CN110091966A - A kind of overturn-preventing water strider robot of center of gravity automatic adjusument - Google Patents
A kind of overturn-preventing water strider robot of center of gravity automatic adjusument Download PDFInfo
- Publication number
- CN110091966A CN110091966A CN201910466224.4A CN201910466224A CN110091966A CN 110091966 A CN110091966 A CN 110091966A CN 201910466224 A CN201910466224 A CN 201910466224A CN 110091966 A CN110091966 A CN 110091966A
- Authority
- CN
- China
- Prior art keywords
- overturn
- main body
- robot
- rod
- preventing water
- 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
- 241001489698 Gerridae Species 0.000 title claims abstract description 26
- 230000005484 gravity Effects 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000010355 oscillation Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000008450 motivation Effects 0.000 claims 1
- 230000002035 prolonged effect Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 37
- 230000033001 locomotion Effects 0.000 abstract description 17
- 238000010586 diagram Methods 0.000 description 20
- 239000000758 substrate Substances 0.000 description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 8
- 241000630329 Scomberesox saurus saurus Species 0.000 description 6
- 239000002002 slurry Substances 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000002209 hydrophobic effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 241000122049 Hesperiidae Species 0.000 description 1
- 229920002472 Starch Polymers 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical class C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 229920000642 polymer Chemical class 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 229920005989 resin Chemical class 0.000 description 1
- 239000011347 resin Chemical class 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 235000019698 starch Nutrition 0.000 description 1
- 230000003075 superhydrophobic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of overturn-preventing water strider robots of center of gravity automatic adjusument, belong to water surface robot technical field, including main body, the paddling paddle set on main body two sides and the uniform supporting leg around main body, further includes: lifting unit, it is arranged in main body, driving paddling paddle moves up and down；Horizontal hunting unit is arranged on lifting unit, and paddling paddle is mounted on the output end of horizontal hunting unit；With vertical oscillation unit, it is arranged in main body, including multi-connecting-rod mechanism and the push-rod electric machine for pushing the input terminal of multi-connecting-rod mechanism to swing up and down, supporting leg is fixed on the output end of the multi-connecting-rod mechanism, and multi-connecting-rod mechanism is equipped with the hinged shaft being connected with main body.Supporting leg is controlled by vertical oscillation unit to move up and down, to control the movement of the centre of buoyancy of supporting leg, when encountering wave and jolting, so that robot center of gravity is lower than the centre of buoyancy of supporting leg, and then improve the overturn-preventing ability of robot.
Description
Technical field
The present invention relates to water surface robot technical fields, specifically, being related to a kind of overturn-preventing of center of gravity automatic adjusument
Property water strider robot.
Background technique
Water skipper is a kind of common small-sized aquatic insect in lake water, pond.Its light weight possesses special body knot
Structure, body can be divided into trunk, supporting leg and leg three parts of striking.Water skipper can stand on the water surface, quickly slide and jump
Jump.Water skipper mobility strong, stability are high, it is small to interfere the water surface, these advantages cause the attention of domestic and international many researchers.
Bionic water strider robot is the basic principle that can be floated and be slided on the water surface based on water skipper insect, imitates water skipper
The hydrophobic property and movement of leg can carry out independent operation under the particular surroundings such as long-range waters, narrow water.With
The development of miniature electronic part and microfabrication can carry camera and realize the work scouted, detected, to make water skipper machine
People become a kind of low cost, high efficiency, highly concealed type sniffing robot, with very high potential using value.
There are mainly two types of Bionic water strider robots in research both at home and abroad at present: one is the water skippers based on water surface tension development
Robot, the leg of the robot support machine using water surface tension by the processing of hydrophobic material or super hydrophobic material
People.Another kind is the water strider robot supported based on water body buoyancy, and the supporting leg of the robot is generally made of floating ball, using floating
Ball arranges the buoyancy of water body volume generation to support robot.
Based on the water strider robot that water surface tension is supported, average physique is small, light weight, and bionical effect is good, but loads and carry energy
Power is poor, it is difficult to in practical applications.Water strider robot average physique based on buoyancy support is larger, and load capacity is strong, practical
Property is strong.Four-bar mechanism is largely used currently based on the leg of striking of the water strider robot of buoyancy support, micro-machine provides dynamic
Power.But four-bar mechanism is not easy to transmit high-speed motion, influences the speed of striking of robot, not clever enough to the adjustment for leg speed of striking
It is living.And this kind strike leg arm stroke substantially by two motor controls, a motor control slurry enters water body, another
Motor control starches stroke water body, and the leg of striking of two motors is unfavorable for robot control and its robot miniaturization.Together
When most of water strider robots do not consider that the stability problem of robot is easy to topple in the case where jolting in face of wave.
