CN108839784A - tuna robot - Google Patents
tuna robot Download PDFInfo
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- CN108839784A CN108839784A CN201810709150.8A CN201810709150A CN108839784A CN 108839784 A CN108839784 A CN 108839784A CN 201810709150 A CN201810709150 A CN 201810709150A CN 108839784 A CN108839784 A CN 108839784A
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- tuna
- robot
- cabin
- driving
- steering engine
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- 230000007246 mechanism Effects 0.000 claims abstract description 132
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 90
- 210000000006 pectoral fin Anatomy 0.000 claims description 44
- 230000005611 electricity Effects 0.000 claims 2
- 239000007787 solid Substances 0.000 claims 1
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 5
- 241000251468 Actinopterygii Species 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 3
- 239000010931 gold Substances 0.000 description 3
- 229910052737 gold Inorganic materials 0.000 description 3
- 241001125831 Istiophoridae Species 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 229920006324 polyoxymethylene Polymers 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000003566 sealing material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robotic technology fields, aim to solve the problem that the existing fish-shape robot problem that energy consumption is high and trip speed is slow, the present invention provides a kind of tuna robots, tuna robot includes that shell and at least part are arranged in the intracorporal power device of shell, power device includes fixing component, it drifts along mechanism, luffing mechanism and swing mechanism, fixing component is arranged in shell, it drifts along mechanism, luffing mechanism and swing mechanism are respectively provided on the fixing element, mechanism of drifting along can control tuna robot and float, sink and hovers, luffing mechanism can control tuna robot and carry out pitching movement and stopping, swing mechanism can control the advance of tuna robot, luffing mechanism and swing mechanism can co- controlling tuna robot turned to.Setting in this way avoids and generates energy consumption because each driving mechanism is connected, while improving the drive efficiency of each driving mechanism, to improve the movement velocity and kinematic dexterity of tuna robot.
Description
Technical field
The invention belongs to robotic technology fields, specifically provide a kind of tuna robot.
Background technique
In recent years, fish-shape robot technology is fast-developing, in water quality detection, aquaculture and underwater environment detection side
Face has many advantages.
Existing fish-shape robot relatively mostly uses multi-joint hinge formula propulsive mechanism, by fish body rear end connect multiple motors or
Steering engine drives next connected power unit to be swung as driving unit, using the power unit of previous driving, with
Realize that the fluctuation of fish moves ahead.Due to the presence of tail end series electric motor or steering engine, it is easy to cause fish body tail volume and weight
It is larger, cause serious virtual masseffect, reduce swing of the fish body speed, increases the power consumption of fish body driving unit.Meanwhile this analogizes
Quite a few consumption of the power of driving is made to overcome next connected power unit own wt bring used into mechanism
Property on, be easy to cause failure and be difficult to promote hunting frequency, limit machine fish trip speed.
In nature, tuna it is instantaneous when 160 km of scooter, and with the speed of average speed per hour 60-80 km into
Row is cruised for a long time, and travelling performance is marvellous.By the study found that tuna travelling high speed and high efficiency and its
Morphological feature is inseparable.The front half section body of tuna is in torpedo-shaped, greatly reduces its fluid resistance moved in water,
Meanwhile sharply being narrowed at caudal peduncle, the water resistance for causing tail portion to be subject to when swinging is smaller, accelerates its great Zhan string crescent tail fin
Swing speed can effectively improve the fltting speed and efficiency of fish body.
Therefore, this field needs a kind of new tuna robot to solve the above problems.
Summary of the invention
In order to solve the above problem in the prior art, energy consumption is high in order to solving existing fish-shape robot and trip speed is slow
Problem, the present invention provides a kind of tuna robot, which includes that shell and at least part are arranged in shell
Intracorporal power device, power device include fixing component, mechanism of drifting along, luffing mechanism and swing mechanism, fixing component setting
In shell, mechanism of drifting along, luffing mechanism and swing mechanism are respectively provided on the fixing element, and mechanism of drifting along can control tuna
Robot is floated, sunk and is hovered, and luffing mechanism can control tuna robot and carry out pitching movement and stopping,
Swing mechanism can control the advance of tuna robot, luffing mechanism and swing mechanism can co- controlling tuna robot into
Row turns to.
