CN109229311A - The novel bionical devil ray underwater robot of push structure - Google Patents
The novel bionical devil ray underwater robot of push structure Download PDFInfo
- Publication number
- CN109229311A CN109229311A CN201811072877.6A CN201811072877A CN109229311A CN 109229311 A CN109229311 A CN 109229311A CN 201811072877 A CN201811072877 A CN 201811072877A CN 109229311 A CN109229311 A CN 109229311A
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- cabin
- devil ray
- gas cabin
- push structure
- 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.)
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Classifications
-
- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The novel bionical devil ray underwater robot of push structure, including head sensor gas cabin, camera, echo sounder, side scan sonar, gyroscope, main structure, circuit control box, arduino circuit control panel, power supply, power amplifier, counterweight room, surface waterproofing film, propulsive wing, connecting rod, aerofoil profile plate, crosswise joint stepper motor, longitudinally controlled stepper motor and tail fin, head sensor gas cabin indoor location camera carries out the transmission of underwater environment real-time pictures and monitoring, echo sounder installs sending sound wave in gas cabin and passes through sound wave returned data detection front landform, side scan sonar, which is mounted in gas cabin, transmits surrounding terrain environment by sound wave comprehensive scanning, the indoor gyroscope in gas cabin is as horizontal, vertically, pitching, course and angular-rate sensor；Advantages of the present invention: flexible body realizes that easy, mobility is high, run low noise under water and monitoring task is completed in suitable sea area, waters.
Description
Technical field
The present invention relates to a kind of novel bionical devil ray underwater robots of push structure, mainly a kind of to use novel propulsive wing
The bionical devil ray underwater robot of arrangement works, belongs to bionics and submarine navigation device field.
Background technique
With the fast development of ocean bio-robot, more and more robot application Yu Haiyang detections are supervised with ocean
Control.There are two main features for bio-robot: 1, versatility: can complete various tasks, possess the robot of varied function；
2, adaptability: adaptive ability of the robot to various complex environments.
Bio-robot is that bionics intersects the product combined with robotics, is to utilize biosystem structure, character, original
Reason, behavior and interaction perfection inspire the development with guidance machine people.Bio-robot is compared with other robot
There are reasonable structure, powerful function, stronger natural environment adaptability.
Actual environment is adapted to it is an object of the present invention to establish one and can be suitably used for the bionical bat of underwater environment detection
Eagle ray robot, the robot can carry sensors equipment such as Underwater Camera, echo sounder, side scan sonar etc., it is real
When the specifying information of underwater environment is provided to controllers.
The motor pattern of fish is mainly divided into two kinds according to actuating position: the first is the actuation patterns of body and tail fin, the
Two kinds are pairs of pectoral fin actuation patterns.Actuating mould of the research focus of most of underwater bionic robot in body and tail fin
Formula, pectoral fin actuation patterns are seldom mentioned, and the pectoral fin structure of a few bionical devil ray robot is unable to completely imitate out
The motion state of devil ray.The shortcomings that present invention is for robot is braked for pectoral fin in the world, by designing a kind of novel wing
Type structure has successfully imitated out the operating status of devil ray in water.
Summary of the invention
The object of the present invention is to provide one kind to be easy with flexible body, realization, mobility is high, runs low noise under water
The bionical devil ray underwater robot of novel push structure for being monitored task with suitable sea area, waters.
The problem to be solved in the present invention is that existing pectoral fin braking robot can not be caused by effectively bionical devil ray movement
Working efficiency is lower.
To achieve the purpose of the present invention, the technical solution adopted by the present invention is that:
The novel bionical devil ray underwater robot of push structure, including head sensor gas cabin, camera, echo sounder, side are swept
Sonar, gyroscope, main structure, circuit control box, arduino circuit control panel, power supply, power amplifier, counterweight room, surface
Waterproofing membrane, propulsive wing, connecting rod, aerofoil profile plate, crosswise joint stepper motor, longitudinally controlled stepper motor and tail fin, the head
Portion sensing gas cabin indoor location camera carries out the transmission of underwater environment real-time pictures and monitoring, and echo sounder is installed in gas cabin
It issues sound wave and front landform is detected by sound wave returned data, side scan sonar is mounted in gas cabin through sound wave comprehensive scanning
Surrounding terrain environment is transmitted, the indoor gyroscope in gas cabin is as horizontal, vertical, pitching, course and angular-rate sensor.