Summary of the invention
It is an object of the present invention to provide a kind of overturn-preventing water strider robot of center of gravity automatic adjusument, which encounters
When wave jolts, by the position of automatic center-of-gravity regulating, so that robot center of gravity is lower than the centre of buoyancy of supporting leg, improve robot
Overturn-preventing ability.
To achieve the goals above, the overturn-preventing water strider robot of center of gravity automatic adjusument provided by the invention includes master
Body, the paddling paddle set on main body two sides and the uniform supporting leg around main body, further includes:
Lifting unit is arranged in main body, and driving paddling paddle moves up and down；
Horizontal hunting unit is arranged on lifting unit, and paddling paddle is mounted on the output end of horizontal hunting unit；
With vertical oscillation unit, it is arranged in main body, in the input lever including multi-connecting-rod mechanism and promotion multi-connecting-rod mechanism
The push-rod electric machine of lower swing, supporting leg are fixed on the output rod of the multi-connecting-rod mechanism, and multi-connecting-rod mechanism is equipped with and main body phase
The hinged shaft of connection.
In above-mentioned technical proposal, paddling paddle is driven to strike by lifting unit and horizontal hunting unit, to control machine
People advances on the water surface；Supporting leg is controlled by vertical oscillation unit to move up and down, so that the movement of the centre of buoyancy of supporting leg is controlled,
When encountering wave and jolting, robot center of gravity is set to be lower than the centre of buoyancy of supporting leg, and then improve the overturn-preventing ability of robot.
The input terminal of multi-connecting-rod mechanism is controlled by push-rod electric machine and is moved in vertical direction.In order to make the defeated of multi-connecting-rod mechanism
Rod is constantly in vertical posture, to make the supporting leg of robot be constantly in horizontal attitude, preferably, multi-connecting-rod mechanism
Two total side parallel four-bar linkages including being made of seven connecting rods, and a company of the parallel four-bar linkage far from main body
The input lever that bar extends and pass through the parallel four-bar linkage of the 8th connecting rod and close main body is hinged.
Preferably, a connecting rod close to the parallel four-bar linkage of main body is equipped with a swinging block, hinged shaft is arranged at this
On swinging block.
Preferably, main body is equipped with the motor cabinet for fixing push-rod electric machine, the output end of push-rod electric machine is a push rod,
The push rod is connected with multi-connecting-rod mechanism input lever.
Preferably, supporting leg is the floating ball of ellipse.
Preferably, lifting unit and the horizontal hunting unit are connected to two outputs of a dual-axle motor
End.Leg of striking is controlled using a motor, robot control system is simplified, reduces lifting unit and horizontal hunting
The volume of unit.
Preferably, lifting unit include the vertical rack gear being fixed in main body and dual-axle motor is set it is first defeated
Outlet and with vertical rack gear meshed gears.
Preferably, horizontal hunting unit includes the vertical incomplete bevel gear for possessing part tooth, up and down arrangement and can be with
Two horizontal bevel gears and be connected to the second output terminal of dual-axle motor and bored with vertical that vertical not exclusively bevel gear engages
The connected transmission mechanism of gear；Two horizontal bevel gear shafts are fixed in same vertical line, pass through flexible coupling between shaft
Device connection, the paddling paddle are mounted on the end of low level horizontal bevel gear shaft.
Preferably, transmission mechanism is gear drive.
Preferably, the end of shaft is equipped with a turntable with card slot, paddling paddle is glued in card slot.
