CN109204745A - A kind of servo motor driving imitative gold jellyfish habitata acquisition robot - Google Patents
A kind of servo motor driving imitative gold jellyfish habitata acquisition robot Download PDFInfo
- Publication number
- CN109204745A CN109204745A CN201810806668.3A CN201810806668A CN109204745A CN 109204745 A CN109204745 A CN 109204745A CN 201810806668 A CN201810806668 A CN 201810806668A CN 109204745 A CN109204745 A CN 109204745A
- Authority
- CN
- China
- Prior art keywords
- crank
- group
- hinge
- connect
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
-
- 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
- B63H1/38—Propulsive elements directly acting on water characterised solely by flotation properties, e.g. drums
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of servo motor driving imitative gold jellyfish habitata acquisition robot, including detection device, acquisition device, servo motor, processor, running gear and rear-mounted installation, detection device includes water-proof CCD camera device and real-time position indicator, acquisition device includes fro hydraulic driving machinery crawl hand and vasculum, detection device is connect by processor with acquisition device, is conveyed submarine soil layer surface information in real time and is grabbed hand by fro hydraulic driving machinery to collect correlated samples.The present invention have the characteristics that obstacle climbing ability is strong, flexibility ratio is high and movement velocity and direction it is controllable, can be realized the purposes such as suibmarine mineral resources information detection and collection of specimens.
Description
Technical field
The present invention relates to underwater robot field, especially a kind of servo motor drives imitative gold jellyfish habitata acquisition
Robot.
Background technique
The robot that bio-robot refers to mimic biology, is engaged in biological characteristic work reaches certain expected mesh with this
's.Gold jellyfish is moved by wind or water flow in water, by the method for hydraulic jet propulsion, is expanded by some special muscle right
It withdraws rapidly afterwards, the intracorporal water of body is excreted, under water flow reaction driven, reach the propulsions row such as move about forward, turn
For gold jellyfish has the characteristics that flexibility is high, propulsive efficiency is high, travelling speed is fast, can be adapted to the sea of many complexity
The movement in base ring border.
With the continuous development of science and technology, demand of the people to new resources new energy is continuously increased, and contains affluent resources
Seabed be major fields that people explore, since the environment under seabed is complicated, therefore the means of exploration are detected to it and method mentions
Higher requirement is gone out.
Chinese patent 201720857589.6 discloses a kind of underwater real-time monitoring and information collection machine people, the robot
The functions such as moving obstacle-crossing are realized by six pedipulators, but are unfavorable for fast moving at a distance, and scope of activities is smaller；It is Chinese special
Benefit 201120541791.0 discloses Work robot device under a kind of multifunctional water, which passes through track drive dress
It sets and the device that rises and falls realizes underwater walking and sink-float effect, obstacle avoidance ability is poor, required driving is not mostly high with flexibility ratio, does not utilize
Underwater a wide range of and prolonged exercise.
Having not yet to see a kind of has the characteristics that obstacle climbing ability is strong, flexibility ratio is high and movement velocity and the controllable one kind in direction
Servo motor drives the innovation design of imitative gold jellyfish habitata acquisition robot.
Summary of the invention
The object of the present invention is to provide a kind of servo motors, and imitative gold jellyfish habitata to be driven to acquire robot, it has
Obstacle climbing ability is strong, flexibility ratio is high and movement velocity and the controllable feature in direction, can be realized suibmarine mineral resources information detection and
The purposes such as collection of specimens.
