CN108945360B - Hybrid drive imitation gold jellyfish marine organism observation monitoring robot - Google Patents
Hybrid drive imitation gold jellyfish marine organism observation monitoring robot Download PDFInfo
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- CN108945360B CN108945360B CN201810804666.0A CN201810804666A CN108945360B CN 108945360 B CN108945360 B CN 108945360B CN 201810804666 A CN201810804666 A CN 201810804666A CN 108945360 B CN108945360 B CN 108945360B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
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Abstract
The utility model provides a hybrid drive imitative golden jellyfish marine organism observes supervisory-controlled robot, includes casing, frame, observes monitoring device, impels drive arrangement and turn drive arrangement, the casing is connected with the frame through the round pin axle, observe monitoring device and include wireless camera, real-time locater, light, power, treater, wireless receiving system and control system, the submarine environment video information that the real-time transport was observed is passed through to wireless camera and is connected with control system, real-time locater and control system are connected, acquire the current position and the gesture information of this robot, wireless receiving system passes through the treater and is connected with control system, obtains the remote control signal of this robot. The invention has the characteristics of strong obstacle crossing capability, quick remote movement, wide range of motion, good concealment and high flexibility, and can realize observation and monitoring of marine organisms, complex submarine landforms and the like.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to a hybrid drive gold-imitation jellyfish marine organism observation monitoring robot.
Background
The jellyfish can move in water by wind or water flow, is quickly retracted after being expanded by some special muscles by a water jet propulsion method, discharges water in a body out of the body, and achieves propulsion behaviors of swimming forwards, turning and the like under the driving of water flow reaction.
The seabed is a treasure with rich resources and is also a field full of magic colors, the demand of people for new resources and new energy is continuously increased along with the continuous development of scientific technology, and the topography and the landform are unknown due to the complex environment under the seabed; the population diversification of marine organisms is not deep in research on the habits and characteristics of some organisms or some populations, so that higher requirements are provided for observation and monitoring means and methods of the marine organisms and complex submarine landforms; the underwater monitoring robot in the prior art cannot move remotely underwater, has a small moving range and poor obstacle crossing capability, and cannot meet the task requirements of submarine observation and monitoring and the like.
At present, an innovative invention design of a hybrid drive imitation gold jellyfish marine organism observation monitoring robot with the characteristics of strong obstacle crossing capability, quick remote movement, wide range of motion, good concealment and high flexibility is not available.
Disclosure of Invention
The invention aims to provide a hybrid drive imitation gold jellyfish marine organism observation monitoring robot which has the characteristics of strong obstacle crossing capability, quick remote movement, wide range of motion, good concealment and high flexibility and can realize observation and monitoring of marine organisms, complex submarine landforms and the like.
The technical scheme of the invention is as follows: the utility model provides a hybrid drive imitative golden jellyfish marine organism observes supervisory-controlled robot, includes casing, frame, observes monitoring device, propulsion drive arrangement and turn drive arrangement, and concrete structure and relation of connection are:
the observation monitoring device comprises a wireless camera, a real-time locator, a lighting lamp, a power supply, a processor, a wireless receiving system and a control system, wherein the wireless camera is connected with the control system through the processor, the real-time locator is connected with the control system through the processor, the wireless receiving system is connected with the control system through the processor, the propulsion driving device comprises a servo motor, a worm gear mechanism, a crank rocker mechanism and a support frame, the servo motor is fixedly connected on the base, the worm gear mechanism comprises a first group of worm gear mechanism, a second group of worm gear mechanism, a third group of worm gear mechanism, a fourth group of worm gear mechanism, a fifth group of worm gear mechanism and a sixth group of worm gear mechanism, the first group of worm and gear mechanisms comprises two externally meshed worm gears, two sides of each group of worm and gear mechanisms are connected with a crank-rocker mechanism, the structures and the connection relations of the other groups of worm and gear mechanisms are completely the same as those of the first group of worm and gear mechanisms, each crank-rocker mechanism comprises a first group of crank-rocker mechanism, a second group of crank-rocker mechanism, a third group of crank-rocker mechanism, a fourth group of crank-rocker mechanism, a fifth group of crank-rocker mechanism, a sixth group of crank-rocker mechanism, a seventh group of crank-rocker mechanism, an eighth group of crank-rocker mechanism, a ninth group of crank-rocker mechanism, a tenth group of crank-rocker mechanism, an eleventh group of crank-rocker mechanism and a twelfth group of crank-rocker mechanism, each first group of crank-rocker mechanisms comprises a crank, a connecting rod, a rocker and a long connecting rod, one end of each crank is connected with the worm gears through a pin shaft, meanwhile, one end of a crank is connected with one end of a long connecting rod through a pin shaft, the connecting rod comprises a connecting rod chute, a connecting rod first pin shaft seat and a connecting rod second pin shaft seat, the connecting rod chute is connected with the crank and the long connecting rod through a sliding pair, the connecting rod first pin shaft seat is connected with a support frame through a pin shaft, the connecting rod second pin shaft seat is connected with a rocker through a pin shaft, the rocker is connected with the long connecting rod through a pin shaft, one end of the long connecting rod is connected with the crank through a pin shaft, the other end of the long connecting rod is connected with the rocker through a pin shaft, the structure and the connection relation of other crank rocker mechanisms are completely the same as those of the first crank rocker mechanism, the support frame is connected with two externally meshed worm gears which are the same in size and are centered on the same horizontal line, the turning driving device comprises a first steering engine, a second steering engine and a tail frame, the first, the tail frame comprises a rotating shaft and eight guide sliding sheets which are uniformly distributed, and is connected with the base through a U-shaped hinge.
