic bird, uses aquatic bird for bionical stencil design, is converted using multi-motion modes, and environment-adapting ability is stronger, flexibility higher.Including：Shell, head unit, leg unit and hip joint；Wherein head unit may be implemented head multiple degrees of freedom rotation and flexibly stretch, for maintaining balance and dive campaign using Three Degree Of Freedom control and drive control of restricting.Leg unit includes auxiliary leg and powered leg, and auxiliary leg is used for Auxiliary support of the machine aquatic bird under unstable environment.The movement that leg continues, puts on angular region, high torque may be implemented in the brace and connecting rod framework in the joints Kua and the worm gear structure of powered leg, and side spring linear bearing structure is jumped for leg and damping.
Description
Technical field
The present invention relates to a kind of bionical aquatic birds, and in particular to a kind of Amphibious bionics aquatic bird.
Background technology
Bionics is born in the 1960s, be the front subject that bioscience is combined with engineering technology, warp
The development of many decades is crossed, modern bionics has been extended to many fields, and robotics is its main combination and application field
One of.Robot bionic is to be studied from bionical angle robot, is the important branch of robot field.This respect
Research cause great interest and the concern of various countries related personnel and expert, and achieve a large amount of achievements and actively progress.
However, the bio-robot for being only adapted to the single environment that activity or land are creeped in water is studied both at home and abroad
Compare more, that is studied in terms of Amphibious bionics robot is fewer.With human knowledge ocean, exploitation ocean, utilize sea
The process of foreign resource and protection marine resources, conventional underwater robot cannot be satisfied need of work in the amphibious environment of border on the sea,
Therefore to the research important in inhibiting of amphibious robot.
In recent years, company of U.S. IS robots had developed underwater autonomous robot ALUV, which has six legs,
There are two degree of freedom for every leg, have amphibious motor function, but it can only crawl movement, be only suitable for water-bed movement, and
Move distance is closer.McGill University in 2005 has developed a kind of amphibious robot Whegs of imitative cockroach, and propulsive mechanism uses
Three spoke wheel paddle leg formulas design, approximate wheel, can realize high-performance and steady propulsion.On this basis, Georgiades C etc.
People has developed amphibious Hexapod Robot AQUA, and AQUA is promoted when land is moved using arcuate leg, and arcuate leg mobility is utilized
Energy height and the good feature of versatility, may be implemented the propelled at high velocity of a variety of terrestrial environments；Under water, it is pushed away using six flapping for paddle
Into AQUA can realize the movements such as cruise, lifting, surging, steering, rolling.Since AQUA is used on land mountain and under water not
Same propulsive mechanism requires manual replacement driving mechanism when being converted.The ACM-R5's that Tokyo winter evening university develops
Amphibious snake robot, the snake robot are made of multiple joints, and each joint tool can realize that pitching and yaw are transported there are two degree of freedom
It is dynamic.When land moves, ACM-R5 is promoted by the wriggling movement of body, can also realize tumbling motion；When moving under water,
ACM-R5 is using the undulatory propulsion for imitating common eel formula.But ACM-R5 robot motions are slower, are only capable of reaching 0.4m/s.
In face of the surveying tasks of land and water complex space environment, as the detection in submarine pipeline, monitoring biological in coral reef,
Seabed rock seam Minerals prospecting etc., it is desirable that robot has high flexibility, high environmental suitability.Currently, domestic and international robot needle
It is relatively more to the research applied in water or land single environment, it is fewer for amphibious research；With crab, tortoise, roach
The biological templates such as dung beetle, snake are more as the comparison of bionical object, and the pole of Amphibious bionics robot research is done using aquatic bird as template
Its is few.There is movement compared with slow, motor pattern is single, adaptation environment is single, environment-adapting ability is not strong in a variety of robots, flexibility is not
The problems such as high.
To sum up, existing autonomous underwater vehicle/robot and amphibious robot have the following problems：
(1) it mostly uses torpedo-shaped design and propeller promotes, mechanical structure determines that its advance and retreat can generate larger speed
Degree, but its turning radius is big, is not suitable in narrow regions operation.In addition, its volume is big, propeller generation noise is big, power consumption
Greatly, concealment and bioaffinity are all reduced.
(2) it is generally designed using bionic principle, such as Bionic crab, tortoise, cockroach, snake, Bionic crab robot is only
It can carry out land and water-bed to creep, move distance is closer.Bionic turtle robot is dumb in the movement of dive, overturning, resistance
Greatly, movement is slower, can only be crawled on land.Bionic cockroach robot uses different driving knots with land under water
Structure requires manual replacement driving structure when switching under water with Land Movement.Bionical snake robot is designed using articulated type,
Land and sub-aqua sport is slower, is only capable of reaching 0.4m/s.Most robots cannot complete effective dive campaign conversion.Snakelike machine
Although device people can be with untethered dive, speed is slower, and space is smaller, moves on the road dumb.
(3) the bionical template mostly moved enough as land two has few research under water and in terms of Amphibious bionic.