The technical scheme is that a kind of servo motor drives imitative gold jellyfish habitata to acquire robot, including
Detection device, acquisition device, servo motor, processor, running gear and rear-mounted installation, specific structure and connection relationship are as follows:
The detection device includes water-proof CCD camera device and real-time position indicator, and detection device is filled by processor and acquisition
Set connection；
The acquisition device includes fro hydraulic driving machinery crawl hand and vasculum, and the fro hydraulic driving machinery crawl hand includes
First hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, first support bar, second support bar, sliding block, connecting rod and clamping bar, it is described
First hydraulic cylinder one end is connect by hinge with protective shell, and the other end is connect by hinge with first support bar, second liquid
Cylinder pressure one end is connect by hinge with first support bar, and the other end is connect by hinge with second support bar, and the third is hydraulic
Cylinder one end is connect by hinge with second support bar, and the other end is connect by hinge with sliding block, and described connecting rod one end passes through hinge
It is connect with sliding block, the other end is connect by hinge with clamping bar；
The servo motor includes first servo motor, the second servo motor and third servo motor, first servo
Motor is fixedly connected in casing and connect with worm screw, and second servo motor is fixedly connected on base bottom and U-shaped hinge tail
Portion's connection, the third servo motor are fixedly connected in protective shell and connect with the pin shaft column in the rack of tail portion；
The running gear includes casing, base, support frame, worm gear mechanism and crank and rocker mechanism, the casing
For semi arch transparent shell, the base is that the double-deck disk connects base, and multiple groups queueing discipline is distributed on upper and lower level disk
Hinge hole, support frame as described above connect that two sizes are identical and the external toothing worm gear of center in the same horizontal line, the worm gear snail
Linkage includes first group of worm gear mechanism, second group of worm gear mechanism, third group worm gear mechanism, the 4th group of worm gear
Worm mechanism, the 5th group of worm gear mechanism and the 6th group of worm gear mechanism, first group of worm gear mechanism include two
A external toothing worm gear, the two sides of each group of worm gear mechanism are all connected with a crank and rocker mechanism, other group of worm and gear machine
The structure and connection relationship of structure are identical with first group of worm gear mechanism, and the crank and rocker mechanism includes first group of crank
Rocker device, second group of crank and rocker mechanism, third group crank and rocker mechanism, the 4th group of crank and rocker mechanism, the 5th group of crank
Rocker device, the 6th group of crank and rocker mechanism, the 7th group of crank and rocker mechanism, the 8th group of crank and rocker mechanism, the 9th group of crank
Rocker device, the tenth group of crank and rocker mechanism, the 11st group of crank and rocker mechanism and the 12nd group of crank and rocker mechanism, described
One group of crank and rocker mechanism includes crank, connecting rod, rocking bar and long connecting rod, and described crank one end is connect by hinge with worm gear, bent
The handle other end is connect by hinge with connecting rod sliding slot, while crank one end is connect by hinge with long connecting rod one end, the connecting rod
Including connecting rod sliding slot, connecting rod first hinge seat and connecting rod second hinge seat, connecting rod sliding slot passes through prismatic pair and crank and long connecting rod
Connection, connecting rod first hinge seat are connect by hinge with support frame, and connecting rod second hinge seat is connect by hinge with rocking bar, described
Rocking bar is connect by hinge with long connecting rod, and described long connecting rod one end is connect by hinge with crank, and the long connecting rod other end passes through hinge
Chain is connect with rocking bar, and the structure and connection relationship of other group of crank and rocker mechanism are identical with first group of crank and rocker mechanism；
The rear-mounted installation includes tail portion rack and water conservancy diversion slide plate, and a pin shaft column is fixedly connected in the tail portion rack,
And connect by pin shaft column with U-shaped hinge, the water conservancy diversion slide plate, which is evenly distributed in the rack of tail portion and fixes with tail portion rack, to be connected
It connects.
The water-proof CCD camera device includes the first water-proof CCD camera device and the second water-proof CCD camera device, the first waterproof
Cam device is fixedly connected on second support bar, and the second water-proof CCD camera device is fixedly connected on casing internal；Waterproof is taken the photograph
As head device includes camera and headlamp.
The sliding block includes three revolute pairs and a prismatic pair, and sliding block is connect by prismatic pair with second support bar.
The fro hydraulic driving machinery crawl rotatable angle of hand be greater than 5 ° and less than 170 °.
Of the invention has the prominent advantages that:
1. the robot can be precisely controlled forward speed and the direction of the robot by three servo motor drivings,
Flexibility ratio height, obstacle climbing ability are strong in complicated subsea environment.
2. the robot is fixedly connected with two water-proof CCD cameras and headlamp, and by control system to fro hydraulic driving machinery
Crawl hand is remotely controlled, and the accuracy and rapidity of habitata and acquisition are improved.