The invention has the outstanding advantages that:
1. the device can move in a long distance and a large range in the seabed in a golden jellyfish water jet propulsion mode, and can realize observation and monitoring of marine organisms by moving back and forth rapidly in different seabed areas.
2. Through the hybrid drive of servo motor and steering wheel, nimble control this robot's translation speed and direction, the flexible, strong, the disguise of obstacle avoidance ability of motion in complicated seabed environment is good.
3. The robot has the advantages that the structure has better rigidity and strength through the six groups of the worm and gear mechanisms in the array, can bear stronger vibration and impact load, and can realize observation and monitoring of marine organisms, complex submarine landforms and the like.
Drawings
Fig. 1 is a schematic structural diagram of a hybrid drive imitation gold jellyfish marine organism observation monitoring robot.
Fig. 2 is a structural plan view of the hybrid drive imitation gold jellyfish marine organism observation monitoring robot.
Fig. 3 is a structural front view of the hybrid drive imitation gold jellyfish marine organism observation monitoring robot.
Fig. 4 is a schematic view of a worm and gear mechanism of the hybrid drive artificial gold jellyfish marine organism observation monitoring robot.
Fig. 5 is a schematic diagram of a crank and rocker mechanism of the hybrid drive artificial gold jellyfish marine organism observation monitoring robot.
Fig. 6 is a schematic structural diagram of a connecting rod of the hybrid drive imitation gold jellyfish marine organism observation monitoring robot.
Fig. 7 is a schematic structural diagram of a propulsion driving device of a hybrid-drive artificial-gold jellyfish marine organism observation monitoring robot.
Fig. 8 is a machine base structure schematic diagram of the hybrid drive imitation gold jellyfish marine organism observation monitoring robot.
Fig. 9 is a schematic structural view of a support frame of the hybrid drive imitation gold jellyfish marine organism observation monitoring robot.
Fig. 10 is a schematic structural diagram of a tail frame of the hybrid drive artificial gold jellyfish marine organism observation monitoring robot.
Fig. 11 is a front view of a tail frame structure of the hybrid drive artificial gold jellyfish marine organism observation monitoring robot.
FIG. 12 is an effect diagram of the hybrid drive artificial gold jellyfish marine organism observation monitoring robot.
Labeled as: 1. the system comprises a shell, 2 servo motors, 3 engine bases, 4 wireless cameras, 5 real-time position indicators, 6 illuminating lamps, 7 power supplies, 8 wireless receiving systems, 9 control systems, 10 protective shells, 11 worm gears, 12 supporting frames, 13U-shaped hinges, 14 tail machine frames, 15 guide sliding blades, 16 first steering engines, 17 second steering engines, 18 first crank rocker mechanisms, 18-1 cranks, 18-2 connecting rods, 18-3 rockers, 18-4 long connecting rods, 18-2-1 connecting rod sliding chutes, 18-2-2 connecting rod first pin shaft seats, 18-2-3 connecting rod second pin shaft seats, 19 second crank rocker mechanisms, 20 third crank rocker mechanisms, 21 fourth crank rocker mechanisms, 22 fifth crank rocker mechanisms, 22 crank rocker mechanisms, and a fourth crank rocker mechanisms, 23. The system comprises a sixth group of crank rocker mechanisms, 24, a seventh group of crank rocker mechanisms, 25, an eighth group of crank rocker mechanisms, 26, a ninth group of crank rocker mechanisms, 27, a tenth group of crank rocker mechanisms, 28, an eleventh group of crank rocker mechanisms, 29, a twelfth group of crank rocker mechanisms, 30, a first group of worm gear mechanisms, 31, a second group of worm gear mechanisms, 32, a third group of worm gear mechanisms, 33, a fourth group of worm gear mechanisms, 34, a fifth group of worm gear mechanisms, 35, a sixth group of worm gear mechanisms and 36 rotating shafts.