Invention content
In view of this, the present invention is based on bionics principle, with aquatic bird for bionical template, propose it is a kind of for amphibious environment,
Support the Amphibious bionics machine aquatic bird of multi-mode flexible conversion and movement, environment-adapting ability is stronger, flexibility higher.
The Amphibious bionics machine aquatic bird includes：Shell, head unit, leg unit and hip joint；
The head unit is fixed on housing forward end face, including three joints, respectively the first joint of head, head second
Joint and head third joint；The first joint of the head includes：Head, head connector, neck connector A are connected with neck
Part B；The head is fixed on head connector, and the parallel head connector of axis and neck connector B pass through bearing respectively
It is supported on the both ends of the neck connector A；The head connector can with head around head connector axis rotate,
The neck connector A can be rotated around the axis of neck connector B；The neck connector B is connected with head second joint；
The head second joint is used to be that rotation and neck connector A of the head around head connector are connected around neck
The rotation of part B provides power；Head third joint is for driving the first joint of head and head second joint integrally to carry out
It pitching movement and swings；
The leg unit includes：Two power legs joint, two power legs joint are symmetrically distributed in shell
The left and right sides, power leg joint includes：The first joint of powered leg and powered leg second joint, including：Foot
And drive foot motion to change the first joint power of powered leg and transmission mechanism of angle between foot and ground；It is described dynamic
Power leg second joint realizes land walking for driving the entirety swing of the first joint of powered leg；
The stated joints Kua are two, are symmetrically mounted in shell left and right side plates, power leg joint and right therewith
The joints Kua of side are answered to be connected, the power leg joint swing that the joints Kua are used to make to be attached thereto.
The leg unit further includes auxiliary leg joint, and the auxiliary leg joint is mounted on front side of Housing Base, packet
It includes：The auxiliary leg of left and right two and the auxiliary leg power and transmission mechanism for driving the two auxiliary leg flexion/extensions in left and right, when described
It is contacted with ground by universal wheel when auxiliary leg stretching, extension.
Advantageous effect：
(1) the Amphibious bionics machine aquatic bird uses aquatic bird for bionical stencil design, is converted using multi-motion modes,
Environment-adapting ability is stronger, flexibility higher.
(2) head of the present invention is controlled and is restricted using Three Degree Of Freedom drive control, may be implemented the rotation of head multiple degrees of freedom and
It is flexibly flexible, for maintaining balance and dive campaign.The brace and connecting rod framework in the joints Kua and the worm gear structure of powered leg can
To realize that leg continues, puts on the movement of angular region, high torque, side spring-linear bearing structure is jumped and is subtracted for leg
Shake；Leg is assisted to be used for Auxiliary support of the machine aquatic bird under unstable environment.
(3) setting auxiliary leg, by assisting leg support on the ground, ensures advance process under out-of-flatness terrestrial environment
In stability.
Description of the drawings
Fig. 1 is the overall structure figure of the present invention；
Fig. 2 is the head axonometric drawing of bionic machine aquatic bird of the present invention；
Fig. 3 and Fig. 4 is respectively that bionic machine aquatic bird of the present invention head the first joint artwork and quick-fried shine are schemed；
Fig. 5 and Fig. 6 is respectively that bionic machine aquatic bird of the present invention head second joint artwork and quick-fried shine are schemed；
Fig. 7 and Fig. 8 is respectively that bionic machine aquatic bird of the present invention head third joint artwork and quick-fried shine are schemed；
Fig. 9 is quick-fried according to figure for the part in bionic machine aquatic bird head third joint and housing junction；
Figure 10 and Figure 11 is respectively that bionic machine aquatic bird auxiliary leg artwork of the present invention and quick-fried shine are schemed；
Figure 12 to Figure 15 is respectively that bionic machine aquatic bird power leg joint artwork of the present invention and quick-fried shine are schemed；
Figure 16 to Figure 18 is that life device aquatic bird hip joint of the present invention is locally quick-fried according to figure.
