CN108839784B - Tuna robot - Google Patents
Tuna robot Download PDFInfo
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- CN108839784B CN108839784B CN201810709150.8A CN201810709150A CN108839784B CN 108839784 B CN108839784 B CN 108839784B CN 201810709150 A CN201810709150 A CN 201810709150A CN 108839784 B CN108839784 B CN 108839784B
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- driving
- tuna
- robot
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- bevel gear
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- 230000007246 mechanism Effects 0.000 claims abstract description 121
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 92
- 210000000006 pectoral fin Anatomy 0.000 claims description 43
- 238000007667 floating Methods 0.000 claims description 29
- 230000033001 locomotion Effects 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims 1
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 241000251468 Actinopterygii Species 0.000 description 7
- 230000009182 swimming Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000006467 substitution reaction 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
- 229920006351 engineering plastic Polymers 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 229920006324 polyoxymethylene Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000003566 sealing material Substances 0.000 description 1
- 230000007480 spreading Effects 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- 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)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of robots, and aims to solve the problems of high energy consumption and low traveling speed of the existing fish-shaped robot. Through the arrangement, energy consumption caused by the connection of the driving mechanisms is avoided, and the driving efficiency of the driving mechanisms is improved, so that the moving speed and the moving flexibility of the tuna robot are improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly provides a tuna robot.
Background
in recent years, the fish-shaped robot technology is rapidly developed, and has many advantages in water quality detection, aquaculture and underwater environment detection.
The existing fish-shaped robot mostly adopts a multi-joint hinge type propulsion mechanism, a plurality of motors or steering engines are connected in series at the rear end of a fish body to serve as driving units, and a power unit driven by the previous driving unit drives the next connected power unit to swing so as to realize the forward movement of the fish through fluctuation. Because the tail end is connected with the motor or the steering engine in series, the tail volume and the weight of the fish body are easy to be larger, a serious virtual mass effect is caused, the swing speed of the fish body is reduced, and the power consumption of the fish body driving unit is increased. Meanwhile, the propelling mechanism enables a part of driving power to be consumed on overcoming inertia caused by the self weight of the next connected power unit, so that faults are easily caused, the swinging frequency is difficult to increase, and the swimming speed of the robot fish is limited.
In nature, the instantaneous speed per hour of the tuna can reach 160 kilometers, and long-time tour is carried out at the average speed per hour of 60-80 kilometers, so that the swimming performance of the tuna is impressive. Research shows that the high speed and the high efficiency of the tuna swimming are indistinguishable from the morphological characteristics of the tuna. The first half body of the tuna is torpedo-shaped, so that the fluid resistance of the tuna in motion in water is greatly reduced, and meanwhile, the tail handle of the tuna is sharply narrowed, so that the water resistance of the tail part of the tuna in swinging is small, the swinging speed of the tail fin of the tuna with a large spreading chord is accelerated, and the propelling speed and the propelling efficiency of the tuna can be effectively improved.
Therefore, there is a need in the art for a new tuna robot to solve the above problems.
Disclosure of Invention
In order to solve the problems in the prior art, namely to solve the problems that the existing fish-shaped robot is high in energy consumption and slow in traveling speed, the invention provides a tuna robot, which comprises a shell and a power device, wherein at least one part of the power device is arranged in the shell, the power device comprises a fixed component, a floating and sinking mechanism, a pitching mechanism and a swinging mechanism, the fixed component is arranged in the shell, the floating and sinking mechanism, the pitching mechanism and the swinging mechanism are all arranged on the fixed component, the floating and sinking mechanism can control the tuna robot to float, sink and hover, the pitching mechanism can control the tuna robot to perform pitching motion and stop, the swinging mechanism can control the tuna robot to advance, and the pitching mechanism and the swinging mechanism can jointly control the tuna robot to turn.
