CN109229311B - Bionic manta ray underwater robot with novel propelling structure - Google Patents
Bionic manta ray underwater robot with novel propelling structure Download PDFInfo
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- CN109229311B CN109229311B CN201811072877.6A CN201811072877A CN109229311B CN 109229311 B CN109229311 B CN 109229311B CN 201811072877 A CN201811072877 A CN 201811072877A CN 109229311 B CN109229311 B CN 109229311B
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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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
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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
- B63G8/001—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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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The bionic manta ray underwater robot with a novel propelling structure comprises a head sensing air chamber, a camera, an echo detector, a side scanning sonar, a gyroscope, a main body structure, a circuit control box, an arduino circuit control board, a power supply, a power amplifier, a counterweight chamber, a surface waterproof film, a propelling wing, a connecting rod, a wing panel, a transverse control stepping motor, a longitudinal control stepping motor and a tail fin, wherein the camera is installed in the head sensing air chamber to transmit and monitor underwater environment real-time images, the echo detector is installed in the air chamber to send sound waves to detect front terrain through the sound waves and transmit data, the side scanning sonar is installed in the air chamber to transmit surrounding terrain environments through sound wave omnibearing scanning, and the gyroscope in the air chamber serves as a horizontal sensor, a vertical sensor, a pitching sensor, a course sensor and an angular velocity sensor; the invention has the advantages that: the device has the advantages of flexible body, easy realization, high maneuverability, low noise when running underwater and suitability for completing monitoring tasks in sea areas and water areas.
Description
Technical Field
The invention relates to a bionic bat ray underwater robot with a novel propulsion structure, in particular to a bionic bat ray underwater robot adopting a novel propulsion wing structure to work, and belongs to the fields of bionics and underwater aircrafts.
Background
With the rapid development of marine bionic robots, more and more robots are applied to marine exploration and marine monitoring. The bionic robot has two main characteristics: 1. universality: the robot can complete various tasks and has various functions; 2. adaptability: the self-adaptive capacity of the robot to various complex environments.
The bionic robot is a cross combination product of bionics and robotics, and is developed and guided by the perfection of biological system structure, properties, principle, behavior and interaction. Compared with other robots, the bionic robot has a reasonable structure, strong functions and strong natural environment adaptability.
The bionic manta ray robot can adapt to the actual environment and is suitable for underwater environment detection, can carry sensor equipment such as an underwater camera, an echo detector, a side scan sonar and the like, and provides specific underwater environment information for control personnel in real time.
The movement patterns of fish are mainly divided into two types according to the actuating part: the first is the body and tail fin actuation mode and the second is the paired pectoral fin actuation mode. Most underwater bionic robots pay attention to the actuation modes of the body and the tail fin, the actuation modes of the chest fin are rarely mentioned, and the chest fin structures of a few bionic manta ray robots cannot completely imitate the motion state of the manta ray. Aiming at the defects of a pectoral fin brake robot in the world, the invention successfully simulates the running state of the bat ray in water by designing a novel wing-shaped structure.
Disclosure of Invention
The invention aims to provide the bionic manta ray underwater robot with a novel propulsion structure, which has a flexible body, is easy to realize, has high maneuverability and low running noise under water and is suitable for monitoring tasks in sea areas and water areas.
The invention aims to solve the problem that the conventional pectoral fin brake robot cannot effectively simulate the movement of the manta ray, so that the working efficiency is low.
In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
novel bionical bat ray underwater robot of propulsion structure, including head sensor cabin, camera, echo detection instrument, side scan sonar, gyroscope, major structure, circuit control box, arduino circuit control panel, power amplifier, counter weight room, surface waterproof film, propulsion wing, connecting rod, airfoil plate, lateral control step motor, longitudinal control step motor and tail fin, the indoor installation camera of head sensor cabin carries out environment real-time picture transmission and monitoring under water, and the indoor sound wave that sends of echo detection instrument erector cabin passes back data detection place ahead topography through the sound wave, and the side scan sonar is installed and is transmitted topography environment around through the all-round scanning of sound wave in the ware cabin, and the indoor gyroscope of ware cabin is as level, perpendicular, every single move, course and angular velocity sensor.