Wherein：The heads 1-1, the heads 1-2 fixed plate, 1-3 head connectors, 1-6 neck connector A, 1-7 line driving disks
A, 1-10 necks connector B, 1-11 lines driving disk B, 1-12 line driving rotating wheel, 1-15 neck first motors link, 1-
16 rotation axis, 1-19 lines driving column, 1-23 necks first motor, 1-24 neck first motors shell, 1-25 neck first motor rudders
Disk, 1-26 lines driving disk, 1-27 first motors plug, the second motor of 1-28 necks link, the second motor of 1-29 necks, 1-30
The second motor casing of neck, the second motors of 1-31 plug, the second motor of 1-32 necks steering wheel, 1-35 necks link, 1-36 necks
Three motors, 1-37 neck thirds motor casing, 1-38 third motors plug, 1-39 third motors steering wheel, 1-42 shells, 2-1 assist leg
Motor, 2-2 auxiliary legs motor casing, 2-3 auxiliary leg motors plug, 2-5 auxiliary leg motors steering wheel, 2-6 motor-driven gears, 2-7 bars
Upper axial gears, 2-8 transverse support bars, 2-13 auxiliary leg connecting bracket, 2-14 vertical supportings bar, 2-15 straight pins, 2-16
Universal wheel, 3-1 foots, the first straight-bars of 3-2,3-7 powered leg first motors shell, the first worm gears of 3-8, the first worm screws of 3-9,3-10
One worm screw terminal pad, 3-11 powered legs first motor, 3-12 powered leg first motors steering wheel, 3-13 powered leg first motors plug,
The second motor of 3-14 powered legs, the second motor of 3-15 powered legs steering wheel, the second worm screws of 3-16 terminal pad, the second worm screws of 3-17,3-
18 second turbines, the second straight-bars of 3-19,3-24 motor drive terminal pad A, 3-25 motor drive terminal pads B, 3-26 powered leg
Two motor plugs, the second motor casing of 3-27 powered legs, 3-28 linear bearing A, 3-29 linear bearing B, 3-31 powered leg thirds motor,
3-32 cranks, 3-33 slide bars, 3-34 toggle-action levers fixing piece, 3-37 linear bearings connecting plate, 3-38 linear bearing C, 3-39 spring,
3-40 fixed links, the 4th motor of 3-41 powered legs, the 4th motor steering wheel of 3-42 powered legs, 3-43 third worm screws terminal pad, 3-44
Third worm screw, 3-45 worm gears swing rod, 3-46 thirds straight-bar, 3-47- rotary shafts.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present embodiment utilizes bionics principle, with aquatic bird for bionical template, proposes that one kind being used for amphibious environment, supports multimode
The bionic machine aquatic bird of formula flexible conversion and movement, the bionic machine aquatic bird are applied to amphibious environment, and motor pattern is various, has
Preferable concealment and bioaffinity.
As shown in Figure 1, the bionic machine aquatic bird includes head unit, leg unit and hip joint.
As shown in Fig. 2, wherein head unit include three joints, respectively the first joint of head, head second joint and
Head third joint.The first joint of head is as shown in Figure 3 and Figure 4, including：Head 1-1, head connector 1-3, neck connector
A1-6 and neck connector B1-10.Wherein head connector 1-3 and neck connector B1-10 is T-shaped structure, horizontal part
It is allocated as being connected to two opposite ends of neck connector A1-6 for rotation axis, specially：Head 1-1 and head fixed plate 1-2
Affixed, the vertical portion of head fixed plate 1-2 and head connector 1-3 is affixed.Head connector 1-3 rotation axis (horizontal component)
Both ends be connected respectively with one end of neck connector A1-6 by bearing and retainer ring, enable head connector 1-3 with head
Portion 1-1 is rotated around the axis of head connector 1-3 rotation axis.The both ends of head connector 1-3 rotation axis are respectively and fixedly provided with line transmission
Disk A1-7.The both ends of neck connector B1-10 rotation axis (horizontal component) pass through bearing and retainer ring and neck connector respectively
The other end of A1-6 is connected, and neck connector A1-6 is enable to be relatively rotated around the axis of neck connector B1-10 rotation axis.Neck
The equal empty set in the both ends wired driving disk B1-11, line driving disk B1-11 of portion's connector B1-10 rotation axis and neck connector
A1-6 is affixed.Simultaneously in the wired driving rotating wheel 1-12 of the equal empty set in both ends of neck connector B1-10 rotation axis, line driving rotation
It takes turns 1-12 and axial limiting is carried out by the retainer ring at its both ends.It is closed with head second end of neck connector B1-10 vertical portions
Section is connected.
Head second joint is as shown in Figure 5 and Figure 6, and head second joint is used to turn around head connector 1-3 for head 1-1
The rotation of moving axis and neck connector A1-6 provide power around the rotation of neck connector B1-10 rotation axis, specifically include：Neck
Portion first motor 1-23 and rotation axis 1-16.The wherein end of neck connector B1-10 vertical portions and neck first motor
Link 1-15 is affixed, and the both ends of rotation axis 1-16 pass through bearing and retainer ring and neck first motor link 1-15 phases respectively
Even, it can be rotated about axis.And the axis of rotation axis 1-16 and the axis axis of the rotation axis of neck connector B1-10 are flat
Row.The coaxial affixed wired driving column 1-19 of part difference of first motor link 1-15 is stretched out at the both ends of rotation axis 1-16.
Neck first motor 1-23 and neck first motor shell 1-24 are affixed with neck first motor link 1-15, wherein neck
First motor 1-23 and neck first motor shell 1-24 blocks fixation by first motor plug 1-27.Neck first motor 1-23's
It is fixed with neck first motor steering wheel 1-25, neck first motor steering wheel 1-25 on output shaft and line driving disk 1-26 is coaxially solid
It connects, line drives disk 1-26 to drive line to drive column 1-19, line that column 1-19 is driven to drive line driving disk B1- by rope by rope
11, and then drive neck connector A1-6 to turn around the axis of neck connector B1-10 rotation axis by line driving disk B1-11
It is dynamic；Isochrone drives column 1-19 to drive line to drive rotating wheel 1-12, line that rotating wheel 1-12 is driven to drive line to pass by rope by rope
Dynamic disk A1-7, so that head 1-1 is rotated around the axis of head connector 1-3 rotation axis.