In the above-mentioned preferred technical solution of the tuna robot, the housing includes a head compartment, a trunk compartment, and a tail compartment, the head compartment is fixedly connected with a front portion of the trunk compartment, the tail compartment is flexibly connected with a rear portion of the trunk compartment, the fixing member is located in the head compartment, the trunk compartment, and/or the tail compartment, the sink-float mechanism is located in the head compartment and/or the trunk compartment, the pitch mechanism is located in the head compartment and/or the trunk compartment, and the swing mechanism is located in the trunk compartment and the tail compartment.
In the preferred technical scheme of above-mentioned tuna robot, swing mechanism includes first driving motor, first drive bevel gear, first driven bevel gear and mounting panel, first driving motor sets up on fixed component, first driving motor's output shaft is connected with first drive bevel gear, first drive bevel gear and first driven bevel gear mesh mutually, first driven bevel gear links to each other with the mounting panel, mounting panel and afterbody cabin fixed connection, first driving motor can drive first drive bevel gear and rotate so that first driven bevel gear rotates and consequently make the mounting panel drive the swing of afterbody cabin.
In the preferable technical scheme of the tuna robot, the swing mechanism further comprises a second driving motor, a second driving bevel gear, a second driven bevel gear, a driving flat gear, a driven flat gear, a first connecting rod, a second connecting rod, a connecting plate and a tail fin, wherein the second driving motor is arranged on the fixed component, an output shaft of the second driving motor is connected with the second driving bevel gear, the second driving bevel gear is meshed with the second driven bevel gear, the second driven bevel gear is coaxially connected with the driving flat gear, the driving flat gear is meshed with the driven flat gear, the driven flat gear is connected with the connecting plate through the first connecting rod and the second connecting rod, the connecting plate is connected with the tail fin, the second driving motor can drive the second driving bevel gear to rotate so that the second driven bevel gear and the driving flat gear coaxially rotate and therefore the driven flat gear rotates to drive the connecting plate to rotate together through the first connecting rod and the second connecting rod, thereby oscillating the tail fin.
In the preferred technical scheme of above-mentioned tuna robot, every single move mechanism includes first drive steering wheel, second drive steering wheel, first pectoral fin and second pectoral fin, and first drive steering wheel and second drive steering wheel all set up on fixed component, and the output shaft of first drive steering wheel links to each other with first pectoral fin, and the output shaft of second drive steering wheel links to each other with the second pectoral fin, and first pectoral fin and second pectoral fin stretch out the head cabin outside respectively from the both sides in head cabin.
In the preferred technical scheme of above-mentioned tuna robot, every single move mechanism includes first drive steering wheel, second drive steering wheel, first pectoral fin and second pectoral fin, and first drive steering wheel and second drive steering wheel all set up on fixed component, and the output shaft of first drive steering wheel links to each other with first pectoral fin, and the output shaft of second drive steering wheel links to each other with the second pectoral fin, body part cabin is stretched out from the both sides in body part cabin respectively to first pectoral fin and second pectoral fin.
In the preferable technical scheme of the tuna robot, the sinking and floating mechanism comprises a third driving steering engine, a third connecting rod, a fourth connecting rod, a piston and a water storage component, the third driving steering engine and the water storage component are both arranged on a fixed component, an output shaft of the third driving steering engine is connected with the piston sequentially through the third connecting rod and the fourth connecting rod, the piston is arranged in the water storage component in a sliding mode, and the third driving steering engine can drive the piston to slide relative to the water storage component through the third connecting rod and the fourth connecting rod, so that water in the water storage component is discharged out of the water storage component or is absorbed into the water storage component from the outside of the water storage component.
In the preferable technical scheme of the tuna robot, the sinking and floating mechanism further comprises a water conveying pipe connected with the water storage component, and the piston can discharge water in the water storage component out of the water storage component through the water conveying pipe or suck water from the outside of the water storage component into the water storage component through the water conveying pipe.
In the preferable technical scheme of the tuna robot, the tuna robot further comprises a main control module arranged on the fixed component, and the main control module is in communication connection with the floating and sinking mechanism, the pitching mechanism and the swinging mechanism respectively.