In the optimal technical scheme of above-mentioned tuna robot, shell includes head cabin, body portion cabin and tail portion cabin
Room, head cabin are fixedly connected with the front in body portion cabin, and tail portion cabin is connect with the rear flexible in body portion cabin, fixing component
In head cabin, body portion cabin and/or tail portion cabin, mechanism of drifting along is located in head cabin and/or body portion cabin, pitching
Mechanism is located in head cabin and/or body portion cabin, and swing mechanism is located in body portion cabin and tail portion cabin.
In the optimal technical scheme of above-mentioned tuna robot, swing mechanism includes the first driving motor, the first active
The output of the first driving motor on the fixing element is arranged in bevel gear, the first driven wheel of differential and mounting plate, the first driving motor
Axis is connected with the first drive bevel gear, and the first drive bevel gear and the first driven wheel of differential are meshed, the first driven wheel of differential
It is connected with mounting plate, mounting plate is fixedly connected with tail portion cabin, and the first driving motor can drive the first drive bevel gear to rotate
So that therefore the rotation of the first driven wheel of differential simultaneously makes mounting plate that tail portion cabin be driven to swing.
In the optimal technical scheme of above-mentioned tuna robot, swing mechanism further includes the second driving motor, the second master
Dynamic bevel gear, the second driven wheel of differential, active horizontal gear, driven horizontal gear, first connecting rod, the second connecting rod, connecting plate and
Tail fin, the second driving motor are arranged on the fixing element, and the output shaft of the second driving motor is connected with the second drive bevel gear,
Second drive bevel gear and the second driven wheel of differential are meshed, and the second driven wheel of differential and active horizontal gear are coaxially connected, actively
Horizontal gear is engaged with driven horizontal gear, and driven horizontal gear is connect by first connecting rod and the second connecting rod with connecting plate, even
Fishplate bar is connect with tail fin, and the second driving motor can drive the rotation of the second drive bevel gear so that the second driven wheel of differential and master
Dynamic horizontal gear rotates coaxially and therefore makes driven horizontal gear rotation to pass through first connecting rod and the second connecting rod company of drive jointly
Fishplate bar rotation, so that tail fin be made to swing.
In the optimal technical scheme of above-mentioned tuna robot, luffing mechanism includes the first driving steering engine, the second driving
Steering engine, the first pectoral fin and the second pectoral fin, the first driving steering engine and the second driving steering engine are respectively provided on the fixing element, the first driving
The output shaft of steering engine is connected with the first pectoral fin, and the output shaft of the second driving steering engine is connected with the second pectoral fin, the first pectoral fin and second
Pectoral fin is respectively outside the two sides extended tips cabin in head cabin.
In the optimal technical scheme of above-mentioned tuna robot, luffing mechanism includes the first driving steering engine, the second driving
Steering engine, the first pectoral fin and the second pectoral fin, the first driving steering engine and the second driving steering engine are respectively provided on the fixing element, the first driving
The output shaft of steering engine is connected with the first pectoral fin, second driving steering engine output shaft be connected with the second pectoral fin, first pectoral fin with
Second pectoral fin stretches out outside body portion cabin from the two sides in body portion cabin respectively.
In the optimal technical scheme of above-mentioned tuna robot, sink-float mechanism includes third driving steering engine, third connection
Bar, the 4th connecting rod, piston and water storage component, third driving steering engine and water storage component are respectively provided on the fixing element, and third is driven
The output shaft of dynamic steering engine passes sequentially through third connecting rod and the 4th connecting rod is connect with piston, and piston is slidably arranged in water storage structure
In part, third drives steering engine that can drive piston relative to water storage member slide by third connecting rod and the 4th connecting rod, from
And make water in water storage component be discharged water storage component it is outer or by water outside water storage component in inspiration water storage component.
In the optimal technical scheme of above-mentioned tuna robot, sink-float mechanism further includes the water delivery being connected with water storage component
Water in water storage component can be discharged outside water storage component by water-supply-pipe or be passed through water outside water storage component defeated by pipe, piston
In water pipe inspiration water storage component.
In the optimal technical scheme of above-mentioned tuna robot, tuna robot further includes being arranged on the fixing element
Main control module, main control module respectively with mechanism of drifting along, luffing mechanism and swing mechanism communicate to connect.
In the optimal technical scheme of above-mentioned tuna robot, tuna robot further includes communicating with main control module
Radio receiving transmitting module, radio receiving transmitting module setting on the fixing element or is integrated on main control module.