Detailed Description
The technical solution of the present invention is further described with reference to the accompanying drawings and embodiments.
As shown in fig. 1 to 12, the hybrid drive artificial gold jellyfish marine organism observation and monitoring robot of the present invention comprises a housing 1, a machine base 3, an observation and monitoring device, a propulsion drive device and a turning drive device, and the specific structure and connection relationship are as follows:
the observation monitoring device comprises a wireless camera 4, a real-time position finder 5, a lighting lamp 6, a power supply 7, a processor, a wireless receiving system 8 and a control system 9, wherein the wireless camera 4 is connected with the control system 9 through the processor, the real-time position finder 5 is connected with the control system 9 through the processor, the wireless receiving system 8 is connected with the control system 9 through the processor, the propulsion driving device comprises a servo motor 2, a worm gear mechanism, a crank rocker mechanism and a support frame 12, the servo motor 2 is fixedly connected with the base 3, and the worm gear mechanism comprises a first worm gear mechanism 30, a second worm gear mechanism 31, a third worm gear mechanism 32, a third worm gear mechanism 30, a third worm gear mechanism 31, a fourth worm gear mechanism 30, a fourth worm gear mechanism and a fourth worm gear mechanism 32, A fourth group of worm and gear mechanisms 33, a fifth group of worm and gear mechanisms 34 and a sixth group of worm and gear mechanisms 35, wherein the first group of worm and gear mechanisms 30 comprises two externally meshed worm gears 11, two sides of each group of worm and gear mechanisms are respectively connected with a crank-rocker mechanism, the structures and the connection relations of the other groups of worm and gear mechanisms are completely the same as those of the first group of worm and gear mechanisms 30, the crank-rocker mechanisms comprise a first group of crank-rocker mechanisms 18, a second group of crank-rocker mechanisms 19, a third group of crank-rocker mechanisms 20, a fourth group of crank-rocker mechanisms 21, a fifth group of crank-rocker mechanisms 22, a sixth group of crank-rocker mechanisms 23, a seventh group of crank-rocker mechanisms 24, an eighth group of crank-rocker mechanisms 25, a ninth group of crank-rocker mechanisms 26, a tenth group of crank-rocker mechanisms 27, an eleventh group of crank-rocker mechanisms 28 and a twelfth group of crank-rocker mechanisms 29, the first group of crank-rocker mechanisms 18 comprises, A connecting rod 18-2, a rocker 18-3 and a long connecting rod 18-4, one end of a crank 18-1 is connected with a worm wheel 11 through a pin shaft, the other end of the crank 18-1 is connected with a connecting rod chute 18-2-1 through a pin shaft, one end of the crank 18-1 is connected with one end of a long connecting rod 18-4 through a pin shaft, the connecting rod 18-2 comprises a connecting rod chute 18-2-1, a connecting rod first pin shaft seat 18-2-2 and a connecting rod second pin shaft seat 18-2-3, the connecting rod chute 18-2-1 is connected with the crank 18-1 and the long connecting rod 18-4 through a moving pair, the connecting rod first pin shaft seat 18-2-2 is connected with a support frame 12 through a pin shaft, the connecting rod second pin shaft seat 18-2-3 is connected with the rocker, the rocker 18-3 is connected with a long connecting rod 18-4 through a pin shaft, one end of the long connecting rod 18-4 is connected with a crank 18-1 through a pin shaft, the other end of the long connecting rod 18-4 is connected with the rocker 18-3 through a pin shaft, the structures and the connection relations of other crank rocker mechanisms are completely the same as those of the first crank rocker mechanism 18, a support frame 12 is connected with two externally meshed worm gears 11 which are the same in size and have centers on the same horizontal line, a turning driving device comprises a first steering engine 16, a second steering engine 17 and a tail rack 14, the first steering engine 16 is fixedly connected in a machine base 3 through a pin shaft and is connected with the bottom of a U-shaped hinge 13, the second steering engine 17 is fixedly connected in a protective shell 10 through a pin shaft and is connected with a rotating shaft 36 on the tail rack 14, and the tail rack 14, the tail frame 14 is connected with the machine base 3 through a U-shaped hinge 13.
The working principle and the process are as follows:
as shown in fig. 1 to 3, when the servo motor 2 of the propulsion driving device drives the worm to rotate, the worm wheel mechanism of the six-group array is driven to rotate, the worm wheel 11 makes circumferential rotation to drive the twelve groups of crank rocker mechanisms connected externally to make synchronous circumferential rotation, so that the whole robot makes reciprocating stretching or contraction motion, the advancing movement behavior of the robot is achieved, different moving speeds can be adjusted according to different seabed observation and monitoring tasks, and the observation and monitoring device completes related tasks to the seabed; when a first steering engine 16 arranged in the machine base 3 works, the tail machine frame 14 is driven to rotate; when the second steering engine 17 arranged in the protective shell 10 works, the tail machine frame 14 is driven to do swinging motion; when the two steering engines work simultaneously, the tail rack 14 is driven to rotate by different angles, and the diversion slide blades 15 distributed on the tail rack 14 distribute water flow to achieve the purpose of turning, so that the robot can flexibly move in a complex seabed environment.