In the above preferred technical solution of the tuna robot, the tuna robot further includes a wireless transceiver module communicating with the main control module, and the wireless transceiver module is disposed on the fixing member or integrated on the main control module.
as can be understood by those skilled in the art, in a preferred embodiment of the present invention, the tuna robot includes a housing and a power device, the power device includes a fixed component, a floating and sinking mechanism, a pitching mechanism and a swinging mechanism, the floating and sinking mechanism, the pitching mechanism and the swinging mechanism are all independently disposed on the fixed component, and the floating and sinking mechanism, the pitching mechanism and the swinging mechanism are all driven by separate driving motors, the floating and sinking mechanism can control the tuna robot to float, sink and hover, the pitching mechanism can control the tuna robot to pitch and stop, the swinging mechanism can control the tuna robot to advance, and the pitching mechanism and the swinging mechanism can control the tuna robot to turn in cooperation. Through such setting, float mechanism, every single move mechanism and swing mechanism all independent setting and independent drive promptly, do not have the linkage to be connected each other, can avoid the unnecessary energy consumption to make the structure simple more high-efficient, improve each actuating mechanism's drive efficiency, and, can mutually support between each actuating structure, and then can improve tuna robot's velocity of motion and motion flexibility.
Further, the first driving motor and the second driving motor of the swing mechanism are both arranged in the trunk compartment. Through such setting, greatly alleviateed the volume and the weight in afterbody cabin to can improve the swing frequency in afterbody cabin, and then can improve tuna robot's velocity of motion.
Further, the tail cabin can swing freely through independent driving of the first driving motor, and the tail fin can swing freely through independent driving of the second driving motor. Through the arrangement that the tail cabin and the tail fin swing in a coordinated mode, the moving speed and the moving flexibility of the tuna robot can be further improved.
Still further, first driving motor drives in order to drive the swing of afterbody cabin through first initiative bevel gear and first driven bevel gear, because gear drive's good reliability, high and the compact structure of transmission efficiency to can further improve the moving speed of tuna robot.
Still further, first pectoral fin is through the independent drive of first drive steering wheel, and the second pectoral fin is through the independent drive of second drive steering wheel. Through the arrangement, the tuna robot can freely perform pitching motion and steering motion in the advancing process by adjusting the rotating angles of the first pectoral fin and the second pectoral fin, so that the motion flexibility of the tuna robot is further improved.
Still further, still be provided with wireless transceiver module on the tuna robot, wireless transceiver module can guarantee the instruction and the data transmission between main control module and the host computer. Through the arrangement, the movement state of the tuna robot can be monitored in real time, and the movement of the tuna robot can be remotely controlled, so that the tuna robot can smoothly complete tasks.
Drawings
Fig. 1 is a schematic structural view of a housing of the tuna robot of the present invention;
FIG. 2 is a schematic view of the power plant of the tuna robot of the present invention;
FIG. 3 is a first schematic structural view of a swing mechanism of the tuna robot of the present invention;
FIG. 4 is a second schematic structural view of the swing mechanism of the tuna robot of the present invention;
FIG. 5 is a third schematic structural view of the swing mechanism of the tuna robot of the present invention;
FIG. 6 is a schematic view of the attachment of the mounting plate to the securing member of the present invention;
FIG. 7 is a first schematic structural view of the sinking and floating mechanism of the tuna robot of the present invention;
fig. 8 is a second schematic structural view of the sinking and floating mechanism of the tuna robot of the present invention.
Detailed Description
First, it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and "connected" are to be construed broadly and may include, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Based on the problems of large energy consumption and slow swimming speed of the existing fish-shaped robot pointed out by the background technology. The invention provides a tuna robot, aiming at enabling the tuna robot to swim at high speed and high efficiency.