It will be appreciated to those of skill in the art that in the preferred technical solution of the present invention, tuna robot includes
Shell and power device, power device include fixing component, mechanism of drifting along, luffing mechanism and swing mechanism, mechanism of drifting along, pitching
Mechanism and swing mechanism are independently positioned in fixing component, also, mechanism of drifting along, luffing mechanism and swing mechanism pass through
Individual driving motor is driven, and mechanism of drifting along can control tuna robot and be floated, sunk and be hovered, pitching
Mechanism can control tuna robot and carry out pitching movement and stopping, before swing mechanism can control tuna robot
Into luffing mechanism and swing mechanism cooperation can control tuna robot and be turned to.Setting in this way, that is, drift along machine
Structure, luffing mechanism and swing mechanism are independently arranged and independent driving, is not connected between each other, it is unnecessary to can be avoided
Energy consumption, thus make structure it is simpler efficiently, improve the drive efficiency of each driving mechanism, also, can between each driving structure
To cooperate, and then it can be improved the movement velocity and kinematic dexterity of tuna robot.
Further, the first driving motor of swing mechanism and the second driving motor are arranged in body portion cabin.Pass through
Such setting dramatically reduces the volume and weight in tail portion cabin, so as to improve the hunting frequency in tail portion cabin, into
And it can be improved the movement velocity of tuna robot.
Further, tail portion cabin is independently driven and can be freely swung by the first driving motor, and tail fin passes through second
Driving motor, which independently drives, to freely swing.Setting in this way, i.e. tail portion cabin and tail fin collaboration are swung, can be into one
Step improves the movement velocity and kinematic dexterity of tuna robot.
Still further, the first driving motor is driven by the first drive bevel gear and the first driven wheel of differential to drive
Dynamic tail portion cabin is swung, since gear-driven good reliability, transmission efficiency are high and compact-sized, so as to further increase
The movement velocity of tuna robot.
Further, the first pectoral fin is independently driven by the first driving steering engine, and the second pectoral fin passes through the second driving steering engine
Independent driving.Setting in this way can make tuna machine by adjusting the rotational angle of the first pectoral fin and the second pectoral fin
People freely carries out pitching movement and divertical motion during advance, to further increase the movement of tuna robot
Flexibility.
Further, radio receiving transmitting module is additionally provided in tuna robot, radio receiving transmitting module can guarantee to lead
Instruction and data transmitting between control module and host computer.Setting in this way can monitor tuna robot in real time
Moving situation and can the movement to tuna robot remotely controlled, so as to make tuna robot successfully
Completion task.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the shell of tuna robot of the invention；
Fig. 2 is the structural schematic diagram of the power device of tuna robot of the invention；
Fig. 3 is the structural schematic diagram one of the swing mechanism of tuna robot of the invention；
Fig. 4 is the structural schematic diagram two of the swing mechanism of tuna robot of the invention；
Fig. 5 is the structural schematic diagram three of the swing mechanism of tuna robot of the invention；
Fig. 6 is the connection schematic diagram of mounting plate and fixing component of the invention；
Fig. 7 is the structural schematic diagram one of the mechanism of drifting along of tuna robot of the invention；
Fig. 8 is the structural schematic diagram two of the mechanism of drifting along of tuna robot of the invention.
Specific embodiment
Firstly, it will be apparent to a skilled person that these embodiments are used only for explaining technology of the invention
Principle, it is not intended that limit the scope of the invention.
It should be noted that in the description of the present invention, term "front", "rear", "left", "right", "upper", "lower", "inner",
The direction of the instructions such as "outside" or the term of positional relationship are direction based on the figure or positional relationship, this is just for the sake of just
In description, rather than indication or suggestion described device or element must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.In addition, term " first ", " second ", " third ", " the 4th " are only used for retouching
Purpose is stated, relative importance is not understood to indicate or imply.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace
Dress ", " setting ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.To those skilled in the art, on can understanding as the case may be
State the concrete meaning of term in the present invention.
The existing fish-shape robot problem that energy consumption is high and trip speed is slow pointed out based on background technique.The present invention provides one kind
Tuna robot, it is intended to enable tuna robot high speed and efficiently move about.