The major structure top adopts bolt and waterproof fastening to glue and connects, places circuit control box control circuit system in its lower cabin, and circuit system is inside to be controlled through arduino circuit control board, and lower cabin installation power provides kinetic energy, and installation power amplifier is connected to the power, converts the power of power into the electric current that changes according to input signal.
The cabin is the counter weight room on the major structure, and the control rises and descends, and outer cover surface waterproof film prevents that there is water to get into inside the main part.
The propulsion wing and the main structure are installed through threads to propel, the propulsion wing is used for uniformly inserting and connecting and fixing the wing-shaped plates through connecting rods which are meshed with each other through gears, the connecting rods are connected through universal joints, and the wing-shaped plates are provided with transverse control stepping motors and longitudinal control stepping motors to control the propulsion wing to move forwards and backwards and control the direction.
The tail fin is matched with the gyroscope to control the balance of the underwater navigation of the whole robot.
Drawings
Fig. 1 is a perspective view of a bionic manta ray underwater robot with a propelling structure of the invention;
fig. 2 is a diagram of internal components of a head sensor cabin of a bionic manta ray underwater robot with a propelling structure;
fig. 3 is an internal structure of a propulsion wing of a bionic manta ray underwater robot with a propulsion structure of the invention;
FIG. 4 is a tail fin structure of a bionic manta ray underwater robot with a propelling structure of the present invention;
in the figure: 1. head sensor cabin 2, camera 3, echo detector 4, side scan sonar 5, gyroscope 6, major structure 7, circuit control box 8, arduino circuit control panel 9, power 10, power amplifier 11, counter weight room 12, surface waterproof film 13, propulsion wing 14, connecting rod 15, airfoil panel 16, lateral control step motor 17, longitudinal control step motor 18, the tail fin.
Detailed Description
The invention is further explained below with reference to the drawings and examples.
As shown in the figure, the bionic manta ray underwater robot with a novel propulsion structure comprises a head sensor cabin 1, a camera 2, an echo detector 3, a side scan sonar 4, a gyroscope 5, a main body structure 6, a circuit control box 7, an arduino circuit control board 8, a power supply 9, a power amplifier 10, a counterweight chamber 11, a surface waterproof film 12, a propulsion wing 13, a connecting rod 14, a wing panel 15, a transverse control stepping motor 16, a longitudinal control stepping motor 17 and a tail fin 18, and is characterized in that the camera 2 is arranged in the head sensor cabin 1 to transmit and monitor underwater environment real-time images, so that a person on shore can observe underwater conditions in time, sound waves emitted in an installer cabin of the echo detector 3 are transmitted back to detect front terrain through the sound waves, the principle is that the distance between an obstacle and a transducer can be obtained according to the round-trip time of the sound waves and the propagation speed of the sound waves in the detected water, the side scan sonar 4 is installed in the cabin and used for exploring a water body, a sea surface and a seabed including an upper stratum acoustic structure and medium properties by emitting sound waves to the side, omni-directionally scanning and transmitting surrounding terrain environment pictures, and the gyroscope 5 in the cabin is used as a horizontal sensor, a vertical sensor, a pitching sensor, a course sensor and an angular speed sensor to control the balance of the whole robot.
6 tops of major structure adopt bolt and waterproof fastening to glue and connect, it places 7 control circuit system of circuit control box in the cabin down, circuit system is inside through arduino circuit control board 8 control, the accessible sensor comes the perception environment, through control light, the motor feeds back with other device, influence the environment, cabin installation power 9 provides electric power kinetic energy down, power connection installation power amplifier 10 converts the power of power into the electric current that changes according to input signal, keep underwater robot normal work thereupon.
The upper cabin of the main structure 6 is a counterweight chamber 11, and the weight is adjusted and controlled to rise and fall, and the weight is adjusted by water inlet and outlet of the water storage cabin. The outer layer covered surface waterproof film 12 prevents water from entering the inside of the main body to influence the normal work of electronic equipment such as circuits, power supplies and the like, and also greatly improves the seawater corrosion resistance of the whole robot.