Specifically, as shown in fig. 1 and 2, the tuna robot includes a housing 1 and a power device at least partially disposed in the housing 1, the power device includes a fixed member 2, a floating and sinking mechanism 3, a pitching mechanism 4 and a swinging mechanism 5, the fixed member 2 is disposed in the housing 1, the floating and sinking mechanism 3, the pitching mechanism 4 and the swinging mechanism 5 are all disposed on the fixed member 2, the floating and sinking mechanism 3 can control the tuna robot to float, sink and hover, the pitching mechanism 4 can control the tuna robot to pitch and stop, the swinging mechanism 5 can control the tuna robot to advance, and the pitching mechanism 4 and the swinging mechanism 5 can jointly control the tuna robot to turn. Wherein, casing 1 can play sealed waterproof effect, guarantees that the tuna robot can move under water, and power device can provide power for the tuna robot. The power device can be arranged in the shell 1, namely the shell 1 wraps the fixed component 2, the floating and sinking mechanism 3, the pitching mechanism 4 and the swinging mechanism 5 in the shell 1; or, a part of the power device is disposed in the housing 1, such as the driving motor, the battery, etc., and another part of the power device is disposed outside the housing 1, such as the pectoral fin, the tail fin, etc., in this case, the connection between the member disposed outside the housing 1 and the housing 1 needs to be sealed by a sealing material to prevent water from entering into the housing 1, and those skilled in the art can flexibly set the specific arrangement mode of the power device according to the specific structure of the tuna robot in practical application, as long as the tuna robot can be guaranteed to move underwater. It should be noted that, the casing 1 preferably adopts the low-resistance streamline shape design, and this kind of design can reduce the resistance of tuna robot when moving under water to can improve the velocity of motion of tuna robot, and, casing 1 preferably adopts polyformaldehyde engineering plastics to make, and this kind of material can improve the compressive property of casing 1, thereby can improve the dive degree of depth of tuna robot, and technical staff in this field can set up the concrete appearance and the preparation material of casing 1 in a flexible way in practical application, as long as can guarantee through casing 1 that tuna robot realizes the motion under water.
Preferably, as shown in fig. 1 and 2, the housing 1 includes a head compartment 11, a trunk compartment 12, and a tail compartment 13, the head compartment 11 is fixedly connected with a front portion of the trunk compartment 12, the tail compartment 13 is flexibly connected with a rear portion of the trunk compartment 12, the fixing member 2 is located in the head compartment 11, the trunk compartment 12, and/or the tail compartment 13, the sink-float mechanism 3 is located in the head compartment 11 and/or the trunk compartment 12, the pitch mechanism 4 is located in the head compartment 11 and/or the trunk compartment 12, and the swing mechanism 5 is located in the trunk compartment 12 and the tail compartment 13. The rear portions of the trunk cabin 13 and the trunk cabin 12 may be connected by a flexible waterproof cloth or by a flexible rubber ring, and those skilled in the art may flexibly set the specific connecting members between the trunk cabin 13 and the rear portion of the trunk cabin 12 in practical applications as long as the rear portions of the trunk cabin 13 and the trunk cabin 12 can be flexibly connected by the connecting members. Furthermore, in one possible case, the fixing member 2 includes three fixing portions, a first fixing portion of the fixing member 2 is located in the head compartment 11, a second fixing portion of the fixing member 2 is located in the trunk compartment 12, a third fixing portion of the fixing member 2 is located in the tail compartment 13, i.e., the fixing member 2 corresponds to a fishbone structure of the tuna robot, the sink-float mechanism 3 is disposed on the first fixing portion, i.e., the sink-float mechanism 3 is located in the head compartment 11, the tilt mechanism 4 is also located on the first fixing portion, i.e., the tilt mechanism 4 is also located in the head compartment 11, the driving member of the swing mechanism 5 is disposed on the second fixing portion, and the swing member of the swing mechanism 5 is disposed on the third fixing portion, i.e., the swing mechanism 5 is located in the trunk compartment 12 and the tail compartment 13. In another possible case, the fixed member 2 includes two fixed portions, a first fixed portion of the fixed member 2 is located in the head compartment 11, and a second fixed portion of the fixed member 2 is located in the trunk compartment 12, in which case, the swinging member located in the tail compartment 13 may be connected to the fixed member 2 through a connecting frame, the connecting frame and the fixed member 2 together constitute a fish skeleton structure, the floating and sinking mechanism 3 is disposed on the first fixed portion, that is, the floating and sinking mechanism 3 is located in the head compartment 11, the pitching mechanism 4 is located on the second fixed portion, that is, the pitching mechanism 4 is located in the trunk compartment 12, and the driving member of the swinging mechanism 5 is disposed on the second fixed portion. Of course, the above two cases are only exemplary, and those skilled in the art can flexibly set the specific setting positions of the fixed member 2, the sinking and floating mechanism 3, the pitching mechanism 4 and the swinging mechanism 5 according to the overall structure of the tuna robot in practical applications, for example, the fixed member 2, the sinking and floating mechanism 3 and the pitching mechanism 4 can all be set in the trunk cabin 12, and the swinging mechanism 5 is set in the trunk cabin 12 and the tail cabin 13, which will not be described again, as long as the tuna robot can move underwater through the fixed member 2, the sinking and floating mechanism 3, the pitching mechanism 4 and the swinging mechanism 5.