Specifically, as depicted in figs. 1 and 2, tuna robot includes that shell 1 and at least part are arranged in shell 1
Power device, power device includes fixing component 2, mechanism of drifting along 3, luffing mechanism 4 and swing mechanism 5, and fixing component 2 is arranged
In shell 1, mechanism of drifting along 3, luffing mechanism 4 and swing mechanism 5 are arranged in fixing component 2, and mechanism of drifting along 3 can control
Tuna robot is floated, sunk and is hovered, luffing mechanism 4 can control tuna robot carry out pitching movement with
And stop, swing mechanism 5 can control the advance of tuna robot, and luffing mechanism 4 and swing mechanism 5 being capable of co- controlling gold rifles
Fish robot is turned to.Wherein, shell 1 can play the role of sealing waterproof, guarantee that tuna robot can be under water
Movement, power device can provide power for tuna robot.Power device can be all disposed in shell 1, i.e.,
Fixing component 2, mechanism of drifting along 3, luffing mechanism 4 and swing mechanism 5 are all wrapped in shell 1 by shell 1；Alternatively, by power
A part of device is arranged in shell 1, such as driving motor, battery etc., and another part of power device is arranged in shell
Outside body 1, such as pectoral fin, tail fin etc., in this case, the junction that component and shell 1 outside shell 1 is arranged in needs to use
Sealing material is sealed, and prevents water from entering the inside of shell 1, those skilled in the art can in practical applications, according to
The specific structure of tuna robot flexibly sets the specific set-up mode of power device, as long as can guarantee tuna machine
People moves under water.It should be noted that shell 1 preferentially uses the configuration design of low-resistance streamline, this design can reduce
Resistance when tuna robot moves under water, so as to improve the movement velocity of tuna robot, also, shell 1
It is preferentially made of polyformaldehyde engineering plastics, this material can be improved the compressive property of shell 1, so as to improve tuna
The submerged depth of robot, ability ordinary artisan can flexibly set in practical applications the specific shape of shell 1 with
And making material, as long as can guarantee that tuna robot realizes movement under water by shell 1.
Preferably, as depicted in figs. 1 and 2, shell 1 includes head cabin 11, body portion cabin 12 and tail portion cabin 13, head
Cabin 11 is fixedly connected with the front in body portion cabin 12, and tail portion cabin 13 is connect with the rear flexible in body portion cabin 12, fixed structure
Part 2 is located in head cabin 11, body portion cabin 12 and/or tail portion cabin 13, and mechanism of drifting along 3 is located at head cabin 11 and/or body
In portion cabin 12, luffing mechanism 4 is located in head cabin 11 and/or body portion cabin 12, and swing mechanism 5 is located at 12 He of body portion cabin
In tail portion cabin 13.Wherein, tail portion cabin 13 can be connect with the rear portion in body portion cabin 12 by flexible water cloth, or be passed through
The connection of flexible rubber circle, those skilled in the art can flexibly set tail portion cabin 13 and body portion cabin 12 in practical applications
The specific connecting elements in rear portion, as long as the rear flexible in tail portion cabin 13 and body portion cabin 12 can be connected by connecting elements
It connects.In addition, fixing component 2 includes three fixed parts, the first fixed part of fixing component 2 in a kind of possible situation
In head cabin 11, the second fixed position of fixing component 2 is in body portion cabin 12, the third fixed part of fixing component 2
In tail portion cabin 13, i.e. the fish skeleton structure that is equivalent to tuna robot of fixing component 2, the setting of mechanism of drifting along 3 is the
On one fixed part, that is, mechanism of drifting along 3 is located in head cabin 11, and luffing mechanism 4 also is located on the first fixed part, i.e. luffing mechanism
4 also are located in head cabin 11, and the drive member of swing mechanism 5 is arranged on the second fixed part, the oscillating structural member of swing mechanism 5
It is arranged on third fixed part, i.e., swing mechanism 5 is located in body portion cabin 12 and tail portion cabin 13.In alternatively possible situation
In, fixing component 2 includes two fixed parts, the first fixed position of fixing component 2 in head cabin 11, fixing component 2
Second fixed position is in body portion cabin 12, and in this case, the oscillating structural member positioned at tail portion cabin 13 can pass through connection
Frame is connect with fixing component 2, and connection frame and fixing component 2 collectively constitute fish skeleton structure, and the setting of mechanism of drifting along 3 is fixed first
In portion, that is, mechanism of drifting along 3 is located in head cabin 11, and luffing mechanism 4 is located on the second fixed part, i.e., luffing mechanism 4 is located at body
In portion cabin 12, the drive member of swing mechanism 5 is arranged on the second fixed part.Certainly, two kinds of above-mentioned situations are only examples
Property, those skilled in the art can flexibly set fixation in practical applications, according to the overall structure of tuna robot
Component 2, mechanism of drifting along 3, luffing mechanism 4 and swing mechanism 5 specific setting position, for example, can by fixing component 2, drift along
Mechanism 3 and luffing mechanism 4 are provided entirely in body portion cabin 12, and swing mechanism 5 is arranged in body portion cabin 12 and tail portion cabin 13
It is interior, it just no longer repeats one by one herein, as long as can be made by fixing component 2, mechanism of drifting along 3, luffing mechanism 4 and swing mechanism 5
Tuna robot moves under water.