Compared with prior art, the invention has the benefit that
The overturn-preventing water strider robot of center of gravity automatic adjusument of the invention is when encountering wave and jolting, by adjusting automatically
The position for saving center of gravity makes robot center of gravity be lower than the centre of buoyancy of supporting leg, improves the overturn-preventing ability of robot.Using same
Motor controls slurry of striking, and simplifies robot control system, reduces the volume of lifting unit and horizontal hunting unit.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the overturn-preventing water strider robot of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of substrate and sealed compartment in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of substrate in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of expansion board in the embodiment of the present invention；
Fig. 5 is lifting unit in the embodiment of the present invention, the structural schematic diagram of horizontal hunting unit and slurry of striking, wherein (1)
(2) be respectively different angle structural schematic diagram；
Fig. 6 is the structural schematic diagram of the first connector in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of insole board of the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of sliding block in the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of horizontal hunting unit in the embodiment of the present invention；
Figure 10 is the structural schematic diagram of pedestal in the embodiment of the present invention；
Figure 11 is the structural schematic diagram of vertical oscillation unit and supporting leg in the embodiment of the present invention；
Figure 12 is the structural schematic diagram of the second connector in the embodiment of the present invention；
Figure 13 is the structural schematic diagram of electric machine stand in the embodiment of the present invention；
Figure 14 is the structural schematic diagram of multi-connecting-rod mechanism in the embodiment of the present invention；
Original state schematic diagram when Figure 15 is paddling paddle work in the embodiment of the present invention；
The status diagram in a quarter period when Figure 16 is paddling paddle work in the embodiment of the present invention；
The status diagram of four/two cycles when Figure 17 is paddling paddle work in the embodiment of the present invention；
The status diagram in 3/4ths periods when Figure 18 is paddling paddle work in the embodiment of the present invention；
Figure 19 is that main body sinks to entering the status diagram in water in the embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, with reference to embodiments and its attached drawing is to this hair
It is bright to be described further.
Embodiment
Referring to Fig. 1 to Figure 19, the overturn-preventing water strider robot of the center of gravity automatic adjusument of the present embodiment includes: main body 1,
Two paddling paddles 2 and four supporting legs 3.Two paddling paddles 2 and four supporting legs 3 are symmetrically dispersed in the two sides of main body 1, such as
Shown in Fig. 1.
Main body 1 is made of substrate 11, sealed compartment 12, lifting unit 13, horizontal hunting unit 14 and vertical oscillation unit 15.
As shown in Fig. 2, sealed compartment 12 is bolt-connected to the center of substrate 11.Two are equipped on the hatchcover 121 of sealed compartment 12
A sealing ring 122, and be bolted in cabin 123, waterproof sealing is carried out to sealed compartment 12.Expansion board 124 passes through six
Angle copper post bolt is mounted on hatchcover 121.As shown in figure 4, the partition 1241 of expansion board 124 is mounted in two ring flanges 1242
On portion's card slot, two ring flanges 1242 can be fixed by hexagonal copper post bolt.Control circuit board 1243 is bolted
In the side of partition 1241, power supply 1244 can be bundled in the other side of partition 1241 by band or adhesive tape.Control circuit board
Angled sensor on 1243, is monitored the inclination angle of entire robot.The company of control circuit board 1243 and power supply 1244
Wiring can realize the control and energy transmission to external equipment by the watertight plug-in unit 125 on hatchcover 121.
Referring to Fig. 5, the driving mechanism for slurry 2 of striking is the coupling mechanism that lifting unit 13 and horizontal hunting unit 14 form.
Lifting unit 13 controls the horizontal hunting unit 14 being mounted above and paddling paddle 2 passes in and out water body, horizontal hunting on the vertical plane
Unit 14 controls paddling paddle 2 and rotates in the horizontal plane, provides propulsive force for robot.
Lifting unit 13 is fixed on 11 two sides of substrate by the first connector 131 (as shown in Figure 6), and lifting unit 13 also wraps
Include bottom plate 132 (as shown in Figure 7), two slide bars 133, vertical rack gear 134, sliding block 135 (as shown in Figure 8) and dual-axle motor
136.Two slide bars 133 are two iron staffs, are mounted in the hole above bottom plate 132, can be fixed by glue.Vertical tooth
Item 134 is bolted on the side for being mounted on bottom plate 132.135 two sides of sliding block have U-shaped slideway and are installed by the slideway
On slide bar 133.Dual-axle motor 136 is mounted on the side of sliding block 135 by bolt, and by the first output shaft 1361
First gear 1362 is engaged with vertical rack gear 134 and connect.Bottom plate 132 is bolt-connected to the first connector 131, in turn
It fixes on the substrate 11, while having the multiple bolts hole of a row on bottom plate 132, for adjusting the height of lifting unit 13.
For the ease of mechanism below is described, the modulus of vertical rack gear 134 is arranged to 0.8, first gear 1362
Modulus is arranged to 0.8, and the number of teeth is arranged to 5, and maximum displacement of the sliding block 135 under the driving of dual-axle motor 136 can be set to 75.4mm,
That is 136 output shaft of dual-axle motor rotation, 6 circle.Dual-axle motor 136 will be transported by the second gear 1364 on the second output shaft 1363
Dynamic and power passes to horizontal hunting unit 14.
Referring to Fig. 9, the pedestal 1401 of horizontal hunting unit 14 is mounted on sliding block 135 by bolt.Third gear 1402
It is fixed in first rotating shaft 1404 and is mounted on the axle bed of pedestal 1401 (as shown in Figure 10) with the 4th gear 1403, third tooth
Slot position of the wheel 1402 across the top of pedestal 1401 engages connection with second gear 1364, receives the fortune of the transmitting of dual-axle motor 136
Dynamic and power.5th gear 1405 and vertical bevel gear 1406 are fixed in the second shaft 1407, and it is corresponding to be mounted on pedestal 1401
Axle bed on.5th gear 1405 is connected with the 4th gear 1403 by gear teeth meshing.
Vertical bevel gear 1406 is the incomplete bevel gear for possessing half gear, and first level bevel gear 1408 is fixed on the
In three shafts 1409, and with vertical bevel gear 1406 is in 90 ° is mounted on pedestal 1401.Second horizontal bevel gear 1410 is fixed on
In 4th shaft 1411, and with vertical bevel gear 1406 is in 90 ° is mounted on pedestal 1401, with first level bevel gear 2 1408
It is placed at parallel opposition.The axis of third shaft 1409 and the 4th shaft 1411 on same vertical line, between pass through flexible coupling
Device 1412 connects.In the rotation of vertical bevel gear 1406, the toothed portion of gear can successively respectively with first level bevel gear
1408 and second horizontal bevel gear 1410 be engaged connection.Flexible clutch 1412 can alleviate vertical bevel gear 1406 with
Generated impact when first level bevel gear 1408 and the exchange engagement Object transition of the second horizontal bevel gear 1410.
Upper cover 1413 is connected by screw to pedestal 1401, is sealed to internal gear.Third shaft 1409 it is another
Side is connected in the shaft of waterproof encoder 1415 by positive coupling 1414, and encoder 1415 can be bolt-connected to bottom
On seat 1401 and upper cover 1413.Encoder 1415 can detect the position of third shaft 1409, and then the position of indirect monitoring paddling paddle 2
Set, and by location information transmit control circuit board 1243, control circuit board 1243 by dual-axle motor 136 steering and speed into
Row control.
The other side of 4th shaft 1411 is connected to the 5th shaft 1417 by positive coupling 1416, and the 5th shaft 1417 adds
Work has screw thread, and turntable 1418, which is bolted, is fixed on 1417 bottom of the 5th shaft.Slurry 2 of striking is fixed by the method being glued
In the card slot of circle turntable 1418.
Second gear 1364, third gear 1402, the 4th gear 1403, the 5th gear 1405, vertical bevel gear 1406, the
The modulus of one horizontal bevel gear 1408 and the second horizontal bevel gear 1410 is both configured to 2, and the number of teeth is respectively set to 5,10,5,15,
5,20 and 20.Wherein vertical bevel gear 1406 is partial gear, and the original number of teeth is 10, cut off the tooth production of half and
At.The transmission ratio for being transmitted to paddling paddle 2 from dual-axle motor 136 is 12:1.
In the present embodiment, motor is removed, circuit board, battery, other than the common parts such as sealed compartment, rest part is generally gold
Category, carbon fiber, resin, polymer composites etc..First gear 1362, second gear 1364, third gear 1402, the 4th tooth
Wheel 1403 and the 5th gear 1405 are straight-tooth gear.
Referring to Figure 11, the supporting leg 3 of the present embodiment is the floating ball of elliposoidal.Vertical oscillation unit 15 passes through the second connector
151 (as shown in figure 12) are fixed on four corners of substrate 11, with robot direction of advance or 11 long side of substrate at 30 °.It is perpendicular
Straight swing unit 15 is mainly by electric machine stand 152 (as shown in figure 13), push-rod electric machine 153 and multi-connecting-rod mechanism 154 (such as Figure 14 institute
Show) composition.Push-rod electric machine 153 is vertically mounted on electric machine stand 154 by bolt, and electric machine stand 152 is vertically connected by bolt
It is connected on the second connector 151, and fixes on the substrate 11.
Multi-connecting-rod mechanism 154 can regard the serial mechanism of two parallel four-bar linkages as.Connecting rod 1, connecting rod two
15402, connecting rod 3 15403 and connecting rod 4 15404 form first parallel four-bar linkage, and head is connected by pin shaft.Connecting rod
3 15403, connecting rod 5 15405, connecting rod 6 15406 and connecting rod 7 15407 form second parallel four-bar linkage, and head passes through
Pin shaft connection.6 15406 equal length of connecting rod 1, connecting rod 3 15403 and connecting rod.Connecting rod 2 15402, connecting rod four
15404, the equal length of the corresponding sides of connecting rod 5 15405 and connecting rod 7 15407.The another side of connecting rod 5 15405 passes through pin shaft
It is connected to connecting rod 8 15408, connecting rod 8 15408 is connected to the pin of connecting rod 1 Yu connecting rod 2 15402 by sleeve 15409
On axis.The shaft of connecting rod 2 15402 passes through the slideway of swinging block 15410.The shaft of swinging block 15410, which is connected through a screw thread, is limited in electricity
In the hole of 152 cantilever arm of machine base, axle sleeve is housed in hole, the shaft of swinging block 15410 can rotate in hole.
The freedom degree of link mechanism 154 is one, and connecting rod 1 is input lever, and connecting rod 6 15406 is output rod.Connecting rod
One 15401 are bolted on the push rod 1531 for being fixed on push-rod electric machine 153.Bracket 15411 is bolt-connected to connecting rod
6 15406, supporting leg 3 is bolted on bracket 15411.The long axis of supporting leg 3 and multi-connecting-rod mechanism 154 at 30 °, with
Robot direction of advance is parallel.Push-rod electric machine 153 controls multi-connecting-rod mechanism 154 by mobile putter 1531 and drives on supporting leg 3
It rises or declines, and then control the decline and rising of robot body 1.
For multi-connecting-rod mechanism 154 in the movement of push rod 1531, output rod is always maintained at vertical state, and then ensure that supporting leg
3 are constantly in the posture of initial level.When wave is met by robot, 1243 upper angle sensor of robot control circuit plate prison
Measure robot toss about in the waves inclination angle it is excessive when, robot push rod 1531 is shunk, and supporting leg 3 rises, and main trunk 1 declines,
Submerged.Robot center of gravity declines at this time, and the components such as sealed compartment 12 in robot can additionally increase the buoyancy of robot, together
When robot position of centre of gravity be lower than 3 hull position of supporting leg, be conducive to the anti-wave stability of robot.Multi-connecting-rod mechanism 154 exists
Effect in vertical oscillation unit 15 first is that in order to increase the stability that expanded area of the robot on the water surface improves robot,
Second is that the stroke of the push rod 1531 of amplification push-rod electric machine 153, enables the smooth submerged of main trunk 1 of robot, protects simultaneously
Card supporting leg is constantly in horizontal posture.
Before movement, the initial position of robot is that push-rod electric machine 153 pushes away push rod 1531 for the robot of the present embodiment
Out, robot is supported.Paddling paddle 2 is located in the middle part of robot, vertical with robot direction of advance, inside horizontal hunting unit 14
The toothed portion of vertical bevel gear 1406 just started to contact engagement with first level bevel gear 1408, sliding block 135 is located at bottom plate
132 upsides, as shown in figure 15.
In robot motion, the arm stroke of paddling paddle 2 can be divided into four parts in an arm cycle:
One, the first gear 1362 on the first output shaft 1361 and vertical 134 gear motion of rack gear, sliding block 135 is to downslide
It is dynamic, meanwhile, second gear 1364 and 1402 gear motion of third gear on the second output shaft 1363.In horizontal hunting unit 14
The toothed portion of the vertical bevel gear 1406 in portion and first level bevel gear 1408 are engaged movement, and paddling paddle 2 is with the first water
Flat bevel gear 1408 rotates, and rotates towards robot front end.Encoder 1415 monitors first level bevel gear 1408 and paddling paddle 2
Angular position.When paddling paddle 2 reaches the period of a quarter, two output shafts of dual-axle motor 136 have rotated 3 circles, the first water
Flat bevel gear 1408 has rotated 90 °.Paddling paddle 2 has rotated 90 ° and arrives at robot front end, and flat with robot direction of advance
Row.Sliding block 135 and paddling paddle 2 have dropped 37.7mm, and 2 bottom of paddling paddle is contacted with the water surface, as shown in figure 16；
Two, when paddling paddle 2 is more than the period of a quarter, the toothed portion of vertical bevel gear 1406 terminates and the first water
Flat bevel gear 1408 engages, and starts to be engaged movement with the second horizontal bevel gear 1410.Under sliding block 135 and paddling paddle 2 continue
Drop, paddling paddle 2, which changes, to be turned to, and is rotated by robot front end towards medium position, is dialed water body as robot and provide power.When striking
When paddle 2 reaches for 2/4ths period, two output shafts of dual-axle motor 136 have rotated 6 circles altogether.Second 1410 turns of horizontal bevel gear
90 ° are moved, paddling paddle 2 has rotated 90 ° towards robot middle part and arrives in the middle part of robot, and vertical with robot direction of advance.
Sliding block 135 and paddle 2 have dropped 75.4mm, and 2 bottom of paddling paddle reaches lowest water level, as shown in figure 17.Encoder 1415 at this time
It monitors paddling paddle 2 and returns to middle part, location information is passed into control circuit board 1243, control circuit board 1243 controls twin shaft electricity
Machine 136 inverts, and sliding block 135 prepares to rise；
Three, when period when paddling paddle 2 more than 2/4ths, dual-axle motor 136 is inverted.Bevel gear 1406 is with teeth vertically
Part starts to be engaged movement with first level bevel gear 1408, and paddling paddle 2 is according to original steering from middle part court, robot
Robot rear end thereof, while dialing water body and providing power for robot.135 upward sliding of sliding block.When paddling paddle 2 reaches four points
Three period when, two output shafts of dual-axle motor 136 rotate backward 3 circles.Paddling paddle 2 arrives at robot rear end, and and machine
People's direction of advance is parallel.Sliding block 136 and paddling paddle 2 rise 37.7mm, and the water surface is arrived in 2 bottom of paddling paddle, as shown in figure 18；
Four, when period when paddling paddle 2 more than 3/4ths, the toothed portion of vertical bevel gear 1406 horizontal is bored with second
1410 gear motion of gear, paddling paddle 2 leave robot rear end towards rotation in the middle part of robot, and sliding block 135 continues to slide up, and draws
Leave the water surface in 2 bottom of water paddle.When paddling paddle 2 reaches a cycle, two output shafts of dual-axle motor 136 have rotated backward 6 altogether
Circle, the second horizontal bevel gear 1310 have rotated 90 °, and paddling paddle 2 arrives in the middle part of robot and vertical with robot direction of advance.It is sliding
Block 135 and paddling paddle 2 rise 75.4mm, and robot reaches initial position, as shown in figure 15.Encoder 1415 monitors at this time
Paddling paddle 2 returns to robot medium position, and control circuit board 1243 controls 136 rotation direction of dual-axle motor and changes, prepares next
A arm cycle.
It is worth noting that vertical bevel gear 1406 should be first when 2 movement of slurry is struck in the design robot other side
Be engaged movement with the second horizontal bevel gear 1410, motion process with it is similar as described above, two sides paddling paddle 2 could generate together
To propulsive force.When the dual-axle motor 136 in the paddling paddle 2 of robot two sides works at the same time, robot can realize advancement function.
When robot turning, the movement of paddling paddle 2 that need to only control side can complete turning action.When wave is met by robot
When, 1243 upper angle sensor of robot control circuit plate monitor robot on the water surface overturn inclination angle it is excessive when, it is standby
After the current arm cycle of device people, robot dual-axle motor 136 stops operating, and robot push rod 1531 is shunk, multi link machine
Structure 154 drives and lifts on supporting leg 3, and robot body 1 declines submerged, as shown in figure 19.To after a certain period of time, angle sensor
Device monitor robot in water overturn inclination angle it is little when, push-rod electric machine 153 again releases push rod 1531, multi-connecting-rod mechanism
154 drive supporting leg 3 to transfer, and robot body 1 emerges, works on.
Technical solution of the present invention and beneficial effect is described in detail in embodiment described above, it should be understood that
Above is only a specific embodiment of the present invention, it is not intended to restrict the invention, it is all to be done in spirit of the invention
Any modification, supplementary, and equivalent replacement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of overturn-preventing water strider robot of center of gravity automatic adjusument, including main body, striking set on the main body two sides
Paddle and the supporting leg being uniformly set to around the main body, which is characterized in that further include:
Lifting unit, setting on the body, drive the paddling paddle to move up and down；
Horizontal hunting unit is arranged on the lifting unit, and the paddling paddle is mounted on the output of the horizontal hunting unit
End；
With vertical oscillation unit, it is arranged on the body, the input including multi-connecting-rod mechanism and the promotion multi-connecting-rod mechanism
The push-rod electric machine that bar is swung up and down, the supporting leg are fixed on the output rod of the multi-connecting-rod mechanism, on the multi-connecting-rod mechanism
Equipped with the hinged shaft being connected with the main body.
2. overturn-preventing water strider robot according to claim 1, which is characterized in that the multi-connecting-rod mechanism include by
Two total side parallel four-bar linkages that seven connecting rods are constituted, and a line of the parallel four-bar linkage far from the main body is prolonged
It stretches and passes through the 8th connecting rod and the parallel four-bar linkage input lever close to the main body is hinged.
3. overturn-preventing water strider robot according to claim 2, which is characterized in that parallel four close to the main body connect
One connecting rod of linkage is equipped with a swinging block, and the hinged shaft is arranged on the swinging block.
4. overturn-preventing water strider robot according to claim 1, which is characterized in that the main body is equipped with for solid
The electric machine stand of the fixed push-rod electric machine, the output end of the push-rod electric machine are a push rod, the push rod and the multi link machine
Structure input lever is connected.
5. overturn-preventing water strider robot according to claim 1, which is characterized in that the supporting leg is oval
Floating ball.
6. overturn-preventing water strider robot according to claim 1, which is characterized in that the lifting unit and described
Horizontal hunting unit is connected to two output ends of a dual-axle motor.
7. overturn-preventing water strider robot according to claim 6, which is characterized in that the lifting unit includes fixing
Vertical rack gear on the body and the first output end of the dual-axle motor is set and is engaged with the vertical rack gear
Gear.
8. overturn-preventing water strider robot according to claim 6, which is characterized in that the horizontal hunting unit includes
Possess vertical incomplete bevel gear, up and down arrangement and two levels that can be engaged with the vertical not exclusively bevel gear of part tooth
Bevel gear, and the driver for being connected to the second output terminal of the dual-axle motor and being connected with the vertical not exclusively bevel gear
Structure；Described two horizontal bevel gear shafts are fixed in same vertical line, are connected between shaft by flexible clutch, described
Paddling paddle is mounted on the end of low level horizontal bevel gear shaft.
9. overturn-preventing water strider robot according to claim 8, which is characterized in that the transmission mechanism is gear biography
Motivation structure.
10. overturn-preventing water strider robot according to claim 8, which is characterized in that the end of the shaft is equipped with
One turntable with card slot, the paddling paddle are glued in the card slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910466224.4A CN110091966B (en) | 2019-05-31 | 2019-05-31 | Anti-capsizing water strider robot with self-adaptive gravity center adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910466224.4A CN110091966B (en) | 2019-05-31 | 2019-05-31 | Anti-capsizing water strider robot with self-adaptive gravity center adjustment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110091966A true CN110091966A (en) | 2019-08-06 |
| CN110091966B CN110091966B (en) | 2023-12-15 |
Family
ID=67449759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910466224.4A Active CN110091966B (en) | 2019-05-31 | 2019-05-31 | Anti-capsizing water strider robot with self-adaptive gravity center adjustment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110091966B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111547238A (en) * | 2020-05-22 | 2020-08-18 | 吉林大学 | Cross-medium aircraft capable of rowing and propelling |
| CN114194341A (en) * | 2021-12-20 | 2022-03-18 | 杭州电子科技大学 | Overwater self-driven photographing robot and using method thereof |
| CN116812090A (en) * | 2023-06-30 | 2023-09-29 | 深圳大学 | Greasy dirt absorption imitation water-strider robot based on solar drive |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202147830U (en) * | 2011-07-05 | 2012-02-22 | 赵凤银 | Ship, naval vessel or submarine with system of outer inlaying counterweight iron devices and outer suspending counterweight iron devices |
| US20140165750A1 (en) * | 2012-12-14 | 2014-06-19 | Brice Thouret | Propulsion device for use with a fluid |
| CN104943832A (en) * | 2015-06-08 | 2015-09-30 | 浙江大学 | Bionic wind-proof and wave-proof type water strider robot with schema translation function |
| KR101570821B1 (en) * | 2014-06-26 | 2015-11-20 | 한국해양과학기술원 | Drive apparatus of false bottom having ballast tank and management method of the same |
| CN106585935A (en) * | 2015-10-14 | 2017-04-26 | 中国海洋大学 | Marine sailing machine driven by bionic mechanism |
| CN107352000A (en) * | 2017-07-30 | 2017-11-17 | 苏州元有讯电子科技有限公司 | A kind of collapsible underwater robot of lifting type |
| CN108466687A (en) * | 2018-06-11 | 2018-08-31 | 哈尔滨工程大学 | One kind fast moving type Bionic water strider robot and its working method |
| CN108555167A (en) * | 2018-04-20 | 2018-09-21 | 浙江大学 | A kind of bending machine and its feed device |
| CN109808846A (en) * | 2019-01-30 | 2019-05-28 | 湖北工业大学 | A kind of water surface cleaning ship of electronic-pedal double-purpose formula |
| CN210101943U (en) * | 2019-05-31 | 2020-02-21 | 浙江大学 | Overturning-prevention water strider robot with self-adaptive adjustment of gravity center |
-
2019
- 2019-05-31 CN CN201910466224.4A patent/CN110091966B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202147830U (en) * | 2011-07-05 | 2012-02-22 | 赵凤银 | Ship, naval vessel or submarine with system of outer inlaying counterweight iron devices and outer suspending counterweight iron devices |
| US20140165750A1 (en) * | 2012-12-14 | 2014-06-19 | Brice Thouret | Propulsion device for use with a fluid |
| KR101570821B1 (en) * | 2014-06-26 | 2015-11-20 | 한국해양과학기술원 | Drive apparatus of false bottom having ballast tank and management method of the same |
| CN104943832A (en) * | 2015-06-08 | 2015-09-30 | 浙江大学 | Bionic wind-proof and wave-proof type water strider robot with schema translation function |
| CN106585935A (en) * | 2015-10-14 | 2017-04-26 | 中国海洋大学 | Marine sailing machine driven by bionic mechanism |
| CN107352000A (en) * | 2017-07-30 | 2017-11-17 | 苏州元有讯电子科技有限公司 | A kind of collapsible underwater robot of lifting type |
| CN108555167A (en) * | 2018-04-20 | 2018-09-21 | 浙江大学 | A kind of bending machine and its feed device |
| CN108466687A (en) * | 2018-06-11 | 2018-08-31 | 哈尔滨工程大学 | One kind fast moving type Bionic water strider robot and its working method |
| CN109808846A (en) * | 2019-01-30 | 2019-05-28 | 湖北工业大学 | A kind of water surface cleaning ship of electronic-pedal double-purpose formula |
| CN210101943U (en) * | 2019-05-31 | 2020-02-21 | 浙江大学 | Overturning-prevention water strider robot with self-adaptive adjustment of gravity center |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111547238A (en) * | 2020-05-22 | 2020-08-18 | 吉林大学 | Cross-medium aircraft capable of rowing and propelling |
| CN111547238B (en) * | 2020-05-22 | 2022-06-24 | 吉林大学 | Cross-medium aircraft capable of rowing and propelling |
| CN114194341A (en) * | 2021-12-20 | 2022-03-18 | 杭州电子科技大学 | Overwater self-driven photographing robot and using method thereof |
| CN114194341B (en) * | 2021-12-20 | 2022-11-18 | 杭州电子科技大学 | Overwater self-driven photographing robot and using method thereof |
| CN116812090A (en) * | 2023-06-30 | 2023-09-29 | 深圳大学 | Greasy dirt absorption imitation water-strider robot based on solar drive |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110091966B (en) | 2023-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110091966A (en) | A kind of overturn-preventing water strider robot of center of gravity automatic adjusument | |
| CN110116793A (en) | A kind of leg-arm-paddle composite underwater robot | |
| US4389843A (en) | Water wave energy transducer | |
| CN201825146U (en) | Bounce spherical robot equipped with stabilized bench | |
| CN101435739B (en) | Bionic long fin fluctuating propulsion experimental apparatus | |
| CN111319694A (en) | Spherical robot of multi-mode motion | |
| CN2176447Y (en) | Wave electric power generator with float and rack | |
| CN113734396B (en) | Bionic rana nigromaculata swimming robot | |
| CN212149080U (en) | Spherical robot of multi-mode motion | |
| CN207328642U (en) | A kind of motor-driven bio-robot of list | |
| CN206703055U (en) | Robot composite flooding joint | |
| CN2869361Y (en) | Seawave power generating device | |
| CN114572323A (en) | Torsional spring energy storage type eight-connecting-rod micro bouncing robot | |
| CN210101943U (en) | Overturning-prevention water strider robot with self-adaptive adjustment of gravity center | |
| CN212445312U (en) | Electric push rod type automatic lifting mechanical arm | |
| CN111319742B (en) | Parallel type space tail pendulum propulsion device | |
| CN114671000A (en) | Bionic devil fish robot based on sine-swinging wave fin structure | |
| CN201155417Y (en) | Ship cluster sea power generator | |
| CN207843259U (en) | A kind of ship stabilization balance system that energy recycles | |
| CN108189979B (en) | High-stability bionic water strider robot and water-rowing method thereof | |
| CN2480033Y (en) | Single joint bio-robot fish | |
| CN112814824A (en) | Full-underwater bidirectional rotary power generation device | |
| CN216269844U (en) | Bionic fishtail dual-drive device and bionic fishtail structure | |
| CN2523984Y (en) | Electric power generating system by seawaves | |
| CN220343284U (en) | Wind-solar complementary aerator |
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 |