Preferably, as shown in fig. 3 and 6, the swing mechanism 5 includes a first driving motor 51, a first driving bevel gear 52, a first driven bevel gear 53 and a mounting plate 54, the first driving motor 51 is disposed on the fixed member 2, an output shaft (not shown) of the first driving motor 51 is connected to the first driving bevel gear 52, the first driving bevel gear 52 is engaged with the first driven bevel gear 53, the first driven bevel gear 53 is connected to the mounting plate 54, the mounting plate 54 is fixedly connected to the tail chamber 13, and the first driving motor 51 can drive the first driving bevel gear 52 to rotate so as to rotate the first driven bevel gear 53 and thus drive the mounting plate 54 to swing the tail chamber 13. The first driving motor 51 is fixed on the fixing member 2 through the first fixing seat 21, the first driven bevel gear 53 is fixedly connected with the upper part of the first rotating shaft 514, the first rotating shaft 514 is fixedly connected with the mounting plate 54, the first rotating shaft 514 is pivotally connected with the tail plate 22, the mounting plate 54 can swing left and right under the driving of the first driving motor 51, and the mounting plate 54 is fixedly connected with the tail cabin 13, so that the tail cabin 13 can swing left and right under the driving of the first driving motor 51 to push the tuna robot to move forward.
Preferably, as shown in fig. 3 to 6, the swing mechanism 5 further includes a second driving motor 55, a second driving bevel gear 56, a second driven bevel gear 57, a driving flat gear 58, a driven flat gear 59, a first connecting rod 510, a second connecting rod 511, a connecting plate 512 and a tail fin 513, the second driving motor 55 is disposed on the fixed member 2, an output shaft (not shown) of the second driving motor 55 is connected with the second driving bevel gear 56, the second driving bevel gear 56 is engaged with the second driven bevel gear 57, the second driven bevel gear 57 is coaxially connected with the driving flat gear 58, the driving flat gear 58 is engaged with the driven flat gear 59, the driven flat gear 59 is connected with the connecting plate 512 through the first connecting rod 510 and the second connecting rod 511, the connecting plate 512 is connected with the tail fin 513, the second driving motor 55 can drive the second driving bevel gear 56 to coaxially rotate the second driven bevel gear 57 and the driving flat gear 58 and thus rotate the driven flat gear 59 to pass through the first connecting rod 510 and the tail fin 513 The connecting rod 510 and the second connecting rod 511 rotate the connecting plate 512 together, so that the tail fin 513 swings. The second driving motor 55 is fixed on the fixing member 2 through the second fixing base 23, the second driven bevel gear 57 and the driving flat gear 58 are coaxially and fixedly connected and rotatably connected with the lower portion of the first rotating shaft 514, the driven flat gear 59 is pivotally connected with the mounting plate 54 through the second rotating shaft 515, one end of the first connecting rod 510 is rotatably connected with the driven flat gear 59, the other end of the first connecting rod 510 is rotatably connected with the connecting plate 512, one end of the second connecting rod 511 is rotatably connected with the driven flat gear 59, the other end of the second connecting rod 511 is rotatably connected with the connecting plate 512, the connecting plate 512 is pivotally connected with the mounting plate 54 through the third rotating shaft 516, the tail fin 513 is fixedly connected with the connecting plate 512, and the tail fin 513 can swing left and right to push the tuna robot to advance under the driving of the second driving motor 55.