Head third joint is as shown in Figure 7 and Figure 8, and head third joint is used to close for the first joint of head and head second
It saves whole pitching movement and swings and power is provided, specifically include：The second motor of neck 1-29, neck third motor 1-36
And neck link 1-35.Wherein neck first motor shell 1-24 and neck the second motor link 1-28 are affixed；Neck
Two motor 1-29 are blocked by the second motor plug 1-31 and are fixed in the second motor casing of neck 1-30.The second motor of neck 1-29 is defeated
The axial direction of shaft is parallel with the axial direction of rotation axis 1-16, and the second electricity of neck is coaxially fixed on neck the second motor 1-29 output shafts
Machine steering wheel 1-32, the second motor of neck one end link 1-28 are fixed with neck the second motor steering wheel 1-32, and the other end passes through axis
It holds and is connected with retainer ring with the second motor casing of neck 1-30, thus the second motor of neck 1-29 can be connected by the second motor of neck
Frame 1-28 drives the first joint of head and the whole axial rotation around neck the second motor steering wheel 1-32 of head second joint, realizes
The pitching movement in the first joint of head and head second joint entirety.
Neck the second motor casing 1-30 and neck link 1-35 are affixed, and neck third motor 1-36 passes through third motor plug
1-38, which is blocked, to be fixed in neck third motor casing 1-37, and the axis of neck third motor 1-36 output shafts is vertical direction, neck
Neck third motor steering wheel 1-39 is coaxially fixed on portion's third motor 1-36 output shafts.Neck one end link 1-35 and neck
Third motor steering wheel 1-39 is fixed, and the other end is connect by bearing and retainer ring with neck third motor casing 1-37, thus neck
Three motor 1-36 can drive neck link 1-35 and the component being connected thereto whole by neck third motor steering wheel 1-39
Body is rotated around the axis of neck third motor 1-36 output shafts, that is, realizes swinging for head unit.Neck third motor casing
1-37 is fixed on shell 1-42 front end faces, as shown in Figure 9.
Leg unit includes：Assist leg joint and power leg joint.Wherein assist leg joint such as Figure 10 and Figure 11
Shown, auxiliary leg joint is mounted on shell 1-42 bottom plates front end, including：Assist leg power and transmission mechanism and left and right two auxiliary
Leg is helped, wherein auxiliary leg power and transmission mechanism include：Assist leg motor 2-1, motor-driven gear 2-6 and transverse support bar 2-
8；Wherein auxiliary leg motor 2-1 is fixed on by assisting leg motor plug 2-3 to block in auxiliary leg motor casing 2-2.Assist leg motor
Shell 2-2 is fixed on shell 1-42 bottom plates front end.Assist coaxial affixed auxiliary leg motor steering wheel 2-5, electricity on leg motor 2-1 output shafts
Machine transmission gear 2-6 and auxiliary leg motor steering wheel 2-5 are coaxially affixed.Motor-driven gear 2-6 is fixed on cross-brace with coaxial
Axial gears 2-7 is meshed on the bar of the one end bar 2-8.The both ends of transverse support bar 2-8 are supported on by bearing and retainer ring respectively
It assists on the connecting bracket 2-13 of leg, auxiliary leg connecting bracket 2-13 is fixed on auxiliary leg motor casing 2-2.Two auxiliary legs
The both ends of transverse support bar 2-8 axial directions are symmetrically mounted on, structure type is identical, with the auxiliary leg of wherein side, assists leg packet
Vertical supporting bar 2-14 and universal wheel 2-16 are included, one end of vertical supporting bar 2-14 passes through straight pin 2-15 and transverse support bar 2-
8 is affixed, and the other end installs universal wheel 2-16.
Power leg joint is two, is symmetrically mounted on the left and right sides of shell 1-42, by taking wherein side as an example, powered leg
Portion joint includes：The first joint of powered leg and powered leg second joint, wherein the first joint of powered leg is for realizing foot 3-1's
Movement, as shown in Figure 12 and Figure 13, including foot 3-1, powered leg first motor 3-11, by the first turbine 3-8 and the first worm screw
First turbine and worm transmission mechanism of 3-9 compositions.Its connection relation is：Foot 3-1 is fixed on the first straight-bar 3-2, and first is straight
The both ends of bar 3-2 are connect by bearing and retainer ring with the bottom of powered leg first motor shell 3-7, and the first turbine 3-8 is coaxially solid
It is connected in the middle part of the first straight-bar 3-2, the first worm screw 3-9 being vertically arranged is meshed with the first turbine 3-8, and the first tops worm screw 3-9
Portion and the first worm screw terminal pad 3-10 are coaxially affixed, the first worm screw terminal pad 3-10 and and powered leg first motor 3-11 output shafts
The powered leg first motor steering wheel 3-12 of connection is coaxially affixed.Powered leg first motor 3-11 passes through powered leg first motor plug 3-
13 are fixed in powered leg first motor shell 3-7.Powered leg first motor 3-11 is driven by the first turbine and worm transmission mechanism
Foot 3-1 is rotated around the axis of the first straight-bar 3-2, realizes the movement of foot 3-1.