Preferably, as shown in Figure 3 and Figure 6, swing mechanism 5 includes the first driving motor 51, the first drive bevel gear 52, the
One driven wheel of differential 53 and mounting plate 54, the first driving motor 51 are arranged in fixing component 2, the output of the first driving motor 51
Axis (not shown) is connected with the first drive bevel gear 52, and the first drive bevel gear 52 is mutually nibbled with the first driven wheel of differential 53
It closes, the first driven wheel of differential 53 is connected with mounting plate 54, and mounting plate 54 is fixedly connected with tail portion cabin 13, the first driving motor 51
The first drive bevel gear 52 can be driven to rotate so that the first driven wheel of differential 53 rotates and mounting plate 54 is therefore made to drive tail portion
Cabin 13 is swung.Wherein, the first driving motor 51 is fixed in fixing component 2 by the first fixing seat 21, and first from mantle tooth
Wheel 53 is fixedly connected with the top of first rotating shaft 514, and first rotating shaft 514 is fixedly connected with mounting plate 54, first rotating shaft 514 and tail
Plate 22 is pivotally connected to, and can be swung in the driving lower installation board 54 of the first electric drive motor 51, mounting plate 54 and tail portion
Cabin 13 is fixedly connected, so tail portion cabin 13 can swing under the driving of the first driving motor 51 to push tuna
Robot advances.
Preferably, as shown in Fig. 3 to 6, swing mechanism 5 further includes the second driving motor 55, the second drive bevel gear 56,
Two driven wheel of differential 57, active horizontal gear 58, driven horizontal gear 59, first connecting rod 510, the second connecting rod 511, connecting plate
512 and tail fin 513, the second driving motor 55 is arranged in fixing component 2, and the output shaft of the second driving motor 55 (does not show in figure
It is connected out) with the second drive bevel gear 56, the second drive bevel gear 56 and the second driven wheel of differential 57 are meshed, and second is driven
Bevel gear 57 and active horizontal gear 58 are coaxially connected, and active horizontal gear 58 is engaged with driven horizontal gear 59, and driven horizontal gear 59 is logical
It crosses first connecting rod 510 and the second connecting rod 511 is connect with connecting plate 512, connecting plate 512 is connect with tail fin 513, and second drives
The second drive bevel gear 56 can be driven to rotate for dynamic motor 55 so that the second driven wheel of differential 57 and active horizontal gear 58 are coaxial
It rotates and makes the driven rotation of horizontal gear 59 therefore to drive connecting plate jointly by first connecting rod 510 and the second connecting rod 511
512 rotations, so that tail fin 513 be made to swing.Wherein, the second driving motor 55 is fixed on fixing component 2 by the second fixing seat 23
On, the second driven wheel of differential 57 and active horizontal gear 58 are fixedly and coaxially connected and connect with the lower rotational of first rotating shaft 514, from
Dynamic horizontal gear 59 is pivotally connected to by the second shaft 515 with mounting plate 54, one end of first connecting rod 510 and driven horizontal gear
59 rotation connections, the other end of first connecting rod 510 and connecting plate 512 are rotatablely connected, one end of the second connecting rod 511 with it is driven
Horizontal gear 59 is rotatablely connected, and the other end and connecting plate 512 of the second connecting rod 511 are rotatablely connected, and connecting plate 512 is turned by third
Axis 516 is pivotally connected to mounting plate 54, and tail fin 513 is fixedly connected with connecting plate 512, under the driving of the second driving motor 55
Tail fin 513 can swing to push tuna robot to advance.