preferably, as shown in fig. 2, the pitching mechanism 4 includes a first driving steering engine 41, a second driving steering engine 42, a first pectoral fin 43 and a second pectoral fin 44, the first driving steering engine 41 and the second driving steering engine 42 are both disposed on the fixed member 2, an output shaft (not shown) of the first driving steering engine 41 is connected to the first pectoral fin 43, an output shaft (not shown) of the second driving steering engine 42 is connected to the second pectoral fin 44, and the first pectoral fin 43 and the second pectoral fin 44 respectively extend out of the head cabin 11 from both sides of the head cabin 11. Of course, the pitch mechanism 4 may be disposed inside the trunk room 12, that is, the first pectoral fin 43 and the second pectoral fin 44 may extend out of the trunk room 12 from both sides of the trunk room 12. It should be noted that, when the first pectoral fin 43 and the second pectoral fin 44 are both parallel to the forward direction of the tuna robot, the tuna robot moves horizontally, and if the first pectoral fin 43 and the second pectoral fin 44 rotate simultaneously to form the same included angle with the forward direction of the tuna robot, the tuna robot can implement pitching motion. If the first and second pectoral fins 43 and 44 are simultaneously rotated to a position perpendicular to the advancing direction of the tuna robot, the tuna robot can be decelerated or stopped. If the tuna robot needs to turn, the first driving steering engine 41 is controlled to enable the first pectoral fin 43 to rotate or the second driving steering engine 42 is controlled to enable the second pectoral fin 44 to rotate, so that the resistance of one side is increased, and the tuna robot can turn.
Preferably, as shown in fig. 7, the sinking and floating mechanism 3 includes a third driving steering engine 31, a third connecting rod 32, a fourth connecting rod 33, a piston 34 and a water storage member 35, the third driving steering engine 31 and the water storage member 35 are all disposed on the fixed member 2, an output shaft (not shown) of the third driving steering engine 31 is connected to the piston 34 sequentially through the third connecting rod 32 and the fourth connecting rod 33, the piston 34 is slidably disposed in the water storage member 35, and the third driving steering engine 31 can drive the piston 34 to slide relative to the water storage member 35 through the third connecting rod 32 and the fourth connecting rod 33, so that water in the water storage member 35 is discharged out of the water storage member 35 or water is sucked into the water storage member 35 from the outside of the water storage member 35. The third driving steering engine 31 is fixed at the front end of the fixing member 2 through the first fixing frame 24, and the water storage member 35 is fixed at the bottom of the front end of the fixing member 2 through the second fixing frame 25, and of course, the third driving steering engine 31 and the water storage member 35 may be disposed in the middle of the fixing member 2 or at the rear of the fixing member 2, and those skilled in the art may flexibly set the specific setting positions of the third driving steering engine 31 and the water storage member 35 in practical application, as long as the tuna robot can float, sink and hover through the third driving steering engine 31 and the water storage member 35. In addition, the water storage member 35 may be configured as a water storage barrel, or configured as a water storage tank, or configured as a water storage pipe, and those skilled in the art may flexibly configure the specific structure of the water storage member 35 in practical applications as long as the water storage member 35 can store and discharge water. The water storage member 35 is adapted to the piston 34, and the piston 34 can discharge water in the water storage member 35 out of the water storage member 35 or suck water from the outside of the water storage member 35 into the water storage member 35 when sliding in the water storage member 35. If the tuna robot needs to float, water in the water storage component 35 is discharged to reduce the weight of the tuna robot, so that the tuna robot floats under the action of water buoyancy; if the tuna robot is required to sink, water is sucked into the water storage member 35 to increase the weight of the tuna robot, so that the tuna robot sinks by overcoming the buoyancy of the water, and if the tuna robot is required to hover, the water amount in the water storage member 35 is kept unchanged.