The propelling wing 13 and the main structure 6 are installed through threads for propelling, and the propelling wing 13 mainly comprises an oval wing-shaped wing plate 15, a connecting rod 14, a transverse control stepping motor 16 and a longitudinal control stepping motor 17. The single-side propelling wing is composed of 7 wing panels 15, 7 connecting rods 14, 7 transverse stepping motors 16 and 7 longitudinal stepping motors 17, the wing panels 15 are connected through universal joints by using the connecting rods 14 which are meshed with each other through gears, the wing panels 15 are uniformly inserted, connected and fixed, and the transverse control stepping motors 16 and the longitudinal control stepping motors 17 are installed on the wing panels 15 to control the advancing, retreating and direction control of the propelling wing.
The tail fin 18 is arranged at the tail part through a connecting rod 14, and is simultaneously provided with 1 transverse stepping motor 16 and 1 longitudinal stepping motor 17 to control the balance of the whole underwater robot through up-and-down swinging.
The using method of the device comprises the following steps: carry out the in-process of work after launching, place in the head sensor cabin 1 and place camera 2, open the picture and survey the environment under water simultaneously, can observe the topography under water through echo detector 3, the picture that side scan sonar 4 returned when meetting the obstacle, the environment, the condition of quality of water etc. is dodged or is cleared up, the control robot is at work under water, it can observe whether stationary work of robot to observe the data that gyroscope 5 returned, thereby carry out the regulation of controlling to the robot.
The circuit control box 7 in the main structure 6 is positioned in a lower cabin of the robot, a closed space design is adopted, when the robot is to be started, the power supply 9 is turned on through the operation of the arduino circuit control board 8 in the circuit control box 7 to provide kinetic energy of the whole robot, when the robot needs to move forward, the stepping motor on the propelling wing 13 can be operated, sensor signals transmitted from the head sensor cabin 1 are collected, and the robot and the sensors are connected to carry out propelling movement.
The robot body structure counterweight chamber 11 is located in the robot upper cabin, the closed space design is adopted, when the robot needs to adjust the position, the buoyancy and the gravity center position of the robot are adjusted by increasing or decreasing the counterweight, the robot is kept in the operation posture in water, when floating, the water is pushed out of the water storage cabin through the baffle plate in the control counterweight chamber, and the water storage cabin drainage hole is opened when diving.
When the propelling wing 13 propels, the motors of the 7 transverse stepping motors 16 and the 7 longitudinal stepping motors 17 are controlled to rotate so as to control the movement of the wing-shaped plate 15 to propel, and in the movement process, the transverse angle, the longitudinal angle and the universal joint between the gear meshing connection of the connecting rod 14 are used for driving the movement of the wing-shaped plate 15. Thereby carrying out the movements of production, work and the like of the bionic bat ray underwater robot with the whole novel propelling structure.
When collision or unstable water flow occurs, the swing of the tail fin 18 is controlled to control the balance motion of the robot.
Claims (4)
1. Novel bionical bat ray underwater robot who advances structure, including head sensor cabin (1), camera (2), echo detector (3), side scan sonar (4), gyroscope (5), major structure (6), circuit control box (7), arduino circuit control board (8), power (9), power amplifier (10), counter weight room (11), surface waterproof film (12), advance wing (13), connecting rod (14), wing template (15), transverse control step motor (16), longitudinal control step motor (17) and tail fin (18), characterized by: a camera (2), an echo detector (3), a side scan sonar (4) and a gyroscope (5) are arranged in the head sensor cabin (1); the camera (2) is used for transmitting and monitoring real-time images of an underwater environment, the echo sounding instrument (3) sends out sound waves and transmits data back through the sound waves to detect the front terrain, the side scan sonar (4) transmits the surrounding terrain environment through sound wave all-dimensional scanning, and the gyroscope (5) is used as a horizontal sensor, a vertical sensor, a pitching sensor, a course sensor and an angular speed sensor; the upper part of the main body structure (6) is connected with a waterproof fastening glue through bolts, a circuit control box (7), an arduino circuit control board (8), a power supply (9) and a power amplifier (10) are placed in a lower cabin of the main body