Preferably, as shown in Fig. 2, luffing mechanism 4 includes that the first driving steering engine 41, second drives steering engine 42, the first pectoral fin
43 and second pectoral fin 44, the first driving steering engine 41 and the second driving steering engine 42 be arranged in fixing component 2, the first driving steering engine
41 output shaft (not shown) is connected with the first pectoral fin 43, the output shaft (not shown) and the of the second driving steering engine 42
Two pectoral fins 44 are connected, and the first pectoral fin 43 and the second pectoral fin 44 are respectively outside the two sides extended tips cabin 11 in head cabin 11.When
So, luffing mechanism 4 can also be arranged in body portion cabin 12, i.e. the first pectoral fin 43 and the second pectoral fin 44 are respectively from body portion cabin
12 two sides are stretched out outside body portion cabin 12.It should be noted that when the first pectoral fin 43 and the second pectoral fin 44 with tuna machine
When the direction of advance of people is parallel, tuna robot is horizontally advanced, if the rotation simultaneously of the first pectoral fin 43 and the second pectoral fin 44 with
The direction of advance of tuna robot forms an identical angle, then pitching movement may be implemented in tuna robot.If
First pectoral fin 43 and the second pectoral fin 44 turn to the position vertical with the direction of advance of tuna robot simultaneously, then can make gold
Marlin robot slows down or stops.When being turned to if necessary to tuna robot, then controlling the first driving steering engine 41 makes
The rotation of first pectoral fin 43 or control the second driving steering engine 42 rotate the second pectoral fin 44 so that gold can be realized in unilateral side resistance increase
The steering of marlin robot.
Preferably, as shown in fig. 7, sink-float mechanism 3 includes that third drives steering engine 31, third connecting rod 32, the 4th connecting rod
33, piston 34 and water storage component 35, third driving steering engine 31 and water storage component 35 are arranged in fixing component 2, third driving
The output shaft (not shown) of steering engine 31 passes sequentially through third connecting rod 32 and the 4th connecting rod 33 is connect with piston 34, piston
34 are slidably arranged in water storage component 35, and third drives steering engine 31 that can drive by third connecting rod 32 and the 4th connecting rod 33
Piston 34 is slided relative to water storage component 35, thus make water in water storage component 35 be discharged water storage component 35 it is outer or by water from
In the outer inspiration water storage component 35 of water storage component 35.Wherein, third driving steering engine 31 is fixed on fixed structure by the first fixed frame 24
The front end of part 2, water storage component 35 are fixed on the front bottom end of fixing component 2 by the second fixed frame 25, it is of course also possible to by the
The middle part of fixing component 2 or the rear portion of fixing component 2, those skilled in the art is arranged in three driving steering engines 31 and water storage component 35
Member can flexibly set the specific setting position of third driving steering engine 31 and water storage component 35 in practical applications, as long as passing through
Third driving steering engine 31 and water storage component 35 can make tuna robot float, sink and hovering.In addition, water storage component
35 can be set to water butt, are perhaps set as water tank again or are set as standpipe, those skilled in the art can be in reality
The specific structure of water storage component 35 is flexibly set in the application of border, as long as water storage component 35 being capable of water storage and draining.Water storage
Component 35 is adapted with piston 34, water storage can be discharged in the water in water storage component 35 when piston 34 slides in water storage component 35
Outside component 35 or by water out of water storage component 35 outer inspiration water storage component 35.When floating if necessary to tuna robot, then
The weight that water discharge in water storage component 35 is mitigated to tuna robot, makes tuna robot under the action of water buoyancy
It floats；When sinking if necessary to tuna robot, then it will increase the weight of tuna robot in water inspiration water storage component 35
Amount, makes tuna robot that water buoyancy be overcome to sink, and hovers, is then kept in water storage component 35 if necessary to tuna robot
Water is constant.
Preferably, a water-supply-pipe 36 is set on water storage component 35, and piston 34 can lead to the water in water storage component 35
Water-supply-pipe 36 is crossed to be discharged outside water storage component 35 or pass through water in 36 inspiration water storage component 35 of water-supply-pipe outside water storage component 35.
Preferably, main as shown in Fig. 2, tuna robot further includes the main control module 7 being arranged in fixing component 2
Control module 7 is communicated to connect with mechanism 3 of drifting along, luffing mechanism 4 and swing mechanism 5 respectively.It is further preferred that tuna machine
People further includes the radio receiving transmitting module 8 communicated with main control module 7, and radio receiving transmitting module 8 is arranged in fixing component 2 or collects
At on main control module 7.The effect of radio receiving transmitting module 8 mainly guarantee instruction between main control module 7 and host computer and
Data transmitting, tuna robot move under the control of main control module 7.It should be noted that not having wireless receiving and dispatching
In the case where module 8, the motor program of tuna robot can be preset and be stored in main control module 7, tuna machine
Device people moves under water according to preset motor program, can be remote by host computer with radio receiving transmitting module 8
Process control tuna robot motion.