Preferably, a water pipe 36 is disposed on the water storage member 35, and the piston 34 can discharge water in the water storage member 35 out of the water storage member 35 through the water pipe 36 or suck water from the outside of the water storage member 35 into the water storage member 35 through the water pipe 36.
preferably, as shown in fig. 2, the tuna robot further comprises a main control module 7 arranged on the fixed member 2, and the main control module 7 is in communication connection with the sinking and floating mechanism 3, the pitching mechanism 4 and the swinging mechanism 5, respectively. Further preferably, the tuna robot further comprises a wireless transceiver module 8 in communication with the main control module 7, the wireless transceiver module 8 being arranged on the fixed member 2 or integrated on the main control module 7. The wireless transceiver module 8 is mainly used for ensuring the transmission of instructions and data between the main control module 7 and an upper computer, and the tuna robot moves under the control of the main control module 7. It should be noted that, in the case of not having the wireless transceiver module 8, the motion program of the tuna robot may be preset and stored in the main control module 7, the tuna robot moves underwater according to the preset motion program, and in the case of having the wireless transceiver module 8, the motion of the tuna robot may be remotely controlled by the upper computer.
In addition, as shown in fig. 2 and 8, a motor driver 9, a first battery 101 and a second battery 102 are further mounted on the fixing member 2, the motor driver 9 is fixed on the fixing member 2 through a driver connecting plate 91, one end of the motor driver 9 is connected with the main control module 7, the other end of the motor driver 9 is connected with the first driving motor 51 and the second driving motor 55, and the main control module 7 controls the first driving motor 51 and the second driving motor 55 through the motor driver 9. The first battery 101 can provide power for the heave mechanism 3, the pitch mechanism 4, the main control module 7 and the wireless transceiver module 8, and the second battery 102 can provide power for the swing mechanism 5.
so far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (7)
1. A tuna robot is characterized by comprising a shell and a power device, wherein at least one part of the power device is arranged in the shell, the power device comprises a fixed component, a floating and sinking mechanism, a pitching mechanism and a swinging mechanism, the fixed component is arranged in the shell, the floating and sinking mechanism, the pitching mechanism and the swinging mechanism are all arranged on the fixed component, the floating and sinking mechanism can control the tuna robot to float, sink and hover, the pitching mechanism can control the tuna robot to perform pitching motion and stop, the swinging mechanism can control the tuna robot to advance, and the pitching mechanism and the swinging mechanism can jointly control the tuna robot to steer;
the shell comprises a head cabin, a trunk cabin and a tail cabin, the head cabin is fixedly connected with the front part of the trunk cabin, the tail cabin is flexibly connected with the rear part of the trunk cabin, the fixing members are positioned in the head cabin and the trunk cabin, the floating and sinking mechanism is positioned in the head cabin and/or the trunk cabin, the pitching mechanism is positioned in the head cabin and/or the trunk cabin, and the swinging mechanism is positioned in the trunk cabin and the tail cabin;
The swing mechanism comprises a first driving motor, a first driving bevel gear, a first driven bevel gear and a mounting plate, the first driving motor is arranged on the fixed component, an output shaft of the first driving motor is connected with the first driving bevel gear, the first driving bevel gear is meshed with the first driven bevel gear, the first driven bevel gear is connected with the mounting plate, the mounting plate is fixedly connected with the tail cabin, and the first driving motor can drive the first driving bevel gear to rotate so as to enable the first driven bevel gear to rotate and enable the mounting plate to drive the tail cabin to swing left and right;
The swing mechanism further comprises a second driving motor, a second driving bevel gear, a second driven bevel gear, a driving flat gear, a driven flat gear, a first connecting rod, a second connecting rod, a connecting plate and a tail fin, the second driving motor is arranged on the fixed component, an output shaft of the second driving motor is connected with the second driving bevel gear, the second driving bevel gear is meshed with the second driven bevel gear, the second driven bevel gear is coaxially connected with the driving flat gear, the driving flat gear is meshed with the driven flat gear, the driven flat gear is connected with the connecting plate through the first connecting rod and the second connecting rod, the connecting plate is connected with the tail fin, and the second driving motor can drive the second driving bevel gear to rotate so that the second driven bevel gear and the driving flat gear coaxially rotate and accordingly the driven flat gear rotates to pass through the first connecting rod and the tail fin The second connecting rod drives the connecting plate to rotate together, so that the tail fin swings left and right.