3. the robot by the worm gear mechanisms of six group patterns, makes the structure of robot have preferable rigidity and strong
Degree can bear stronger vibration and water impact load, can be realized the use such as suibmarine mineral resources information detection and collection of specimens
On the way.
Detailed description of the invention
Fig. 1 is that the structure that a kind of servo motor of the present invention drives imitative gold jellyfish habitata to acquire robot is shown
It is intended to.
Fig. 2 is that the structure that a kind of servo motor of the present invention drives imitative gold jellyfish habitata to acquire robot is bowed
View.
Fig. 3 is that the sample that a kind of servo motor of the present invention drives imitative gold jellyfish habitata to acquire robot is adopted
Collect the first working state structure schematic diagram.
Fig. 4 is that the sample that a kind of servo motor of the present invention drives imitative gold jellyfish habitata to acquire robot is adopted
Collect the second working state structure schematic diagram.
Fig. 5 is the worm gear snail that a kind of servo motor of the present invention drives imitative gold jellyfish habitata acquisition robot
Linkage schematic diagram.
Fig. 6 is that the crank that a kind of servo motor of the present invention drives imitative gold jellyfish habitata to acquire robot shakes
Linkage schematic diagram.
Fig. 7 is that the connecting rod knot that gold jellyfish marine organisms observe supervisory-controlled robot is imitated in a kind of combination drive of the present invention
Structure schematic diagram.
Fig. 8 is the hydraulic drive that a kind of servo motor of the present invention drives imitative gold jellyfish habitata acquisition robot
Motivation tool grabs hand structural schematic diagram.
Fig. 9 is the base knot that a kind of servo motor of the present invention drives imitative gold jellyfish habitata acquisition robot
Structure schematic diagram.
Figure 10 is the support that a kind of servo motor of the present invention drives imitative gold jellyfish habitata acquisition robot
Frame structural schematic diagram.
Figure 11 is the tail portion that a kind of servo motor of the present invention drives imitative gold jellyfish habitata acquisition robot
Mechanism structure schematic diagram.
Figure 12 is the tail portion that a kind of servo motor of the present invention drives imitative gold jellyfish habitata acquisition robot
Mechanism structure top view.
Figure 13 is the sliding block that a kind of servo motor of the present invention drives imitative gold jellyfish habitata acquisition robot
Structural schematic diagram.
Figure 14 is the effect that a kind of servo motor of the present invention drives imitative gold jellyfish habitata acquisition robot
Figure.
In the figure, it is marked as 1. first servo motors, 2. casings, 3. worm screws, 4. support frames, 5. worm gears, 6. bases, 7. second
Servo motor, 8.U type hinge, 9. vasculums, 10. water conservancy diversion slide plates, 11. tail portion racks, 11-1. pin shaft column, 12. second waterproofs are taken the photograph
As head device, 13. protective shells, 14. second hydraulic cylinders, 15. first support bars, 16. second support bars, 17. third hydraulic cylinders,
18. first hydraulic cylinder, 19. sliding blocks, 20. connecting rods, 21. real-time position indicators, 22. first water-proof CCD camera devices, 23. clamping bars,
24. third servo motor, 25. first groups of crank and rocker mechanisms, 25-1, crank, 25-2. connecting rod, 25-3. rocking bar, 25-4. long connect
Bar, 25-2-1 connecting rod sliding slot, 25-2-2 connecting rod first hinge seat, 25-2-3. connecting rod second hinge seat, 26. second groups of cranks shake
Linkage, 27. third group crank and rocker mechanisms, 28. the 4th groups of crank and rocker mechanisms, 29. the 5th groups of crank and rocker mechanisms, 30.
6th group of crank and rocker mechanism, 31. the 7th groups of crank and rocker mechanisms, 32. the 8th groups of crank and rocker mechanisms, 33. the 9th groups of cranks
Rocker device, 34. the tenth groups of crank and rocker mechanisms, 35. the 11st groups of crank and rocker mechanisms, 36. the 12nd groups of crank rocker machines
Structure, 37. first groups of worm gear mechanisms, 38. second groups of worm gear mechanisms, 39. third group worm gear mechanisms, 40. the 4th
Group worm gear mechanism, 41. the 5th groups of worm gear mechanisms, 42. the 6th groups of worm gear mechanisms.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings and embodiments.