structure (6), the circuit control box (7) controls a circuit system, the circuit system is internally controlled through the arduino circuit control board (8), the power supply (9) provides kinetic energy, the power supply is connected with and mounted with the power amplifier (10), and the power of the power supply is converted into current which changes according to input signals; a counterweight chamber (11) is arranged in an upper cabin of the main body structure (6) and is controlled to ascend and descend; the side scan sonar (4) is used for exploring a water body, a sea surface and a seabed including an upper stratum acoustic structure and medium properties by emitting sound waves to the side, and scanning and transmitting surrounding terrain environment pictures in an all-around manner; the data transmitted back by the gyroscope (5) can be observed to see whether the robot works stably, so that the robot can be controlled and adjusted; the propulsion wing (13) and the main body structure (6) are connected and installed through threads to propel the robot, the propulsion wing (13) uniformly inserts, connects and fixes the wing-shaped plates (15) through connecting rods (14) which are meshed with each other through gears, the connecting rods (14) are meshed and connected through the gears and collected through universal joints, the wing-shaped plates (15) are provided with a transverse control stepping motor (16) and a longitudinal control stepping motor (17) to control the advancing and retreating and the direction control of the propulsion wing, and a tail fin (18) is matched with a gyroscope to control the balance of the whole robot during underwater navigation; the single-side propelling wing (13) comprises 7 wing plates (15), 7 connecting rods (14), 7 transverse stepping motors (16) and 7 longitudinal stepping motors (17); thereby the motor that impels wing (13) to control 7 horizontal step motor (16) and 7 vertical step motor (17) when impelling rotates the motion of control wing template (15) and impels, and in the motion process, through connecting rod (14) gear engagement connect between horizontal, vertical angle and universal joint drive wing template (15) the motion to carry out the production, the work of whole novel bionic bat eagle underwater robot of propelling structure.
2. The underwater robot with a bionic bat ray of a novel propelling structure as claimed in claim 1, wherein: the outer layer of the main body structure (6) is covered with a surface waterproof film (12) to prevent water from entering the inside of the main body.
3. The underwater robot with a bionic bat ray of a novel propelling structure as claimed in claim 1, wherein: the airfoil plate (15) is oval in shape.
4. The underwater robot with a bionic bat ray of a novel propelling structure as claimed in claim 1, wherein: and a tail fin (18) is arranged at the tail part of the main body structure (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811072877.6A CN109229311B (en) | 2018-09-14 | 2018-09-14 | Bionic manta ray underwater robot with novel propelling structure |
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| CN201811072877.6A CN109229311B (en) | 2018-09-14 | 2018-09-14 | Bionic manta ray underwater robot with novel propelling structure |
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| CN109229311A CN109229311A (en) | 2019-01-18 |
| CN109229311B true CN109229311B (en) | 2021-04-23 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110015391B (en) * | 2019-05-08 | 2023-11-17 | 大连理工大学 | Device and system for underwater robot fish in ray mode |
| CN110304223B (en) | 2019-07-04 | 2020-09-29 | 中国科学院自动化研究所 | Bionic machine bat ray |
| CN110329472B (en) * | 2019-07-09 | 2020-09-22 | 北京机电工程研究所 | Bionic pectoral fin motion device |
| CN110329473B (en) * | 2019-07-09 | 2020-09-22 | 北京机电工程研究所 | Bionic pectoral fin motion design method |
| CN112061348B (en) * | 2020-07-14 | 2021-07-09 | 南京航空航天大学 | Surface-mounted piezoelectric driving bionic bat ray and driving method thereof |
| CN113044194B (en) * | 2021-04-15 | 2023-02-03 | 青岛海洋科学与技术国家实验室发展中心 | Simulated bat ray pectoral fin mechanism and simulated bat ray robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6698373B2 (en) * | 1999-07-19 | 2004-03-02 | Marc Geriene | Methods and apparatus for hull attachment for submersible vehicles |
| CN104002942A (en) * | 2014-06-09 | 2014-08-27 | 北京理工大学 | Micro autonomous submersible |
| CN104943839B (en) * | 2015-07-16 | 2017-04-19 | 北京航空航天大学 | Modular bionic underwater robot based on full-flexible pectoral fins |
| CN107340777B (en) * | 2016-12-06 | 2020-12-29 | 北京臻迪科技股份有限公司 | Underwater unmanned ship control system and method |
| CN107323638A (en) * | 2017-06-29 | 2017-11-07 | 上海海洋大学 | A kind of bionical devil ray device |
| CN108482627B (en) * | 2018-04-09 | 2019-06-21 | 西北工业大学 | A kind of underwater flapping wing propulsion device of imitative devil ray |
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