In addition, as shown in Figure 2 and Figure 8, motor driver 9, the first battery 101 and second are also equipped in fixing component 2
Battery 102, motor driver 9 are fixed in fixing component 2 by driver connecting plate 91, one end of motor driver 9 and master
Control module 7 connects, and the other end of motor driver 9 is connect with the first driving motor 51 and the second driving motor 55, main control
Module 7 controls the first driving motor 51 and the second driving motor 55 by motor driver 9.First battery 101 can be to drift along
Mechanism 3, luffing mechanism 4, main control module 7 and radio receiving transmitting module 8 provide electric energy, and the second battery 102 can be swing mechanism 5
Electric energy is provided.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (10)
1. a kind of tuna robot, which is characterized in that the tuna robot includes that shell and at least part setting exist
The intracorporal power device of shell, the power device include fixing component, mechanism of drifting along, luffing mechanism and swing mechanism, institute
It states fixing component to be arranged in shell, the mechanism of drifting along, the luffing mechanism and the swing mechanism are arranged at described solid
Determine on component, the mechanism of drifting along can control the tuna robot and be floated, sunk and be hovered, the pitching machine
Structure, which can control the tuna robot, which carries out pitching movement and stopping, the swing mechanism, can control the tuna
Robot advances, and the luffing mechanism and the swing mechanism tuna robot can be turned to described in co- controlling.
2. tuna robot according to claim 1, which is characterized in that the shell includes head cabin, body portion cabin
Room and tail portion cabin, the head cabin are fixedly connected with the front in body portion cabin, the tail portion cabin and the body portion
The rear flexible in cabin connects, and the fixing component is located at the head cabin, body portion cabin and/or the tail portion cabin
Interior, the mechanism of drifting along is located in the head cabin and/or body portion cabin, and the luffing mechanism is located at the head cabin
In room and/or body portion cabin, the swing mechanism is located in body portion cabin and the tail portion cabin.
3. tuna robot according to claim 2, which is characterized in that the swing mechanism includes the first driving electricity
Machine, the first drive bevel gear, the first driven wheel of differential and mounting plate, first driving motor are arranged in the fixing component
On, the output shaft of first driving motor is connected with first drive bevel gear, first drive bevel gear and institute
It states the first driven wheel of differential to be meshed, first driven wheel of differential is connected with the mounting plate, the mounting plate and the tail
Portion cabin is fixedly connected, and first driving motor can drive the first drive bevel gear rotation so that described first is driven
Therefore bevel gear rotation simultaneously makes the mounting plate that the tail portion cabin be driven to swing.
4. tuna robot according to claim 3, which is characterized in that the swing mechanism further includes the second driving electricity
Machine, the second drive bevel gear, the second driven wheel of differential, active horizontal gear, driven horizontal gear, first connecting rod, the second connecting rod,
Connecting plate and tail fin, second driving motor setting on the fixing member, the output shaft of second driving motor with
Second drive bevel gear is connected, and second drive bevel gear and second driven wheel of differential are meshed, and described
Two driven wheel of differential and the active horizontal gear are coaxially connected, and the active horizontal gear is engaged with the driven horizontal gear, described
Driven horizontal gear is connect by the first connecting rod and second connecting rod with the connecting plate, the connecting plate and institute
State tail fin connection, second drive bevel gear can be driven to rotate for second driving motor so that described second from mantle tooth
Wheel and the active horizontal gear rotate coaxially and therefore make the driven horizontal gear rotation with by the first connecting rod and
Second connecting rod drives the connecting plate to rotate jointly, so that the tail fin be made to swing.
5. tuna robot according to claim 2, which is characterized in that the luffing mechanism includes the first driving rudder
Machine, the second driving steering engine, the first pectoral fin and the second pectoral fin, the first driving steering engine and the second driving steering engine are arranged at
In the fixing component, the output shaft of the first driving steering engine is connected with first pectoral fin, the second driving steering engine
Output shaft is connected with second pectoral fin, and first pectoral fin and second pectoral fin are stretched from the two sides in the head cabin respectively
Out outside the head cabin.