Glue connection is fastened using bolt and waterproof above main structure, places circuit control box control circuit in lower cabin
System, circuit system inside are controlled by arduino circuit control panel, and lower cabin installation power supply provides kinetic energy, and power supply connects
Mounting power amplifier is connect, the power of power supply is converted to the electric current changed according to input signal.
In main structure cabin be counterweight room, control raising and lowering, outer layer covering surface waterproofing film prevented water into
Enter body interior.
Propulsive wing and main structure are connected through a screw thread installation and are promoted, and propulsive wing is nibbled by using mutual gear
Aerofoil profile plate is uniformly inserted into and connects and fix by the connecting rod of conjunction, is connected between connecting rod using universal joint, is pacified on aerofoil profile plate
Fill forward-reverse, the direction controlling of crosswise joint stepper motor and longitudinally controlled step motor control propulsive wing.
Tail fin cooperation gyroscope controls the balance of entire robot underwater navigation.
Detailed description of the invention
Fig. 1 is the perspective view of the bionical devil ray underwater robot of push structure of the present invention；
Fig. 2 is the head sensor gas cabin interior component diagram of the bionical devil ray underwater robot of push structure of the present invention；
Fig. 3 is the propulsive wing internal structure of the bionical devil ray underwater robot of push structure of the present invention；
Fig. 4 is the tail fin structure of the bionical devil ray underwater robot of push structure of the present invention；
In figure: 1, head sensor gas cabin 2, camera 3, echo sounder 4, side scan sonar 5, gyroscope 6, main body knot
Structure 7, circuit control box 8, arduino circuit control panel 9, power supply 10, power amplifier 11, counterweight room 12, surface are anti-
Water film 13, propulsive wing 14, connecting rod 15, aerofoil profile plate 16, crosswise joint stepper motor 17, longitudinally controlled stepper motor
18, tail fin.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
As shown, the bionical devil ray underwater robot of novel push structure include head sensor gas cabin 1, camera 2,
Echo sounder 3, side scan sonar 4, gyroscope 5, main structure 6, circuit control box 7, arduino circuit control panel 8, power supply 9,
Power amplifier 10, counterweight room 11, surface waterproofing film 12, propulsive wing 13, connecting rod 14, aerofoil profile plate 15, crosswise joint stepping
Motor 16, longitudinally controlled stepper motor 17 and tail fin 18, it is characterized in that installation camera 2 carries out water in head sensor gas cabin 1
Lower environment real-time pictures transmission and monitoring, allow person on shore to observe sub-marine situations in time, and echo sounder 3 is installed in gas cabin and sent out
Sound wave passes detection front landform back by sound wave out, and principle is according to Acoustic Wave Propagation in sound wave round-trip time and surveyed waters
Speed, so that it may acquire the distance between barrier and energy converter, side scan sonar 4 is mounted in gas cabin by sending out to side
Penetrate sound wave find out water body, sea, seabed include upper formation acoustic construction and medium character, comprehensive scanning is transmitted peripherally
Shape environment picture, the indoor gyroscope 5 in gas cabin control entire machine as horizontal, vertical, pitching, course and angular-rate sensor
The balance of device people.
Glue connection is fastened using bolt and waterproof above main structure 6, circuit control box 7 is placed in lower cabin and controls electricity
Road system, circuit system inside are controlled by arduino circuit control panel 8, can perceive environment by sensor, pass through control
Light, motor and other device feed back, influence environment, and lower cabin installation power supply 9 provides electric power kinetic energy, power supply connection is installed
The power of power supply is converted to the electric current changed according to input signal by power amplifier 10, keeps the normal work of underwater robot therewith
Make.
Cabin is counterweight room 11 in main structure 6, controls raising and lowering by the adjusting of weight, the adjusting of weight passes through
Water storage cabin Inlet and outlet water is realized.Outer layer covering surface waterproofing film 12, which has prevented water from entering body interior, influences the electricity such as circuit, power supply
The normal work of sub- equipment also greatly improves the resislance to corrosion from sea water of entire robot.
Propulsive wing 13 and main structure 6 are connected through a screw thread installation and are promoted, and propulsive wing 13 mainly includes ellipse
Aerofoil profile plate 15, connecting rod 14, crosswise joint stepper motor 16 and longitudinally controlled stepper motor 17.Unilateral propulsive wing is by 7 pieces of wings
15,7, the template horizontal stepper motor 16 of connecting rod 14,7 and 7 longitudinal compositions of stepper motor 17 are by using mutual
The connecting rod 14 of gear engagement is connected using universal joint, and by aerofoil profile plate 15, uniformly insertion is connected and fixed, on aerofoil profile plate 15
Crosswise joint stepper motor 16 is installed and longitudinally controlled stepper motor 17 controls forward-reverse, the direction controlling of propulsive wing.