Powered leg second joint for realizing the first joint of powered leg entirety swing, including：The second electricity of powered leg
Machine 3-14 and the second turbine and worm transmission mechanism being made of the second turbine 3-18 and the second worm screw 3-17, such as the institutes of Figure 14 and 15
Show.Wherein powered leg the second motor 3-14 is fixed on the second motor casing of powered leg 3-27 by powered leg the second motor plug 3-26
It is interior.Powered leg the second motor 3-14 output shafts are vertical with powered leg first motor 3-11 output shafts, the second motor of powered leg 3-14
The second snail is coaxially fixed on coaxial affixed powered leg the second motor steering wheel 3-15 on output shaft, powered leg the second motor steering wheel 3-15
Bar terminal pad 3-16, the front end of the second worm screw 3-17 and the second worm screw terminal pad 3-16 are coaxially affixed, flat with the first worm gear axis
The second capable turbine 3-18 is engaged with the second worm screw 3-17, and the second turbine 3-18 is coaxially fixed in the middle part of the second straight-bar 3-19；The
The both ends of two straight-bar 3-19 are supported on one end of powered leg first motor shell 3-7, the second straight-bar 3-19 by bearing and retainer ring
Both ends coaxial affixed motor drive terminal pad A3-24 and motor drive terminal pad B3-25, motor drive terminal pad A3- respectively
24 and motor drive terminal pad B3-25 is fixed with the powered leg first motor shell 3-7 for side of being corresponding to it respectively.Thus powered leg
Two motor 3-14 can pass sequentially through the second turbine and worm transmission mechanism, the second straight-bar, motor drive terminal pad and drive powered leg
First joint swing.It is exported along the second motor of powered leg 3-14 in the rectangle hollow pipe of the lower ends powered leg the second motor casing 3-27
Axis axial restraint has linear bearing A3-28 and linear bearing B3-29.
The joints Kua are two, are symmetrically mounted on the left and right sides of shell 1-42, power leg joint passes through side of being corresponding to it
The joints Kua be connected with shell 1-42, the joints Kua be used for keep the power leg joint being attached thereto lasting swing.With it
For the middle joints side Kua, the joints , Kua include as exemplified in figs：Powered leg third motor 3-31, it crank 3-32, moves
The 4th motor 3-41 of power leg and the Worm and worm-wheel gearing being made of third worm screw 3-44 and worm gear swing rod 3-45.It is wherein dynamic
Power leg third motor 3-31 is fixed on the side plate of shell 1-42, and the output shaft of powered leg third motor 3-31 is perpendicular to shell 1-
42 side plate, fixed crank 3-32 on powered leg third motor 3-31 output shafts.One end of slide bar 3-33 is fixed by toggle-action lever
Part 3-34 is connect with crank 3-32, and the other end is sleeved in the rectangle hollow pipe of the lower ends powered leg the second motor casing 3-27, and with fixation
Linear bearing A3-28 in the rectangle hollow pipe of the lower ends powered leg the second motor casing 3-27 and linear bearing B3-29 cooperations, form
Crank cranking-block structure.Side opposite with shell 1-42 side plates powered leg the second motor casing 3-27 is provided with rotary shaft 3-47, rotation
One end of shaft 3-47 is connected with the second motor casing of powered leg 3-27, and the other end passes through retainer ring and bearing and linear bearing connecting plate
3-37 connections, linear bearing connecting plate 3-37 are fixed with linear bearing C3-38.Be arranged on the side plate of shell 1-42 it is fluted,
Spring 3-39 and linear bearing C3-38 is sleeved on the fixed link 3-40 in shell 1-42 side plate grooves, wherein spring 3-
39 bottom is connect with linear bearing C3-38, and top is connected with the inner top of shell 1-42 side plate grooves, the lower ends fixed link 3-40
It is fixed across side plate bottom portion of groove and with side plate bottom.
The 4th motor 3-41 of powered leg is fixed in the groove of shell 1-42 side plates, the output of the 4th motor 3-41 of powered leg
Coaxial affixed powered leg the 4th motor steering wheel 3-42, the 4th motor steering wheel 3-42 of powered leg and third worm screw terminal pad 3-43 on axis
Coaxial affixed, third worm screw terminal pad 3-43 and third worm screw 3-44 are coaxially affixed, to pass through the 4th motor 3-41 of powered leg
Drive the 3-44 rotations of third worm screw.The worm gear swing rod 3-45 that third worm screw 3-44 is provided with worm gear with middle part is engaged, wherein worm gear
Swing rod 3-45 is located at below third worm screw 3-44.One end of worm gear swing rod 3-45 and third straight-bar 3-46 are affixed, third straight-bar 3-
46 are supported on by bearing and retainer ring on shell 1-42 side plates.The other end of worm gear swing rod 3-45 and the second motor casing of powered leg
The rotary shaft 3-47 of the sides 3-27 is opposite, and the end is provided with swing rod, can when worm gear swing rod 3-45 rotates set angle
Rotary shaft 3-47 is stirred, rotary shaft 3-47 movement compressed springs 3-39 is made.The length of worm gear swing rod 3-45 ensures in spring 3-39
Worm gear swing rod 3-45 can be disengaged with rotary shaft 3-47 when reaching maximum compression.