As shown in figs. 1 to 14, a kind of servo motor drives imitative gold jellyfish habitata to acquire robot, including detection
Device, acquisition device, servo motor, processor, running gear and rear-mounted installation, specific structure and connection relationship are as follows:
The detection device includes water-proof CCD camera device and real-time position indicator 21, and detection device passes through processor and acquisition
Device connection；
The acquisition device includes fro hydraulic driving machinery crawl hand and vasculum 9, and the fro hydraulic driving machinery grabs handbag
It includes first hydraulic cylinder 18, second hydraulic cylinder 14, third hydraulic cylinder 17, first support bar 15, second support bar 16, sliding block 19, connect
Bar 20 and clamping bar 23, described 18 one end of first hydraulic cylinder are connect by hinge with protective shell 13, and the other end passes through hinge and the
The connection of one cradling piece 15, described 14 one end of second hydraulic cylinder are connect by hinge with first support bar 15, and the other end passes through hinge
It is connect with second support bar 16, described 17 one end of third hydraulic cylinder is connect by hinge with second support bar 16, and the other end passes through
Hinge is connect with sliding block 19, and described 20 one end of connecting rod is connect by hinge with sliding block 19, and the other end passes through hinge and clamping bar 23
Connection；
The servo motor includes first servo motor 1, the second servo motor 7 and third servo motor 24, and described first
Servo motor 1 is fixedly connected in casing 2 and connect with worm screw 3, and second servo motor 7 is fixedly connected on 6 bottom of base and U
The connection of 8 tail portion of type hinge, the third servo motor 24 are fixedly connected in protective shell 13 and the pin shaft column in tail portion rack 11
11-1 connection；
The running gear includes casing 2, base 6, support frame 4, worm gear mechanism and crank and rocker mechanism, the machine
Shell 2 is semi arch transparent shell, and the base 6 is that the double-deck disk connects base, and multiple groups arrangement rule are distributed on upper and lower level disk
Hinge hole then, support frame as described above 4 connect that two sizes are identical and the external toothing worm gear 5 of center in the same horizontal line, described
Worm gear mechanism includes first group of worm gear mechanism, 37, second groups of worm gear mechanisms 38, third group worm gear mechanism
39, the 4th group of worm gear mechanism 40, the 5th group of worm gear mechanism 41 and the 6th group of worm gear mechanism 42, described first group
Worm gear mechanism 37 includes two external toothing worm gears 5, and the two sides of each group of worm gear mechanism are all connected with a crank rocker
Mechanism, the structure and connection relationship of other group of worm gear mechanism are identical with first group of worm gear mechanism 37, the song
Handle rocker device include first group of crank and rocker mechanism, 25, second groups of crank and rocker mechanisms 26, third group crank and rocker mechanism 27,
4th group of crank and rocker mechanism 28, the 5th group of crank and rocker mechanism 29, the 6th group of crank and rocker mechanism 30, the 7th group of crank rocker
Mechanism 31, the 8th group of crank and rocker mechanism 32, the 9th group of crank and rocker mechanism 33, the tenth group of crank and rocker mechanism the 34, the 11st
Group crank and rocker mechanism 35 and the 12nd group of crank and rocker mechanism 36, first group of crank and rocker mechanism 25 include crank 25-
1, connecting rod 25-2, rocking bar 25-3 and long connecting rod 25-4, the one end the crank 25-1 are connect by hinge with worm gear 5, crank 25-1
The other end is connect by hinge with connecting rod 25-2 sliding slot, while the one end crank 25-1 is connected by hinge and the one end long connecting rod 25-4
It connecing, the connecting rod 25-2 includes connecting rod sliding slot 25-2-1, connecting rod first hinge seat 25-2-2 and connecting rod second hinge seat 25-2-3,
Connecting rod sliding slot 25-2-1 is connect by prismatic pair with crank 25-1 and long connecting rod 25-4, and connecting rod first hinge seat 25-2-2 passes through hinge
Chain is connect with support frame 4, and connecting rod second hinge seat 25-2-3 is connect by hinge with rocking bar 25-3, and the rocking bar 25-3 passes through hinge
Chain is connect with long connecting rod 25-4, and the one end the long connecting rod 25-4 is connect by hinge with crank 25-1, the long connecting rod 25-4 other end
It is connect by hinge with rocking bar 25-3, the structure and connection relationship of other group of crank and rocker mechanism and first group of crank and rocker mechanism
25 is identical；
The rear-mounted installation includes tail portion rack 11 and water conservancy diversion slide plate 10, is fixedly connected with a pin in the tail portion rack 11
Jack-post 11-1, and connect by pin shaft column 11-1 with U-shaped hinge 8, the water conservancy diversion slide plate 10 is evenly distributed in tail portion rack 11
And it is fixedly connected with tail portion rack 11.