Tail fin 18 is mounted on tail portion by connecting rod 14, and installs the longitudinal stepping of 1 horizontal stepper motor 16 and 1 simultaneously
Motor 17 is by swinging up and down the entire underwater robot balance of control.
Present apparatus application method: during being worked after being lauched, camera shooting is placed in head sensor gas cabin 1
First 2, it opens picture and observes underwater environment simultaneously, the picture passed back when encountering obstacle by echo sounder 3, side scan sonar 4
The situation that underwater topography, environment, water quality etc. can be observed is avoided or is removed obstacles, and control robot works under water, observes top
The data that spiral shell instrument 5 is passed back can with observer robot whether smooth working, adjusted to carry out manipulation to robot.
Circuit control box 7 is located at the lower cabin of robot in main structure 6, is designed using confined space, when robot wants
When unlatching, power supply 9 is opened to provide entire robot by the operation to arduino circuit control panel 8 in circuit control box 7
Kinetic energy, stepper motor on the action advances wing 13 and head sensor cabin 1 can be collected transmit when needing forward travel
Sensor signal, connect with motor, sensor carry out advancing movement.
Robot trunk structure weight room 11 is located at cabin in robot, is also designed using confined space, when robot needs
When carrying out position adjusting, by increasing and decreasing counterweight, the buoyancy of robot and the position of center of gravity is adjusted, keeps robot in water
The posture of operation, releases water storage cabin for water by the control indoor baffle of counterweight when floating, and the draining of water storage cabin is opened when dive
Hole.
The motor rotation of the longitudinal stepper motor 17 of 7 horizontal stepper motors 16 and 7 of manipulation when propulsive wing 13 is promoted
It is promoted to control the movement of aerofoil profile plate 15, during the motion, passes through the cross between the engagement connection of 14 gear of connecting rod
The movement of aerofoil profile plate 15 is driven to, regulation of longitudinal angle and universal joint.To carry out the entire novel bionical devil ray water of push structure
The movement such as production, work of lower robot.
When having collision or flow instability, the balance exercise of the weave control robot of tail fin 18 is manipulated.
Claims (10)
1. the bionical devil ray underwater robot of novel push structure, including head sensor gas cabin (1), camera (2), echo spy
Survey instrument (3), side scan sonar (4), gyroscope (5), main structure (6), circuit control box (7), arduino circuit control panel (8),
Power supply (9), power amplifier (10), counterweight room (11), surface waterproofing film (12), propulsive wing (13), connecting rod (14), aerofoil profile
Plate (15), crosswise joint stepper motor (16), longitudinally controlled stepper motor (17) and tail fin (18), it is characterized in that: the head
Installation camera (2) carries out the transmission of underwater environment real-time pictures and monitoring, echo sounder (3) installation in sensing gas cabin (1)
Sound wave being issued in gas cabin, front landform being detected by sound wave returned data, side scan sonar (4), which is mounted in gas cabin, passes through sound
Wave comprehensive scanning transmits surrounding terrain environment, and the indoor gyroscope in gas cabin (5) is as horizontal, vertical, pitching, course and angle speed
Spend sensor；Glue connection is fastened using bolt and waterproof above main structure (6), places circuit control box (7) in lower cabin
Control circuit system, circuit system inside are controlled by arduino circuit control panel (8), and lower cabin installation power supply (9) mentions
For kinetic energy, power supply connects mounting power amplifier (10), and the power of power supply is converted to the electric current changed according to input signal；It is main
Cabin is counterweight room (11) in body structure (6), controls raising and lowering.
2. the bionical devil ray underwater robot of novel push structure according to claim 1, it is characterized in that: the outer layer covers
Surface waterproofing film (12) has prevented water from entering body interior.
3. the bionical devil ray underwater robot of novel push structure according to claim 1, it is characterized in that: the propulsive wing
(13) it is connected through a screw thread installation with main structure (6) and is promoted, propulsive wing (13) is engaged by using mutual gear
Connecting rod (14) by aerofoil profile plate (15), uniformly insertion is connected and fixed, connecting rod is connected between (14) using universal joint,
After the advance for installing crosswise joint stepper motor (16) and longitudinally controlled stepper motor (17) control propulsive wing on aerofoil profile plate (15)
It moves back, direction controlling, tail fin (18) cooperation gyroscope controls the balance of entire robot underwater navigation.