The axis of rotary shaft 3-47 and the axial line distance of worm gear swing rod 3-45 and rotation when no more than spring 3-39 maximum compressions
The difference of shaft 3-47 radiuses.
The motion principle of the bionic machine aquatic bird is：
The lasting rotation of powered leg third motor 3-31 output shafts drives crank 3-32 rotations, crank 3-32 to pull slide bar
3-33 stretches back and forth in the rectangle hollow pipe of the lower ends powered leg the second motor casing 3-27, and slide bar 3-33 is made to drive the second electricity of powered leg
Rotary shaft 3-47 periodic swings of the casing 3-27 on the outside of the second motor casing of powered leg 3-27, the second electricity of powered leg
Casing 3-27 drives connected component to carry out periodic swing, to provide power for the movement of powered leg.
Powered leg first motor 3-11 and powered leg the second motor 3-14 pass through the first Worm and worm-wheel gearing and second
Turbine and worm transmission mechanism changes the angle of two degree of freedom in power leg.
In land, bending auxiliary leg realizes land walking under the joint periodic oscillations of power leg.In out-of-flatness land
Under ground environment, auxiliary leg is put down, using universal wheel, realizes that whole promotion is advanced by power leg joint.
The 4th motor 3-41 of powered leg drives the 3-45 rotations of worm gear swing rod by worm gear structure.Worm gear swing rod 3-45 is suitable
Hour hands rotate to certain angle and contact and stir rotary shaft 3-47 with the rotary shaft 3-47 on the outside of the second motor casing of powered leg 3-27,
To compressed spring 3-39.Above worm gear swing rod 3-45 is rotated clockwise to, on the outside of the second motor casing of powered leg 3-27
Rotary shaft disengages, and spring 3-39 discharges elastic force, and the outside rotary shaft of the second motor casing of propulsion power leg 3-27 moves downward,
Entire powered leg is driven to move downward, which makes bionical aquatic bird generate jumping.(because of the length one of worm gear swing rod 3-45
Fixed, when reaching the distance limits of promotion, worm gear swing rod 3-45 loses with rotary shaft 3-47 suddenly to be contacted, rotary shaft 3-47 and
The whole of connection is exerted oneself over the ground by elastic force downward spring 3-39, generates jump)
In water in surface motions and dive campaign, using the design of head three degree of freedom, play the role of rudder, realizes
The change of the direction of motion.Leg is stretched, under the power that powered leg third motor 3-31 is provided, power leg joint is periodic
Under swing, realize that pendulum water is advanced in water.It is produced suddenly by powered leg first motor 3-11 and the second motor of powered leg 3-14
Raw swing from bottom to top provides the power changed to dive pose by the water surface, by the side for providing dive in the dive to water of head
To providing lasting power using the powered leg third motor 3-31 periodic oscillations provided.
To sum up, the above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in the protection of the present invention
Within the scope of.
Claims (8)
1. Amphibious bionics machine aquatic bird, it is characterised in that：Including：Shell (1-42), head unit, leg unit and hip close
Section；
The head unit is fixed on shell (1-42) front end face, including three joints, respectively the first joint of head, head
Two joints and head third joint；The first joint of the head includes：Head (1-1), head connector (1-3), neck connection
Part A (1-6) and neck connector B (1-10)；The head (1-1) is fixed on head connector (1-3), the parallel head of axis
Portion's connector (1-3) and neck connector B (1-10) are respectively by bearing support at the both ends of the neck connector A (1-6)；
The head connector (1-3) can rotate with head (1-1) around the axis of head connector (1-3), the neck connection
Part A (1-6) can be rotated around the axis of neck connector B (1-10)；The neck connector B (1-10) and head second joint
It is connected；
The head second joint is used to be the rotation and neck connector A (1- of head (1-1) around head connector (1-3)
6) power is provided around the rotation of neck connector B (1-10)；Head third joint is for driving the first joint of head and head
Portion's second joint integrally carries out pitching movement and swings；
The leg unit includes：Two power legs joint, two power legs joint are symmetrically distributed in shell (1-
42) the left and right sides, power leg joint include：The first joint of powered leg and powered leg second joint, including：Foot
Portion (3-1) and drive foot (3-1) move to change the first joint power of powered leg of foot (3-1) angle between ground
And transmission mechanism；The powered leg second joint realizes land walking for driving the entirety swing of the first joint of powered leg；
The stated joints Kua are two, are symmetrically mounted in shell (1-42) left and right side plates, power leg joint and therewith
The joints Kua of respective side are connected, the power leg joint swing that the joints Kua are used to make to be attached thereto.