Claims (1)
1. The utility model provides a hybrid drive imitative golden jellyfish marine organism observes supervisory-controlled robot, includes casing, frame, observes monitoring device, impels drive arrangement and turn drive arrangement, its characterized in that:
the observation monitoring device comprises a wireless camera, a real-time locator, a lighting lamp, a power supply, a processor, a wireless receiving system and a control system, wherein the wireless camera is connected with the control system through the processor, the real-time locator is connected with the control system through the processor, the wireless receiving system is connected with the control system through the processor, the propulsion driving device comprises a servo motor, a worm gear mechanism, a crank rocker mechanism and a support frame, the servo motor is fixedly connected on the base, the worm gear mechanism comprises a first group of worm gear mechanism, a second group of worm gear mechanism, a third group of worm gear mechanism, a fourth group of worm gear mechanism, a fifth group of worm gear mechanism and a sixth group of worm gear mechanism, the first group of worm and gear mechanisms comprises two externally meshed worm gears, two sides of each group of worm and gear mechanisms are connected with a crank-rocker mechanism, the structures and the connection relations of the other groups of worm and gear mechanisms are completely the same as those of the first group of worm and gear mechanisms, each crank-rocker mechanism comprises a first group of crank-rocker mechanism, a second group of crank-rocker mechanism, a third group of crank-rocker mechanism, a fourth group of crank-rocker mechanism, a fifth group of crank-rocker mechanism, a sixth group of crank-rocker mechanism, a seventh group of crank-rocker mechanism, an eighth group of crank-rocker mechanism, a ninth group of crank-rocker mechanism, a tenth group of crank-rocker mechanism, an eleventh group of crank-rocker mechanism and a twelfth group of crank-rocker mechanism, each first group of crank-rocker mechanisms comprises a crank, a connecting rod, a rocker and a long connecting rod, one end of each crank is connected with the worm gears through a pin shaft, meanwhile, one end of a crank is connected with one end of a long connecting rod through a pin shaft, the connecting rod comprises a connecting rod chute, a connecting rod first pin shaft seat and a connecting rod second pin shaft seat, the connecting rod chute is connected with the crank and the long connecting rod through a sliding pair, the connecting rod first pin shaft seat is connected with a support frame through a pin shaft, the connecting rod second pin shaft seat is connected with a rocker through a pin shaft, the rocker is connected with the long connecting rod through a pin shaft, one end of the long connecting rod is connected with the crank through a pin shaft, the other end of the long connecting rod is connected with the rocker through a pin shaft, the structure and the connection relation of other crank rocker mechanisms are completely the same as those of the first crank rocker mechanism, the support frame is connected with two externally meshed worm gears which are the same in size and are centered on the same horizontal line, the turning driving device comprises a first steering engine, the tail rack is driven to rotate through the first steering engine, the second steering engine is fixedly connected with a rotating shaft in the protective shell through a pin shaft and is connected with the rotating shaft in the tail rack, the tail rack comprises a rotating shaft and eight uniformly distributed flow guide sliding pieces, and the tail rack is connected with the base through a U-shaped hinge.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810804666.0A CN108945360B (en) | 2018-07-20 | 2018-07-20 | Hybrid drive imitation gold jellyfish marine organism observation monitoring robot |
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| CN201810804666.0A CN108945360B (en) | 2018-07-20 | 2018-07-20 | Hybrid drive imitation gold jellyfish marine organism observation monitoring robot |
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| CN108945360B true CN108945360B (en) | 2020-02-11 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110155288B (en) * | 2019-05-13 | 2020-12-15 | 姬臣兴 | Directional power device |
| CN110371279B (en) * | 2019-06-03 | 2020-12-25 | 中国水产科学研究院南海水产研究所 | Fishing ground trapping information acquisition device |
| CN115158610A (en) * | 2022-07-07 | 2022-10-11 | 广州大学 | Jellyfish robot cam transmission mechanism based on flexible bionic tentacles |
| CN115107962B (en) * | 2022-08-10 | 2023-06-23 | 华侨大学 | Jellyfish robot based on bionic design |
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| US7769487B2 (en) * | 2003-07-24 | 2010-08-03 | Northeastern University | Process and architecture of robotic system to mimic animal behavior in the natural environment |
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