4. the bionical devil ray underwater robot of novel push structure according to claim 1, it is characterized in that: the head sensor
The sensors such as camera (2), echo sounder (3), side scan sonar (4), gyroscope (5) are placed in gas cabin (1).
5. the bionical devil ray underwater robot of novel push structure according to claim 1, it is characterized in that: the main structure
(6) circuit control box (7), arduino circuit control panel (8), power supply (9), power amplifier (10) are placed in lower cabin.
6. the bionical devil ray underwater robot of novel push structure according to claim 1, it is characterized in that: the main structure
(6) counterweight room (11) are placed in upper-deck cabin room.
7. the bionical devil ray underwater robot of novel push structure according to claim 1, it is characterized in that: the connecting rod
(14) it is engaged between by gear and connects and there is universal joint to summarize.
8. the bionical devil ray underwater robot of novel push structure according to claim 1, it is characterized in that: the aerofoil profile plate
(15) shape is ellipse.
9. the bionical devil ray underwater robot of novel push structure according to claim 1, it is characterized in that: the outer layer covers
Surface waterproofing film (12).
10. the bionical devil ray underwater robot of novel push structure according to claim 1, it is characterized in that: the tail portion is pacified
Equipped with tail fin (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811072877.6A CN109229311B (en) | 2018-09-14 | 2018-09-14 | Bionic manta ray underwater robot with novel propelling structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811072877.6A CN109229311B (en) | 2018-09-14 | 2018-09-14 | Bionic manta ray underwater robot with novel propelling structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109229311A true CN109229311A (en) | 2019-01-18 |
| CN109229311B CN109229311B (en) | 2021-04-23 |
Family
ID=65058036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811072877.6A Active CN109229311B (en) | 2018-09-14 | 2018-09-14 | Bionic manta ray underwater robot with novel propelling structure |
Country Status (1)
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110015391A (en) * | 2019-05-08 | 2019-07-16 | 大连理工大学 | A kind of devil ray mode underwater fish apparatus and system |
| CN110329473A (en) * | 2019-07-09 | 2019-10-15 | 北京机电工程研究所 | A kind of bionic pectoral fin motion mechanism design |
| CN110329472A (en) * | 2019-07-09 | 2019-10-15 | 北京机电工程研究所 | A kind of bionic pectoral fin telecontrol equipment |
| CN112061348A (en) * | 2020-07-14 | 2020-12-11 | 南京航空航天大学 | Surface-mounted piezoelectric driving bionic bat ray and driving method thereof |
| WO2021000628A1 (en) * | 2019-07-04 | 2021-01-07 | 中国科学院自动化研究所 | Bionic robotic manta ray |
| CN113044194A (en) * | 2021-04-15 | 2021-06-29 | 青岛海洋科学与技术国家实验室发展中心 | Simulated bat pectoral fin mechanism and simulated bat robot |
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| CN107323638A (en) * | 2017-06-29 | 2017-11-07 | 上海海洋大学 | A kind of bionical devil ray device |
| CN107340777A (en) * | 2016-12-06 | 2017-11-10 | 北京臻迪科技股份有限公司 | A kind of underwater unmanned boat control system and method |
| CN108482627A (en) * | 2018-04-09 | 2018-09-04 | 西北工业大学 | A kind of underwater flapping wing propulsion device of imitative devil ray |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110015391A (en) * | 2019-05-08 | 2019-07-16 | 大连理工大学 | A kind of devil ray mode underwater fish apparatus and system |
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| CN110329473A (en) * | 2019-07-09 | 2019-10-15 | 北京机电工程研究所 | A kind of bionic pectoral fin motion mechanism design |
| CN110329472A (en) * | 2019-07-09 | 2019-10-15 | 北京机电工程研究所 | A kind of bionic pectoral fin telecontrol equipment |
| CN112061348A (en) * | 2020-07-14 | 2020-12-11 | 南京航空航天大学 | Surface-mounted piezoelectric driving bionic bat ray and driving method thereof |
| CN113044194A (en) * | 2021-04-15 | 2021-06-29 | 青岛海洋科学与技术国家实验室发展中心 | Simulated bat pectoral fin mechanism and simulated bat robot |
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| CN109229311B (en) | 2021-04-23 |
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