The water-proof CCD camera device include the first water-proof CCD camera device 22 and the second water-proof CCD camera device 12, first
Water-proof CCD camera device 11 is fixedly connected on second support bar 16, and the second water-proof CCD camera device 12 is fixedly connected on casing 2
It is internal；Water-proof CCD camera device includes camera and headlamp.
The sliding block 19 includes three revolute pairs and a prismatic pair, and sliding block 19 is connected by prismatic pair and second support bar 16
It connects.
The fro hydraulic driving machinery crawl rotatable angle of hand be greater than 5 ° and less than 170 °.
Operation principle and process:
As shown in Figure 1 to Figure 2, when first servo motor 1 drives worm screw 3 to rotate, the Worm gear mechanism of six group patterns is driven
Rotation, worm gear 5 make circular-rotation and the outer 12 groups of crank and rocker mechanisms connected are driven to do synchronous circular-rotation, realize at this time entire
Robot do it is reciprocal unfold or contractile motion, reach the advance mobile behavior of the robot；Second servo motor 7 and third are watched
Taking the driving of motor 24 drives tail portion rack 11 to rotate, and reaches the turning behavior of the robot.
As shown in Figure 3 to Figure 4, when needing collecting sample, the first hydraulic cylinder 18 that fro hydraulic driving machinery grabs hand is driven
First support bar 15 moves, while second hydraulic cylinder 14 drives second support bar 16 to arrive suitable position, and third hydraulic cylinder 17 passes through
Driving sliding block 19 carrys out the acquisition tasks that driving manipulator mechanism executes sample, when collecting certain sample, hydraulic driving machine
Tool grabs hand and is withdrawn by hydraulic-driven, completes acquisition tasks.
Claims (4)
1. a kind of servo motor drives imitative gold jellyfish habitata to acquire robot, including detection device, acquisition device, servo
Motor, processor, running gear and rear-mounted installation, it is characterised in that:
The detection device includes water-proof CCD camera device and real-time position indicator, and detection device is connected by processor and acquisition device
It connects；
The acquisition device includes fro hydraulic driving machinery crawl hand and vasculum, and the fro hydraulic driving machinery crawl hand includes first
Hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, first support bar, second support bar, sliding block, connecting rod and clamping bar, described first
Hydraulic cylinder one end is connect by hinge with protective shell, and the other end is connect by hinge with first support bar, the second hydraulic cylinder
One end is connect by hinge with first support bar, and the other end is connect by hinge with second support bar, the third hydraulic cylinder one
End is connect by hinge with second support bar, and the other end is connect by hinge with sliding block, and described connecting rod one end passes through hinge and cunning
Block connection, the other end are connect by hinge with clamping bar；
The servo motor includes first servo motor, the second servo motor and third servo motor, the first servo motor
It is fixedly connected in casing and is connect with worm screw, second servo motor is fixedly connected on base bottom and U-shaped hinge tail portion and connects
It connects, the third servo motor is fixedly connected in protective shell and connect with the pin shaft column in the rack of tail portion；
The running gear includes casing, base, support frame, worm gear mechanism and crank and rocker mechanism, and the casing is half