2. Amphibious bionics machine aquatic bird as described in claim 1, it is characterised in that：The leg unit further includes auxiliary
Leg joint, the auxiliary leg joint are mounted on front side of shell (1-42) bottom plate, including：The auxiliary leg of left and right two and drive
The auxiliary leg power and transmission mechanism of the two auxiliary leg flexion/extensions in left and right, pass through universal wheel (2- when the auxiliary leg stretches
16) it is contacted with ground.
3. Amphibious bionics machine aquatic bird as claimed in claim 1 or 2, which is characterized in that the head second joint tool
Have including：Neck first motor (1-23), rotation axis (1-16) and rope driving unit；The rope driving unit includes：Line drives
It is column (1-19), line driving disk (1-26), the line driving disk A (1-7) for being coaxially fixed on the head connector (1-3), same
The axis empty set line driving disk B (1-11) affixed with neck connector A (1-6) at the both ends (1-10) neck connector B, coaxial sky
It is sleeved on the line driving rotating wheel (1-12) at the both ends connector B (1-10)；
The neck first motor (1-23) is fixed in neck first motor shell (1-24), neck first motor link (1-
15) one end and the neck connector B (1-10) are affixed, and the other end and neck first motor shell (1-24) are affixed；The rotation
The both ends of axis (1-16) are respectively by bearing support on the neck first motor link (1-15)；Rotation axis (the 1-
16) the coaxial affixed wired driving column (1-19) of both ends difference；Line driving disk (1-26) is fixed in neck the with coaxial
Neck first motor steering wheel (1-25) on one motor (1-23) output shaft is coaxial affixed, and the line driving disk (1-26) passes through
Rope driving line driving column (1-19), the line driving column (1-19) drive line driving disk B (1-11) and line to drive by rope respectively
Turn driving wheel (1-12), the line driving rotating wheel (1-12) drive line driving disk A (1-7) by rope.
4. Amphibious bionics machine aquatic bird as claimed in claim 1 or 2, which is characterized in that head third joint has
Body includes：Neck link (1-35) and the second motor of neck (1-29) being fixed in the second motor casing of neck (1-30),
The neck third motor (1-36) being fixed in neck third motor casing (1-37)；
Neck the second motor steering wheel (1-32) is coaxially fixed on the output shaft of the second motor of the neck (1-29)；The head
Second joint and neck the second motor link (1-28) are affixed, the neck the second motor link one end (1-28) with it is described
Neck the second motor steering wheel (1-32) is affixed, the other end by bearing support on the second motor casing of the neck (1-30), by
This drives the first joint of head and head second joint integrally to carry out pitching movement by the second motor of the neck (1-29)；
Vertically, neck third motor steering wheel (1-39) is coaxially fixed in institute to neck third motor (1-36) output shaft
It states on neck third motor (1-36) output shaft；The second motor casing of the neck (1-30) and neck link (1-35) are affixed,
Described neck link one end (1-35) and the neck third motor steering wheel (1-39) are affixed, and the other end is existed by bearing support
On the neck third motor casing (1-37), the first joint of head and head are driven from there through the neck third motor (1-36)
Portion's second joint integrally swings；The neck third motor casing (1-37) is fixed on shell (1-42) front end face.
5. Amphibious bionics machine aquatic bird as claimed in claim 2, which is characterized in that the auxiliary leg power and driver
Structure includes：Auxiliary leg motor (2-1), motor-driven gear (2-6) and the cross-brace being fixed in auxiliary leg motor casing (2-2)
Bar (2-8)；The auxiliary leg motor casing (2-2) is fixed on front side of shell (1-42) bottom plate；Auxiliary leg motor (2-1) output
Coaxial affixed auxiliary leg motor steering wheel (2-5) on axis, with the coaxial affixed motor drive tooth of auxiliary leg motor steering wheel (2-5)
Wheel (2-6) is fixed on axial gears (2-7) on the bar of the one end transverse support bar (2-8) and is meshed with coaxial；The cross-brace
The both ends of bar (2-8) are respectively by bearing support in auxiliary leg connecting bracket (2-13)；
Two auxiliary legs are symmetrically mounted on the both ends of transverse support bar (2-8) axial direction；The auxiliary leg includes vertical supporting bar (2-
14) with universal wheel (2-16), one end of the vertical supporting bar (2-14) and the transverse support bar (2-8) are affixed, the other end
Universal wheel (2-16) is installed.