2. The tuna robot of claim 1, wherein the pitching mechanism comprises a first driving steering engine, a second driving steering engine, a first pectoral fin and a second pectoral fin, the first driving steering engine and the second driving steering engine are both arranged on the fixed component, an output shaft of the first driving steering engine is connected with the first pectoral fin, an output shaft of the second driving steering engine is connected with the second pectoral fin, and the first pectoral fin and the second pectoral fin respectively extend out of the head cabin from two sides of the head cabin.
3. the tuna robot of claim 1, wherein the pitching mechanism comprises a first driving steering engine, a second driving steering engine, a first pectoral fin and a second pectoral fin, the first driving steering engine and the second driving steering engine are both arranged on the fixed component, an output shaft of the first driving steering engine is connected with the first pectoral fin, an output shaft of the second driving steering engine is connected with the second pectoral fin, and the first pectoral fin and the second pectoral fin respectively extend out of the trunk cabin from two sides of the trunk cabin.
4. The tuna robot of claim 1, wherein the sinking and floating mechanism comprises a third driving steering engine, a third connecting rod, a fourth connecting rod, a piston and a water storage member, the third driving steering engine and the water storage member are both arranged on the fixed member, an output shaft of the third driving steering engine is connected with the piston sequentially through the third connecting rod and the fourth connecting rod, the piston is slidably arranged in the water storage member, and the third driving steering engine can drive the piston to slide relative to the water storage member through the third connecting rod and the fourth connecting rod, so that water in the water storage member is discharged out of the water storage member or is absorbed into the water storage member from the water storage member.
5. The tuna robot of claim 4, wherein the sinking and floating mechanism further comprises a water pipe connected to the water storage member, and the piston is capable of discharging water in the water storage member out of the water storage member through the water pipe or sucking water from outside the water storage member into the water storage member through the water pipe.
6. The tuna robot of any of claims 1 to 5, further comprising a master control module disposed on the fixed member, the master control module being in communication with the heave, pitch and swing mechanisms, respectively.
7. The tuna robot of claim 6, further comprising a wireless transceiver module in communication with the master control module, the wireless transceiver module disposed on the stationary member or integrated on the master control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810709150.8A CN108839784B (en) | 2018-07-02 | 2018-07-02 | Tuna robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810709150.8A CN108839784B (en) | 2018-07-02 | 2018-07-02 | Tuna robot |
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| CN108839784A CN108839784A (en) | 2018-11-20 |
| CN108839784B true CN108839784B (en) | 2019-12-13 |
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| CN110626482B (en) * | 2019-09-29 | 2021-03-16 | 河南大学 | Two-degree-of-freedom flexible bionic fish driving device and driving method |
| 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 |
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| JP2005145410A (en) * | 2003-11-20 | 2005-06-09 | Ko Yamaguchi | Resilient vibration blade |
| CN100442185C (en) * | 2006-09-01 | 2008-12-10 | 北京大学 | Biomimetic machine fish in multiple modes |
| CN104627342B (en) * | 2014-12-08 | 2017-08-11 | 中国科学院自动化研究所 | A kind of 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 |
| CN108058799B (en) * | 2017-11-30 | 2023-08-29 | 浙江工业大学 | Novel bionic mechanical fish |
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