Circular arc transparent shell, the base are that the double-deck disk connects base, and the hinge of multiple groups queueing discipline is distributed on upper and lower level disk
Hole, support frame as described above connect that two sizes are identical and the external toothing worm gear of center in the same horizontal line, the worm and gear machine
Structure includes first group of worm gear mechanism, second group of worm gear mechanism, third group worm gear mechanism, the 4th group of worm and gear
Mechanism, the 5th group of worm gear mechanism and the 6th group of worm gear mechanism, first group of worm gear mechanism include two outer
Engaging worm wheel, the two sides of each group of worm gear mechanism are all connected with a crank and rocker mechanism, other group of worm gear mechanism
Structure and connection relationship are identical with first group of worm gear mechanism, and the crank and rocker mechanism includes first group of crank rocker
Mechanism, second group of crank and rocker mechanism, third group crank and rocker mechanism, the 4th group of crank and rocker mechanism, the 5th group of crank rocker
Mechanism, the 6th group of crank and rocker mechanism, the 7th group of crank and rocker mechanism, the 8th group of crank and rocker mechanism, the 9th group of crank rocker
Mechanism, the tenth group of crank and rocker mechanism, the 11st group of crank and rocker mechanism and the 12nd group of crank and rocker mechanism, described first group
Crank and rocker mechanism includes crank, connecting rod, rocking bar and long connecting rod, and described crank one end is connect by hinge with worm gear, and crank is another
One end is connect by hinge with connecting rod sliding slot, while crank one end is connect by hinge with long connecting rod one end, and the connecting rod includes
Connecting rod sliding slot, connecting rod first hinge seat and connecting rod second hinge seat, connecting rod sliding slot are connect by prismatic pair with crank and long connecting rod,
Connecting rod first hinge seat is connect by hinge with support frame, and connecting rod second hinge seat is connect by hinge with rocking bar, the rocking bar
Connect by hinge with long connecting rod, described long connecting rod one end connect by hinge with crank, the long connecting rod other end pass through hinge and
Rocking bar connection, the structure and connection relationship of other group of crank and rocker mechanism are identical with first group of crank and rocker mechanism；
The rear-mounted installation includes tail portion rack and water conservancy diversion slide plate, a pin shaft column is fixedly connected in the tail portion rack, and lead to
It crosses pin shaft column to connect with U-shaped hinge, the water conservancy diversion slide plate is evenly distributed in the rack of tail portion and is fixedly connected with tail portion rack.
2. a kind of servo motor according to claim 1 drives imitative gold jellyfish habitata to acquire robot, feature
Be: the water-proof CCD camera device includes that the first water-proof CCD camera device and the second water-proof CCD camera device, the first waterproof are taken the photograph
As head device is fixedly connected on second support bar, the second water-proof CCD camera device is fixedly connected on casing internal；Waterproof camera shooting
Head device includes camera and headlamp.
3. a kind of servo motor according to claim 1 drives imitative gold jellyfish habitata to acquire robot, feature
Be: the sliding block includes three revolute pairs and a prismatic pair, and sliding block is connect by prismatic pair with second support bar.