6. tuna robot according to claim 2, which is characterized in that the luffing mechanism includes the first driving rudder
Machine, the second driving steering engine, the first pectoral fin and the second pectoral fin, the first driving steering engine and the second driving steering engine are arranged at
In the fixing component, the output shaft of the first driving steering engine is connected with first pectoral fin, the second driving steering engine
Output shaft is connected with second pectoral fin, and first pectoral fin and second pectoral fin are stretched from the two sides in body portion cabin respectively
Out outside body portion cabin.
7. tuna robot according to claim 1, which is characterized in that the sink-float mechanism includes third driving rudder
Machine, third connecting rod, the 4th connecting rod, piston and water storage component, the third driving steering engine and the water storage component are respectively provided with
On the fixing member, the output shaft of the third driving steering engine passes sequentially through the third connecting rod and the 4th connection
Bar is connect with the piston, and the piston is slidably arranged in the water storage component, and the third driving steering engine can pass through
The third connecting rod and the 4th connecting rod drive the piston relative to the water storage member slide, to make the storage
Water in water component be discharged the water storage component it is outer or by water outside the water storage component in water storage component described in inspiration.
8. tuna robot according to claim 7, which is characterized in that the sink-float mechanism further includes and the water storage
The water storage structure can be discharged by the water-supply-pipe in water in the water storage component by the connected water-supply-pipe of component, the piston
Part it is outer or by water outside the water storage component by water storage component described in the water-supply-pipe inspiration.
9. tuna robot according to any one of claim 1 to 8, which is characterized in that the tuna robot
Further include setting main control module on the fixing member, the main control module respectively with the mechanism of drifting along, described
Luffing mechanism and swing mechanism communication connection.
10. tuna robot according to claim 9, which is characterized in that the tuna robot further includes and institute
The radio receiving transmitting module of main control module communication is stated, the radio receiving transmitting module is arranged on the fixing member or is integrated in
On the main control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709150.8A CN108839784B (en) | 2018-07-02 | 2018-07-02 | Tuna robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709150.8A CN108839784B (en) | 2018-07-02 | 2018-07-02 | Tuna robot |
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| Publication Number | Publication Date |
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| CN108839784A true CN108839784A (en) | 2018-11-20 |
| CN108839784B CN108839784B (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810709150.8A Active CN108839784B (en) | 2018-07-02 | 2018-07-02 | Tuna robot |
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| Country | Link |
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| CN (1) | CN108839784B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110626482A (en) * | 2019-09-29 | 2019-12-31 | 河南大学 | Two-degree-of-freedom flexible bionic fish driving device and driving method |
| CN111572742A (en) * | 2020-05-25 | 2020-08-25 | 中国科学院自动化研究所 | Underwater robot fish-imitating propelling mechanism |
| CN115071933A (en) * | 2022-07-19 | 2022-09-20 | 哈尔滨工程大学 | Multi-mode driving turtle-like robot |
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| CN104627342A (en) * | 2014-12-08 | 2015-05-20 | 中国科学院自动化研究所 | Gliding machine dolphin |
| CN206297718U (en) * | 2016-11-08 | 2017-07-04 | 山东科技大学 | A kind of bionic mechanical fish tail portion propulsive mechanism |
| CN108058799A (en) * | 2017-11-30 | 2018-05-22 | 浙江工业大学 | A kind of novel bionic mechanical fish |
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| JP2005145410A (en) * | 2003-11-20 | 2005-06-09 | Ko Yamaguchi | Resilient vibration blade |
| CN1916800A (en) * | 2006-09-01 | 2007-02-21 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN104627342A (en) * | 2014-12-08 | 2015-05-20 | 中国科学院自动化研究所 | Gliding machine dolphin |
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| CN110626482A (en) * | 2019-09-29 | 2019-12-31 | 河南大学 | Two-degree-of-freedom flexible bionic fish driving device and driving method |
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| CN111572742A (en) * | 2020-05-25 | 2020-08-25 | 中国科学院自动化研究所 | Underwater robot fish-imitating propelling mechanism |
| CN111572742B (en) * | 2020-05-25 | 2021-06-25 | 中国科学院自动化研究所 | Underwater robot fish-imitating propelling mechanism |
| CN115071933A (en) * | 2022-07-19 | 2022-09-20 | 哈尔滨工程大学 | Multi-mode driving turtle-like robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108839784B (en) | 2019-12-13 |
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