6. Amphibious bionics machine aquatic bird as claimed in claim 1 or 2, which is characterized in that the first joint of the powered leg
Power and transmission mechanism include：It is fixed on powered leg first motor (3-11) in powered leg first motor shell (3-7), by first
First turbine and worm transmission mechanism of turbine (3-8) and the first worm screw (3-9) composition；Its connection relation is：The foot (3-1)
It is fixed on the first straight-bar (3-2), the both ends of first straight-bar (3-2) are respectively by bearing support in powered leg first motor
The bottom of shell (3-7)；First worm screw (3-9) being vertically arranged is fixed in the first whirlpool in the middle part of the first straight-bar (3-2) with coaxial
Take turns (3-8) engagement；At the top of first worm screw (3-9) by the first worm screw terminal pad (3-10) and with powered leg first motor
The coaxial affixed powered leg first motor steering wheel (3-12) of (3-11) output shaft is affixed.
7. Amphibious bionics machine aquatic bird as claimed in claim 6, which is characterized in that the powered leg second joint packet
It includes：It is fixed on the second motor of powered leg (3-14) in the second motor casing of powered leg (3-27), by the second turbine (3-18) and
Second turbine and worm transmission mechanism of two worm screws (3-17) composition；The second motor of the powered leg (3-14) output shaft and powered leg
First motor (3-11) output shaft is vertical, second worm screw (3-17) by the second worm screw terminal pad (3-16) with it is coaxial affixed
Powered leg the second motor steering wheel (3-15) on the second motor of powered leg (3-14) output shaft is affixed, with the first worm gear (3-8)
Parallel the second turbine (3-18) of axis is engaged with the second worm screw (3-17), and the second turbine (3-18) is coaxially fixed in the second straight-bar
In the middle part of (3-19)；The both ends of second straight-bar (3-19) are respectively by bearing support in powered leg first motor shell (3-7)
Upper end, coaxial affixed motor drive terminal pad A (3-24) connects with motor drive respectively at the both ends of second straight-bar (3-19)
Disk B (3-25), the motor drive terminal pad A (3-24) and motor drive terminal pad B (3-25) respectively and are corresponding to it side
Powered leg first motor shell (3-7) is fixed.
8. Amphibious bionics machine aquatic bird as claimed in claim 7, which is characterized in that the joints Suo Shu Kua include：Powered leg
Third motor (3-31), the 4th motor (3-41) of powered leg, crank (3-32), powered leg third motor (3-32) and by third
The Worm and worm-wheel gearing of worm screw (3-44) and worm gear swing rod (3-45) composition；The powered leg third motor (3-31) is fixed
On the side plate of shell (1-42), side plate of the output shaft perpendicular to shell (1-42)；The crank (3-32) and the power
The output shaft of leg third motor (3-31) is affixed；One end of the slide bar (3-33) and crank (3-32) pin joint, the other end are sleeved on
In the rectangle hollow pipe of the lower end the second motor casing of powered leg (3-27), and be fixed on end moment under the second motor casing of powered leg (3-27)
Linear bearing cooperation in shape hollow pipe, forms crank cranking-block structure；
The second motor casing of the powered leg (3-27) side opposite with shell (1-42) side plate is provided with rotary shaft (3-47), institute
The one end for stating rotary shaft (3-47) is connected with the second motor casing of the powered leg (3-27), the other end and linear bearing connecting plate
(3-37) is connected, and the linear bearing connecting plate (3-37) is fixed with linear bearing C (3-38)；In the side of the shell (1-42)
It is arranged fluted on plate, spring (3-39) and linear bearing C (3-38) are sleeved on consolidating in shell (1-42) side plate groove
In fixed pole (3-40), wherein the bottom of the spring (3-39) is connect with linear bearing C (3-38), top and the side shell (1-42)
The inner top of plate groove is connected；The 4th motor (3-41) of the powered leg is fixed in the groove of shell (1-42) side plate, described
Third worm screw (3-44) passes through third worm screw terminal pad (3-43) and the coaxial output for being fixed in the 4th motor (3-41) of powered leg
The 4th motor steering wheel (3-42) of powered leg on axis is affixed；The third worm screw (3-44) is with setting in worm gear swing rod (3-45)
The worm gear in portion engages, and wherein worm gear swing rod (3-45) is located at below third worm screw (3-44)；The one of the worm gear swing rod (3-45)
End with it is affixed in the third straight-bar (3-46) on shell (1-42) side plate by bearing support, the other end is provided with and powered leg
The side second motor casing (3-27) rotary shaft (3-47) matched swing rod, when the worm gear swing rod (3-45) rotates set angle
When, rotary shaft (3-47) compressed spring (3-39) is dialed up, the length that speed searches worm gear swing rod (3-45) ensures in the spring
Worm gear swing rod (3-45) can be disengaged with rotary shaft (3-47) when (3-39) reaches maximum compression.
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| CN201810438921.4A CN108609066B (en) | 2018-05-09 | 2018-05-09 | Amphibious bionic machine waterfowl |
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| CN201810438921.4A CN108609066B (en) | 2018-05-09 | 2018-05-09 | Amphibious bionic machine waterfowl |
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| CN113071274A (en) * | 2021-04-23 | 2021-07-06 | 南京理工大学 | Frog-imitating amphibious robot based on hybrid mechanism |
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