4. a kind of servo motor according to claim 1 drives imitative gold jellyfish habitata to acquire robot, feature
Be: the fro hydraulic driving machinery crawl rotatable angle of hand be greater than 5 ° and less than 170 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810806668.3A CN109204745B (en) | 2018-07-20 | 2018-07-20 | Servo motor driven gold imitation jellyfish seabed detection and collection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810806668.3A CN109204745B (en) | 2018-07-20 | 2018-07-20 | Servo motor driven gold imitation jellyfish seabed detection and collection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109204745A true CN109204745A (en) | 2019-01-15 |
| CN109204745B CN109204745B (en) | 2020-04-03 |
Family
ID=64990630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810806668.3A Active CN109204745B (en) | 2018-07-20 | 2018-07-20 | Servo motor driven gold imitation jellyfish seabed detection and collection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109204745B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155288A (en) * | 2019-05-13 | 2019-08-23 | 姬臣兴 | A kind of orientation power device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050065651A1 (en) * | 2003-07-24 | 2005-03-24 | Joseph Ayers | Process and architecture of robotic system to mimic animal behavior in the natural environment |
| CN102795069A (en) * | 2012-08-03 | 2012-11-28 | 南京航空航天大学 | Moving method for hybrid-driven jellyfish-simulating amphibious robot |
| CN104443331A (en) * | 2014-10-27 | 2015-03-25 | 哈尔滨工业大学 | Jellyfish imitating underwater propelling device driven by embedded flexible joints |
| CN108275252A (en) * | 2018-02-28 | 2018-07-13 | 哈尔滨工程大学 | A kind of propeller and steering engine hybrid power propelling machinery jellyfish |
-
2018
- 2018-07-20 CN CN201810806668.3A patent/CN109204745B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050065651A1 (en) * | 2003-07-24 | 2005-03-24 | Joseph Ayers | Process and architecture of robotic system to mimic animal behavior in the natural environment |
| CN102795069A (en) * | 2012-08-03 | 2012-11-28 | 南京航空航天大学 | Moving method for hybrid-driven jellyfish-simulating amphibious robot |
| CN104443331A (en) * | 2014-10-27 | 2015-03-25 | 哈尔滨工业大学 | Jellyfish imitating underwater propelling device driven by embedded flexible joints |
| CN108275252A (en) * | 2018-02-28 | 2018-07-13 | 哈尔滨工程大学 | A kind of propeller and steering engine hybrid power propelling machinery jellyfish |
Non-Patent Citations (1)
| Title |
|---|
| 肖俊东等: "基于多连杆机构的仿生机器水母设计与实现", 《第三十二届中国控制会议论文集（D卷)》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155288A (en) * | 2019-05-13 | 2019-08-23 | 姬臣兴 | A kind of orientation power device |
| CN110155288B (en) * | 2019-05-13 | 2020-12-15 | 姬臣兴 | Directional power device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109204745B (en) | 2020-04-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110304223A (en) | Bionic machine devil ray | |
| CN104527352B (en) | A kind of novel ball amphibious robot and its method of work | |
| CN202763840U (en) | Autonomous control underwater robot based on image processing | |
| CN2868840Y (en) | Artificial machine-fish | |
| CN110077566B (en) | Multi-joint connecting rod type tail mechanism and bionic robot fish propelled by same | |
| CN108945360A (en) | A kind of imitative gold jellyfish marine organisms observation supervisory-controlled robot of combination drive | |
| CN108839783B (en) | Flexible submerged bionic robot fish and control method thereof | |
| CN102039994B (en) | Bionic ribbonfish for exploration | |
| CN112810782A (en) | Underwater bionic robot and motion control system thereof | |
| CN110001893A (en) | A kind of amphibious underwater robot of imitative devil ray | |
| CN111137427B (en) | Bionic picoshrimp movement device | |
| CN110091973B (en) | Bionic human-shaped underwater detection device | |
| CN109491407B (en) | Intelligent bionic fish for realizing image matching and group cooperative work system thereof | |
| CN102079382B (en) | Underwater mechanical bionic flapping wing thruster | |
| CN209905021U (en) | Amphibious underwater robot imitating bat ray | |
| CN107161305A (en) | A kind of Three Degree Of Freedom imitates Scad sections autonomous machine fish | |
| CN102139749A (en) | Underwater monitoring robot mechanism | |
| CN109204745A (en) | A kind of servo motor driving imitative gold jellyfish habitata acquisition robot | |
| CN105150787B (en) | Amphibious multi-environment Work robot | |
| CN211943686U (en) | Underwater bionic robot and motion control system thereof | |
| CN107097922A (en) | A kind of Three-degree-of-freedom bionic pectoral fin propulsive mechanism based on Scad sections fish | |
| CN207157472U (en) | A kind of Three-degree-of-freedom bionic pectoral fin propulsive mechanism based on Scad sections fish | |
| CN1480300A (en) | Pisciform biomimetic robot | |
| CN209215941U (en) | A kind of intelligent bionic fish that realizing images match and its multi-agent synergy work system | |
| CN115520356A (en) | Underwater bionic robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |