CN110539867A - simulated water quality detection robotic dolphin - Google Patents
simulated water quality detection robotic dolphin Download PDFInfo
- Publication number
- CN110539867A CN110539867A CN201910874263.8A CN201910874263A CN110539867A CN 110539867 A CN110539867 A CN 110539867A CN 201910874263 A CN201910874263 A CN 201910874263A CN 110539867 A CN110539867 A CN 110539867A
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- steering engine
- pectoral fin
- pitching
- shell
- tail
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Classifications
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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
- B63G8/14—Control of attitude or depth
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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
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail 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
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Abstract
The invention belongs to the technical field of bionic robots, and particularly relates to a simulated water quality detection robotic dolphin; the artificial dolphin robot comprises a supporting frame, a shell, a gyroscope, a pectoral fin deflection mechanism, a gravity center adjusting mechanism, a yaw mechanism, a sine propulsion mechanism, a pH value detection sensor, a turbidity sensor and a tail fin, is a two-joint artificial dolphin with submerging and surfacing capabilities, and can realize high-efficiency, high-stability and real-time water quality monitoring.
Description
Technical Field
the invention belongs to the technical field of bionic robots, and particularly relates to a simulated water quality detection robotic dolphin.
background
A series of water body pollutions such as water body eutrophication, toxic substance pollution, ocean pollution and the like become one of the restricting factors for the social and economic development of many countries in the world today. China is one of the countries with serious shortage of fresh water resources in the world, and in recent years, the water environment of China is continuously deteriorated, the water quality is continuously reduced, and the sustainable development of the society is seriously threatened.
The traditional monitoring method at present mainly adopts manual fixed-point monitoring, and has two limitations: firstly, the space limitation is caused, the manual fixed-point monitoring is limited by the space, and the water quality cannot be comprehensively monitored in real time in a large range; secondly, the environment is limited, and the manual monitoring can not be safely and continuously monitored in a toxic or radioactive environment.
At present, the dolphin body of the existing water quality monitoring robot dolphin system is 1.2m long and weighs about 23.5 kg. The robotic dolphin is designed with four pitch joints driven by a direct current motor and a steering engine, two yaw joints driven by the steering engine, and a pair of six-degree-of-freedom pectoral fins for assisting three-dimensional maneuvering. The dolphin robot utilizes a water quality sensor carried by the abdomen to transmit information such as pH value conductivity, dissolved oxygen, turbidity and the like of water quality to a shore base station in real time. The robotic dolphin performs a field monitoring experiment in the Beijing Yan perch lake, collects water quality information in real time, obtains a better result, and verifies the reliability and effectiveness of the robotic dolphin as a mobile node of a water quality monitoring system. But its electromechanical structure is complicated, the cost is high, the concealment is poor.
Disclosure of Invention
in order to overcome the problems, the invention provides a simulated water quality detection robotic dolphin, which is a two-joint simulated robotic dolphin with submerging and surfacing capabilities and can realize high-efficiency, high-stability and real-time water quality monitoring.
A simulated water quality detection robotic dolphin comprises a shell, a pH value detection sensor, a turbidity sensor, a tail fin 12, a supporting frame, a gyroscope 2, a pectoral fin deflection mechanism, a gravity center adjusting mechanism, a yaw mechanism and a sine propelling mechanism, wherein the shell comprises a head shell, a body shell, a rubber sleeve and a tail shell, one end of the body shell is fixedly connected to the head shell, the other end of the body shell is connected with the tail shell through the rubber sleeve, and the tail fin 12 is positioned at the tail end of the tail shell;
the support frame, the gyroscope 2, the pectoral fin deflection mechanism and the gravity center adjusting mechanism are arranged in the shell, and the yaw mechanism, the sine propulsion mechanism, the PH value detection sensor and the turbidity sensor are arranged in the shell;
The supporting frame comprises a transverse upper supporting plate 5, a transverse lower supporting plate 26 and vertical supporting columns 20, wherein the upper supporting plate 5 and the lower supporting plate 26 are fixedly connected through a plurality of supporting columns 20, and two side surfaces of the upper supporting plate 5 and the lower supporting plate 26 are fixedly connected to the body shell;
The pectoral fin deflection mechanism comprises a pectoral fin rudder slot 3, a left pectoral fin deflection steering engine 24, a right pectoral fin deflection steering engine 25, a left pectoral fin deflection sheet 21 and a right pectoral fin deflection sheet 7, wherein the pectoral fin rudder slot 3 is fixedly connected in front of a lower supporting plate 26 of a supporting frame, the left pectoral fin deflection steering engine 24 and the right pectoral fin deflection steering engine 25 are respectively fixed at the left side and the right side of the pectoral fin rudder slot 3, the left pectoral fin deflection sheet 21 and the right pectoral fin deflection sheet 7 are respectively connected with a steering engine disc of the left pectoral fin deflection steering engine 24 and a steering engine disc of the right pectoral fin deflection steering engine 25 through waterproof bearings 4, and the left pectoral fin deflection sheet 21 and the right pectoral fin deflection sheet 7 are both positioned outside;
The gyroscope 2 is connected to the pectoral fin steering engine slot 3 through a pectoral fin steering engine slot connecting piece 22;
The gravity center adjusting mechanism is positioned between the body shell and the lower supporting plate 26 and comprises a bearing seat 27, a balancing weight 29, a lead screw 30, a motor bracket 32 and a direct current motor 13, wherein the balancing weight 29 is connected between the bearing seat 27 and the motor bracket 32 through the lead screw 30, and the lead screw 30 is driven by the direct current motor 13 connected to the motor bracket 32;
The yawing mechanism comprises a yawing steering engine 16, a yawing steering engine groove 17 and a yawing linkage 8, the yawing steering engine groove 17 is fixed above a lower supporting plate 26, the yawing steering engine 16 is in bolted connection with the yawing steering engine groove 17, a through hole 19 and a steering wheel groove 23 are arranged at the lower end of the yawing linkage 8, a transmission shaft of the yawing steering engine 16 extends into the through hole 19 from one end of the through hole 19, a yawing steering wheel disc 14 extends into the through hole 19 from the other end of the through hole 19 and is in bolted connection with the transmission shaft of the yawing steering engine 16, the yawing steering wheel disc 14 is in matched connection with the steering wheel groove 23, the upper end of the yawing linkage 8 is movably connected below the upper supporting plate 5, and the yawing linkage 8 is fixedly connected to the sine propelling mechanism;
The sinusoidal propulsion mechanism comprises a first pitching joint, a second pitching joint, a tail fin 12, a tail handle 33 and a tail handle connecting piece 34, wherein the first pitching joint and the second pitching joint are oppositely arranged and fixed together, the first pitching joint is connected to the yawing linkage piece 8, the tail handle 33 is connected to the second pitching joint, the tail fin 12 is positioned outside the shell and is connected with the tail handle 33 through the tail handle connecting piece 34, and the joint of the first pitching joint and the second pitching joint is positioned inside the rubber sleeve.
And the left pectoral fin deflection piece 21 and the right pectoral fin deflection piece 7 are both provided with pectoral fin supports 37, and the two pectoral fin supports 37 are respectively connected with a steering engine disk of the left pectoral fin deflection steering engine 24 and a steering engine disk of the right pectoral fin deflection steering engine 25 through waterproof bearings 4.
bearing frame 27 and motor support 32 fix respectively in the both ends of lower support plate 26 below, guide rail 28 is fixed between bearing frame 27 and motor support 32, direct current motor 13 connects on motor support 32, and lead screw 30 one end is connected on bearing frame 27, and the other end passes through shaft coupling 31 to be connected with direct current motor 15's main shaft, and the both ends of balancing weight 29 are connected respectively on two guide rails 28, and the middle part of balancing weight 29 is connected on lead screw 30.
the first pitching joint and the second pitching joint have the same structure, each pitching joint comprises a pitching steering engine 9, a pitching steering engine groove 15 and a pitching steering engine linkage 10, wherein the pitching steering engine 9 is connected in the pitching steering engine groove 15 through a bolt, the pitching steering engine groove 15 is movably connected to one side of the pitching steering engine linkage 10, the other side of the pitching steering engine linkage 10 is provided with a second through hole 41 and a second steering wheel groove 42, a transmission shaft of the pitching steering engine 9 extends into the second through hole 41 from one end of the second through hole 41, a pitching steering engine disc 36 extends into the second through hole 41 from the other end of the second through hole 41 and is connected with the transmission shaft of the pitching steering engine 9 through a bolt, and the pitching steering engine disc 36 is connected in the second steering wheel groove 42 in a matching manner; the pitching steering engine linkage piece 10 of the first pitching joint and the pitching steering engine linkage piece 10 of the second pitching joint are oppositely arranged and fixed together, the pitching steering engine groove 15 of the first pitching joint is fixedly connected to the yawing linkage piece 8, and the pitching steering engine groove 15 of the second pitching joint is connected with the tail handle 33.
the head shell is formed by butt joint of two head half shells 1, the body shell is formed by butt joint of two body half shells 19, and the tail shell is formed by butt joint of two tail half shells 11.
Drawings
fig. 1 is a schematic cross-sectional structure of the present invention.
Fig. 2 is a schematic cross-sectional structure of the present invention.
Fig. 3 is a partial structural schematic diagram of the present invention.
fig. 4 is a partial structural schematic diagram of the present invention.
Fig. 5 is a partial structural schematic diagram of the present invention.
fig. 6 is a partial structural schematic diagram of the present invention.
Fig. 7 is a partial structural schematic diagram of the present invention.
Fig. 8 is a partial structural schematic diagram of the present invention.
Fig. 9 is a partial structural schematic diagram of the present invention.
Fig. 10 is a schematic diagram of the structure of the outer side of the present invention.
FIG. 11 is a schematic view of a yaw linkage configuration of the present invention.
Fig. 12 is a schematic structural diagram of a linkage of a pitch steering engine of the present invention.
Fig. 13 is a schematic structural diagram of a pitch steering engine slot of the present invention.
fig. 14 is a schematic structural view of the support frame of the present invention.
Wherein: a head half shell; 2, a gyroscope; 3, a pectoral fin rudder slot; 4, a waterproof bearing; 5, supporting plates are arranged on the upper support plate; 6 a battery pack; 7 right pectoral fin deflection slice; 8 yaw linkage; 9, a pitching steering engine; 10 pitching steering engine linkage parts; 11 tail half shell; 12 tail fins; 13 a direct current motor; 14 yaw rudder plate; 15 pitching rudder machine grooves; a 16 yaw steering engine; 17 yaw rudder slot; 18 yaw bearing blocks; 19 a first through hole; 20 support columns; 21 left pectoral fin deflection plate; 22 pectoral fin steering engine slot connecting pieces; 23, a first rudder disc groove; 24 left pectoral fin deflection steering engines; 25 right pectoral fin deflection steering engine; 26 a lower support plate; 27 bearing seats; 28 guide rails; 29 balancing weight block; 30 leading screws; 31 a coupler; 32 a motor mount; 33 a tail handle; 34 a tail shank attachment; 35; 36 pitching rudder machine disks; 37 a pectoral fin support; 38 a threaded through hole; 39 a threaded hole; 40 bearing holes; 41, a second through hole; and a second rudder disk slot 42.
Detailed Description
as shown in fig. 1, 2 and 9, a simulated water quality detection robotic dolphin comprises a support frame, a shell, a gyroscope 2, a pectoral fin deflection mechanism, a gravity center adjusting mechanism, a yaw mechanism, a sine propulsion mechanism, a PH value detection sensor, a turbidity sensor and a tail fin 12;
the shell comprises a head shell, a body shell and a tail shell, wherein the shell comprises a head shell, a body shell, an rubber sleeve and a tail shell, one end of the body shell is fixedly connected to the head shell, the other end of the body shell is connected with the tail shell through the rubber sleeve, and the tail fin 12 is positioned at the tail end of the tail shell;
The supporting frame 5 is fixed inside the body shell, after the fixing, the dolphin body and the dolphin head are fixed, the front half body of the dolphin, namely the head shell and the body shell, is a plastic shell, and the back half part of the dolphin is a rubber sleeve and a tail shell. The tail shell and the front half shell are connected by a rubber sleeve. The rubber sleeve can play a role in sealing, and can swing along with a yaw steering engine to provide power as the rubber sleeve is soft.
Be provided with braced frame, gyroscope 2, pectoral fin deflection mechanism, focus adjustment mechanism in the casing, yaw mechanism, sinusoidal advancing mechanism, pH value detection sensor and turbidity sensor all are connected in the inside below of casing through detecting the box, specifically do: the bottom is equipped with trapezoidal slot in the casing, detects the box joint in trapezoidal slot, and PH value detection sensor and turbidity sensor are placed in detecting the box.
Detection concentration range of the pH value detection sensor: PH is 0-14, temperature measurement range: 0 to 80 ℃.
Turbidity sensor detection amount range: the range is 0.05-4000 FNU, and the precision is +/-0.1%.
The supporting frame comprises a transverse upper supporting plate 5, a transverse lower supporting plate 26 and vertical supporting columns 20, wherein the upper supporting plate 5 and the lower supporting plate 26 are fixedly connected through a plurality of supporting columns 20, and two side surfaces of the upper supporting plate 5 and the lower supporting plate 26 are fixedly connected to the body shell;
As shown in fig. 1, 2 and 3, the pectoral fin deflection mechanism comprises a pectoral fin rudder slot 3, a left pectoral fin deflection steering engine 24, a right pectoral fin deflection steering engine 25, a left pectoral fin deflection sheet 21 and a right pectoral fin deflection sheet 7, wherein the pectoral fin rudder slot 3 is fixedly connected in front of a lower supporting plate 26 of a supporting frame, the left pectoral fin deflection steering engine 24 and the right pectoral fin deflection steering engine 25 are respectively fixed at the left side and the right side of the pectoral fin rudder slot 3, the left pectoral fin deflection sheet 21 and the right pectoral fin deflection sheet 7 are respectively connected with a rudder disc of the left pectoral fin deflection steering engine 24 and a rudder disc of the right pectoral fin deflection steering engine 25 through waterproof bearings 4, and the left pectoral fin deflection sheet 21 and the right pectoral fin deflection sheet 7 are both positioned outside the shell.
As shown in fig. 8, the left pectoral fin deflection plate 21 and the right pectoral fin deflection plate 7 are both provided with pectoral fin brackets 37, and the two pectoral fin brackets 37 are respectively connected with a steering engine disc of the left pectoral fin deflection steering engine 24 and a steering engine disc of the right pectoral fin deflection steering engine 25 through waterproof bearings 4.
the gyroscope 2 is connected to the pectoral fin steering engine slot 3 through a pectoral fin steering engine slot connecting piece 22.
As shown in fig. 1, 2, 4 and 7, the center of gravity adjusting mechanism is located between the body housing and the lower supporting plate 26, and includes a bearing seat 27, a weight block 29, a lead screw 30, a motor bracket 32 and a dc motor 13, wherein the weight block 29 is connected between the bearing seat 27 and the motor bracket 32 through the lead screw 30, and the lead screw 30 is driven by the dc motor 13 located on the motor bracket 32.
Bearing frame 27 and motor support 32 fix both ends around under backup pad 26 below respectively, guide rail 28 is fixed between bearing frame 27 and motor support 32, direct current motor 13 connects on motor support 32, lead screw 30 one end is connected on bearing frame 27, the other end passes through shaft coupling 31 and is connected with direct current motor 15's main shaft, the left and right sides of balancing weight 29 is connected respectively on two guide rails 28, the middle part of balancing weight 29 is connected on lead screw 30.
The weight block 29 is made of lead block with high density. The direct current motor 13 rotates to drive the lead screw 30 to rotate, so that the position of the balancing weight 29 on the lead screw 30 in the horizontal direction is adjusted, and the weight center of the dolphin is changed.
As shown in fig. 1, 2, 3, 4 and 5, the yaw mechanism includes a yaw steering gear 16, a yaw rudder slot 17 and a yaw linkage 8, the yaw rudder slot 17 is fixed above a lower support plate 26, the yaw steering gear 16 is bolted in the yaw rudder slot 17, as shown in fig. 11, a through hole 19 and a rudder disk slot 23 are formed in the lower end of the yaw linkage 8, a transmission shaft of the yaw steering gear 16 extends into the through hole 19 from one end of the through hole 19, a yaw rudder disk 14 extends into the through hole 19 from the other end of the through hole 19 and is bolted with the transmission shaft of the yaw steering gear 16, and the yaw rudder disk 14 is connected in the rudder disk slot 23 in a matching manner; the transmission shaft of driftage steering wheel 16 is the initiative pivot of driftage linkage 8, and 8 upper ends swing joint of driftage linkage are in last backup pad 5 below, specifically are: a threaded through hole 38 is formed in the upper end of the yaw linkage 8, a yaw bearing seat 18 is arranged between the upper end of the yaw linkage 8 and the yaw steering engine 16, one end of the yaw bearing seat 18 is connected below the upper supporting plate 5, a waterproof bearing is arranged at the other end of the yaw bearing seat 18, and a screw is in threaded connection with the threaded through hole 38 and penetrates through the threaded through hole 38 to be connected with the waterproof bearing; the screw is a driven rotating shaft of a yaw steering engine linkage piece 8, and the rear end of the yaw linkage piece 8 is fixedly connected to the sine propelling mechanism. The swing direction of the yaw steering engine 16 is parallel to the horizontal ground so as to realize left-right turning and yaw of the equipment.
As shown in fig. 1, 2, 6, 7, 8 and 9, the sinusoidal propulsion mechanism includes a first pitch joint, a second pitch joint, a tail fin 12, a tail handle 33 and a tail handle connector 34, the first pitch joint and the second pitch joint are oppositely arranged and fixed together, the first pitch joint is connected to the yaw connector 8, the second pitch joint is connected to the tail handle 33, the tail fin 12 is located outside the housing and connected to the tail handle 33 through the tail handle connector 34.
First every single move joint and second every single move joint's structure the same, every single move joint all includes every single move steering wheel 9, every single move steering wheel groove 15 and every single move steering wheel linkage 10, wherein every single move steering wheel 9 bolted connection is in every single move steering wheel groove 15, every single move steering wheel groove 15 swing joint is in one side of every single move steering wheel linkage 10, specifically is: as shown in fig. 12, a threaded hole 39 is formed in one side of the pitch steering engine linkage 10, as shown in fig. 13, a bearing hole 40 is formed in the pitch steering engine groove 15, a rolling bearing is arranged in the bearing hole 40, a screw is connected in the threaded hole 39 in a threaded manner and penetrates through the threaded hole 39 to be connected with the rolling bearing in the bearing hole 40 in the pitch steering engine groove 15, the screw is a passive rotating shaft of a pitch joint, a through hole two 41 and a steering wheel groove two 42 are formed in the other side of the pitch steering engine linkage 10, a transmission shaft of the pitch steering engine 9 extends into the through hole two 41 from one end of the through hole two 41, a pitch steering engine disc 36 extends into the through hole two 41 from the other end of the through hole two 41 to be connected with the transmission shaft of the pitch steering engine 9 through a bolt. The transmission shaft of the pitching steering engine 9 is a driving rotating shaft of a pitching steering engine linkage part 10.
the pitching steering engine linkage piece 10 of the first pitching joint and the pitching steering engine linkage piece 10 of the second pitching joint are oppositely arranged and fixed together, the front end of the pitching steering engine groove 15 of the first pitching joint is fixedly connected to the yawing linkage piece 8, and the pitching steering engine groove 15 of the second pitching joint is connected with the tail handle 33.
One end of the sine propelling mechanism is connected to a yaw linkage 8 of the yaw mechanism in the body shell, the other end of the sine propelling mechanism is located in the tail shell, and the joint of the first pitching joint and the second pitching joint is located in the rubber sleeve.
As shown in fig. 10, the head shell is formed by two head half shells 1 in butt joint, the body shell is formed by two body half shells 19 in butt joint, and the tail shell is formed by two tail half shells 11 in butt joint.
The lower supporting plate 26 on be provided with the main control board, go up the backup pad 5 top and be equipped with group battery 6, gyroscope 2, right pectoral fin 7, every single move steering wheel 9, driftage steering wheel 16, main control board, left pectoral fin 21, left pectoral fin steering wheel 24, right pectoral fin steering wheel 25, direct current motor 13 pass through the wire with group battery 6 respectively and are connected, group battery 6 is these part power supplies.
the sine propelling mechanism accounts for 45 percent of the length of the whole dolphin body and is formed by connecting two joints in series in a horizontal state.
The gyroscope 2 senses the navigation attitude of the dolphin, transmits an attitude signal to the main control board, and then the main control board transmits a deflection signal to the pectoral fin deflection steering engine, so that the deflection function is realized.
The gyroscope 2, the pitching steering engine 9, the yawing steering engine 16, the left pectoral fin steering engine 24, the right pectoral fin steering engine 25 and the direct current motor 13 are respectively in signal connection with the main control board through a Bluetooth module, the main control board is in signal connection with an upper computer through the Bluetooth module, and the upper computer controls the gyroscope 2, the pitching steering engine 9, the yawing steering engine 16, the left pectoral fin steering engine 24, the right pectoral fin steering engine 25 and the direct current motor 13 to work through the main control board.
PH value detection sensor and turbidity sensor also all pass through bluetooth module and main control board signal connection, will detect out the data upload for the main control board, and the main control board rethread bluetooth module transmits data information for host computer (cell-phone, cell-phone accessible bluetooth and main control board signal connection), shows numerical value.
The use process comprises the following steps:
Firstly, a mobile phone end is connected to a main control board through a Bluetooth signal, after the connection is finished, the device is placed in water, all parts are controlled through the mobile phone, so that the floating and submerging of the device are controlled, and then the numerical values of all sensors, namely the measured PH value and turbidity value, can be displayed on the mobile phone.
Floating and submerging:
When the device does a diving movement, the main control board sends a signal to the direct current motor 13, then the direct current motor 13 drives the screw rod 30 to rotate clockwise, so that the balancing weight 29 translates forwards from the balance center, at the moment, the head of the device is pressed downwards, the body presents a diving posture, the gyroscope 2 detects the posture data of the device and transmits the posture data information of the device to the main control board, the main control board sends a signal to the two pectoral fin deflection steering engines according to the posture data, the two pectoral fin deflection steering engines drive the corresponding pectoral fin deflection sheets to rotate so as to adjust the deflection angle of the pectoral fin deflection steering engines and change the water attack angle, in the process, the main control board sends a signal to the pitching steering engines 9, the pitching steering engines 9 close to the head shell swing up and down, the pitching steering engine linkage 10 swings, and then the pitching steering engines 9 close to the tail shell swing up and down, the tail fins 12 are driven to swing, the dorsoventral motion of the dolphin is simulated through the compound swing of the pitching steering engines 9 of the two joints, the propulsion is provided for the device, and the diving of the dolphin robot is completed by matching with the pectoral fin deflection mechanism and the gravity center adjusting mechanism; if a certain angle needs to be yawed left and right in the diving process, because the gyroscope 2 is a gyroscope device capable of giving a walking turning angle and a course indication, and is an instrument capable of indicating a ground plumb line, a coordinate system is established according to a ground plumb line plane, the device disclosed by the invention can be seen as swimming in a three-dimensional coordinate system, namely a coordinate point is established at a specified position after the diving depth is set, the device disclosed by the invention dives to a target point in a straight line direction, if the diving direction of the device disclosed by the invention is forced to change due to water waves or some reasons, the gyroscope 2 can transmit the position and posture information of the device disclosed by the invention to a main control board, the main control board processes the position and posture information and the yaw signal to a yaw steering engine 16 to achieve the purpose of yawing, at the moment, the main control board can transmit the signal to the yaw steering engine 16, and the yaw steering engine 16 drives the, the sine propelling mechanism at the tail part and the central axis of the dolphin body deflect at a certain angle, and the yaw turning movement of the device is realized under the action of the propelling force. Specifically, when the device disclosed by the invention drifts left from a vertical plane, the main control board sends a right swing signal to the yaw steering engine 16, and the yaw steering engine 16 drives the yaw linkage 8 to swing right, so that the device disclosed by the invention drifts right and returns to a designed route. When the course of the device deviates to the right from the vertical plane, the main control board sends a left swing signal to the yaw steering engine 16, and the yaw steering engine 16 drives the yaw linkage piece 8 to swing leftwards, so that the device drifts leftwards and returns to the designed route.
when the device of the invention moves horizontally, the main control board sends a signal to the direct current motor 13, then the direct current motor 13 drives the screw rod 30 to rotate, so that the balancing weight 29 returns to the position of the balanced gravity center, at the moment, the body of the device of the invention presents a horizontal posture, the gyroscope 2 detects at the moment and transmits the posture data of the device of the invention back to the main control board, the main control board sends signals to two pectoral fin deflection steering engines according to the attitude data, the two pectoral fin deflection steering engines drive corresponding pectoral fin deflection pieces to rotate so as to adjust the deflection angles of the pectoral fin deflection steering engines, and at the moment, the pectoral fin deflection steering engines are adjusted in real time according to the attitude data sent back by the gyroscope 2 to perform micro deflection so as to ensure that the body axis of the device is relatively parallel to the horizontal fluid plane;
if the included angle between the device and the ground plane is positive, the pectoral fin deflection steering engine rotates clockwise, and if the included angle is negative, the pectoral fin deflection steering engine rotates anticlockwise;
The pectoral fin deflection rudder controls how much the pectoral fin deflection piece rotates by an angle, which depends on the angle between the device of the invention and the ground plane transmitted back by the gyroscope 2, if the included angle between the device of the invention and the ground plane is 15 degrees downwards in a diving mode, the pectoral fin deflection rudder controls the pectoral fin deflection piece to rotate 15 degrees downwards.
In the process, the main control board can also send signals to the pitching steering engines 9, the sine propulsion mechanism is horizontal initially, when the sinusoidal propulsion mechanism starts to move, the pitching steering engines 9 close to the head shell rotate to drive the corresponding pitching steering engine linkage parts 10 to move downwards, and the pitching steering engines 9 and the corresponding pitching steering engine linkage parts 10 are in a V shape; the pitching steering engine linkage parts 10 are fixed by screws, the other pitching steering engine 9 rotates to drive the corresponding pitching steering engine linkage part 10 to move upwards, the tail fin 12 is connected to the pitching steering engine groove 15 of the pitching steering engine 9 through the tail handle connecting part 34 and the tail handle 33, when the pitching steering engine 9 rotates, the tail fin 12 is driven, the two pitching steering engines 9 rotate in opposite directions and are repeated in sequence, and the dorsoventral motion of the dolphin is simulated through the composite swinging of the pitching steering engines 9 with two joints, so that the device provides propulsive force;
If the device needs to yaw left and right by a certain angle in the horizontal swimming process, the main control board sends a signal to the yaw steering engine 16 at the moment, and the yaw steering engine 16 drives the yaw linkage 8 to swing left and right, so that the sinusoidal propulsion mechanism at the tail part deflects at a certain angle with the axis of the body, and the yaw turning motion of the device is realized under the action of the propulsion force.
Yaw steering engine 16 swings left and right to correct heading. The power is provided by the combined swing of the two pitching steering engines 9 which are mutually matched. The effect of the compound swing of the two pitching steering engines 9 is similar to a sine curve, namely the back and abdomen swing motion of the dolphin is simulated, and the forward swing power is realized.
When the device disclosed by the invention performs upward floating movement, the main control board sends a signal to the direct current motor 13, then the direct current motor 13 drives the screw rod 30 to rotate anticlockwise, so that the balancing weight 29 translates backwards from the balance center position, at the moment, the head of the device disclosed by the invention is lifted upwards, the body of the device disclosed by the invention presents an upward-flushing posture, the gyroscope 2 detects the posture data of the device disclosed by the invention at the moment and transmits the posture data information of the device disclosed by the invention back to the main control board, the main control board sends a signal to the two pectoral fin deflection steering engines according to the posture data, and the two pectoral fin deflection steering engines drive the corresponding pectoral fin deflection sheets to rotate so as to adjust the deflection angles of the pectoral fin deflection steering engines and change the. In the process, the main control board sends a signal to the pitching steering engines 9, the dorsoventral motion of the dolphin is simulated through the composite swinging of the pitching steering engines 9 with the two joints, the propulsion is provided for the device, and the floating of the dolphin robot is completed by matching with the pectoral fin deflection mechanism and the gravity center adjusting mechanism; if the device needs to yaw left and right by a certain angle in the floating process, the main control board sends a signal to the yaw steering engine 9, the yaw steering engine 9 drives the yaw linkage 8 to swing left and right, so that the sinusoidal propulsion mechanism at the tail part deflects at a certain angle with the axis of the body, and the yaw turning motion of the device is realized under the action of the propulsion force.
in the process of realizing submergence and floatation by the device, the PH value detection sensor and the turbidity sensor finish data acquisition and transmit the data to the mobile phone end through Bluetooth signals.
Claims (5)
1. A simulated water quality detection robotic dolphin comprises a shell, a PH value detection sensor, a turbidity sensor and tail fins (12), and is characterized by further comprising a supporting frame, a gyroscope (2), a pectoral fin deflection mechanism, a gravity center adjusting mechanism, a yaw mechanism and a sine propelling mechanism, wherein the shell comprises a head shell, a body shell, a rubber sleeve and a tail shell, one end of the body shell is fixedly connected to the head shell, the other end of the body shell is connected with the tail shell through the rubber sleeve, and the tail fins (12) are positioned at the tail end of the tail shell;
The support frame, the gyroscope (2), the pectoral fin deflection mechanism and the gravity center adjusting mechanism are arranged in the shell, and the yaw mechanism, the sine propulsion mechanism, the PH value detection sensor and the turbidity sensor are arranged in the shell;
The supporting frame comprises a transverse upper supporting plate (5), a transverse lower supporting plate (26) and vertical supporting columns (20), wherein the upper supporting plate (5) and the lower supporting plate (26) are fixedly connected through the plurality of supporting columns (20), and two side surfaces of the upper supporting plate (5) and the lower supporting plate (26) are fixedly connected to the body shell;
the pectoral fin deflection mechanism comprises a pectoral fin rudder slot (3), a left pectoral fin deflection steering engine (24), a right pectoral fin deflection steering engine (25), a left pectoral fin deflection piece (21) and a right pectoral fin deflection piece (7), wherein the pectoral fin rudder slot (3) is fixedly connected in front of a lower support plate (26) of the support frame, the left pectoral fin deflection steering engine (24) and the right pectoral fin deflection steering engine (25) are respectively fixed on the left side and the right side of the pectoral fin rudder slot (3), the left pectoral fin deflection piece (21) and the right pectoral fin deflection piece (7) are respectively connected with a rudder disc of the left pectoral fin deflection steering engine (24) and a steering disc of the right pectoral fin deflection steering engine (25) through waterproof bearings (4), and the left pectoral fin deflection piece (21) and the right pectoral fin deflection piece (7) are both positioned outside the shell;
The gyroscope (2) is connected to the pectoral fin rudder slot (3) through a pectoral fin rudder slot connecting piece (22);
The gravity center adjusting mechanism is positioned between the body shell and the lower supporting plate (26) and comprises a bearing seat (27), a balancing weight (29), a lead screw (30), a motor support (32) and a direct current motor (13), wherein the balancing weight (29) is connected between the bearing seat (27) and the motor support (32) through the lead screw (30), and the lead screw (30) is driven by the direct current motor (13) connected to the motor support (32);
The yawing mechanism comprises a yawing steering engine (16), a yawing steering engine groove (17) and a yawing linkage (8), the yawing steering engine groove (17) is fixed above a lower supporting plate (26), the yawing steering engine (16) is in bolted connection in the yawing steering engine groove (17), a through hole I (19) and a rudder disc groove I (23) are arranged at the lower end of the yawing linkage (8), a transmission shaft of the yawing steering engine (16) extends into the through hole I (19) from one end of the through hole I (19), a yawing rudder disc (14) extends into the through hole I (19) from the other end of the through hole I (19) and is in bolted connection with the transmission shaft of the yawing steering engine (16), the yawing rudder disc (14) is in matched connection in the rudder disc groove I (23), the upper end of the yawing linkage (8) is movably connected below the upper supporting plate (5), and the yawing linkage (8) is fixedly connected to the sine propelling mechanism;
The sine propulsion mechanism comprises a first pitching joint, a second pitching joint, a tail fin (12), tail handles (3) (3) and a tail handle connecting piece (34), the first pitching joint and the second pitching joint are oppositely arranged and fixed together, the first pitching joint is connected to a yawing linkage piece (8), the second pitching joint is connected with the tail handle (33), the tail fin (12) is located outside the shell and is connected with the tail handle (33) through the tail handle connecting piece (34), and the joint of the first pitching joint and the second pitching joint is located inside the rubber sleeve.
2. The simulated water quality detection robotic dolphin of claim 1, wherein pectoral fin brackets (37) are provided on both the left pectoral fin deflection plate (21) and the right pectoral fin deflection plate (7), and the two pectoral fin brackets (37) are connected with a steering gear disk of the left pectoral fin deflection steering gear (24) and a steering gear disk of the right pectoral fin deflection steering gear (25) through waterproof bearings (4), respectively.
3. The simulated water quality detection robotic dolphin of claim 2, wherein said bearing seat (27) and motor bracket (32) are fixed at both ends under the lower support plate (26) respectively, the guide rail (28) is fixed between the bearing seat (27) and motor bracket (32), the dc motor (13) is connected on the motor bracket (32), one end of the lead screw (30) is connected on the bearing seat (27), the other end is connected with the main shaft of the dc motor (15) through the coupling (31), both ends of the counterweight (29) are connected on two guide rails (28) respectively, and the middle of the counterweight (29) is connected on the lead screw (30).
4. The simulated water quality detection robotic dolphin of claim 3, wherein the first pitch joint and the second pitch joint have the same structure, each pitch joint comprises a pitch steering engine (9), a pitch steering engine slot (15) and a pitch steering engine linkage (10), the pitching steering engine (9) is connected in the pitching steering engine groove (15) through bolts, the pitching steering engine groove (15) is movably connected to one side of the pitching steering engine linkage piece (10), a through hole II (41) and a steering wheel groove II (42) are formed in the other side of the pitching steering engine linkage piece (10), a transmission shaft of the pitching steering engine (9) extends into the through hole II (41) from one end of the through hole II (41), a pitching steering engine disc (36) extends into the through hole II (41) from the other end of the through hole II (41) and is connected with the transmission shaft of the pitching steering engine (9) through bolts, and the pitching steering engine disc (36) is connected in the steering wheel groove II (42) in a matched mode; the pitching steering engine linkage piece (10) of the first pitching joint and the pitching steering engine linkage piece (10) of the second pitching joint are oppositely arranged and fixed together, the pitching steering engine groove (15) of the first pitching joint is fixedly connected to the yawing linkage piece (8), and the pitching steering engine groove (15) of the second pitching joint is connected with the tail handle (33).
5. The simulated water quality mechanical dolphin as claimed in claim 4, wherein said head shell is formed by butt-jointing two head half shells (1), said body shell is formed by butt-jointing two body half shells (19), and said tail shell is formed by butt-jointing two tail half shells (11).
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