CN110861759B - Multifunctional underwater bionic robot - Google Patents
Multifunctional underwater bionic robot Download PDFInfo
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- CN110861759B CN110861759B CN201911073737.5A CN201911073737A CN110861759B CN 110861759 B CN110861759 B CN 110861759B CN 201911073737 A CN201911073737 A CN 201911073737A CN 110861759 B CN110861759 B CN 110861759B
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- steering engine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention provides a multifunctional underwater bionic robot which comprises a main cabin body, detection devices arranged on two sides of the front end of the main cabin body and four mechanical legs, wherein the detection devices are arranged on the two sides of the front end of the main cabin body; each mechanical leg comprises a bionic mechanical leg shell, a two-degree-of-freedom device protective shell, a bionic mechanical leg shell, a telescopic device and a knee joint steering engine component; one end of the two-degree-of-freedom device protective shell is connected to the main cabin body, and one end of the two-degree-of-freedom device far away from the main cabin body is connected to the outer side of the bionic mechanical leg shell; the bionic mechanical leg comprises a bionic mechanical leg shell, a knee joint steering engine component, a telescopic leg component, a knee joint steering engine component and a telescopic leg component, wherein the telescopic leg component is fixed below the telescopic device, and the telescopic leg component is fixed on the knee joint steering engine component through a steering engine frame.
Description
Technical Field
The invention belongs to the field of bionic robots, and particularly relates to an underwater bionic robot capable of realizing multifunctional working conditions.
Background
With the gradual depletion of land non-renewable resources, and the accumulation of abundant biological and mineral resources in the ocean, the marine non-renewable resources become the final space for continuous exploration and sustainable development of human beings. The underwater robot is an important tool of ocean resources, and as the abilities of marine organisms in the aspects of swimming, attitude control and the like are incomparable with those of the traditional underwater robot, the bionic robot is one of the most active research fields in recent years. The aquatic organism propulsion mode mainly comprises a swing method, a paddling method, a hydrofoil method and an injection method, the current fish-imitating swing method propulsion technology is a big hotspot of a bionic propulsion technology, and the research on the hydrofoil method propulsion mode represented by the motion of the forelimbs of the sea turtles is little. The hydrofoil propulsion method is a motion mode commonly adopted by large aquatic animals such as turtles and penguins, and the large aquatic animals have streamlined body shapes and motion organs, and water is beaten up and swung down in the hydrofoil motion process to generate reaction force to propel the large aquatic animals to move forward. The propulsion mode has the outstanding characteristics of good flexibility and low noise.
Chinese patent document ZL200720116135.X discloses a bionic turtle underwater robot, which takes turtles as research objects, the front limbs of the bionic turtle underwater robot swim by a turtle hydrofoil method as a motion model, and the rear limbs of the bionic turtle underwater robot swing by the turtle hind limbs as a motion model. The machine tortoise can only move in three dimensions in water, and has low efficiency.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems of low efficiency and the like of the underwater bionic robot in the prior art, the invention provides the bionic underwater robot with a multifunctional working condition by taking the front leg of the turtle as a basic research object and adopting a streamlined shape, so that the bionic underwater robot can flexibly move in three dimensions in water and flexibly move at the bottom of the water, can adapt to different water condition environments and can efficiently perform tasks such as underwater environment exploration, monitoring and the like.
The technical scheme adopted by the invention is as follows: a multifunctional underwater bionic robot comprises a main cabin body, a scouting device, a first mechanical leg, a second mechanical leg, a third mechanical leg and a fourth mechanical leg, wherein the scouting device is arranged on two sides of the front end of the main cabin body; the first mechanical leg, the second mechanical leg, the third mechanical leg and the fourth mechanical leg are respectively connected to the main cabin body, have the same structure and respectively comprise a two-degree-of-freedom device, a two-degree-of-freedom device protective shell, a bionic mechanical leg shell, a telescopic device, a knee joint steering engine assembly and a telescopic leg assembly; wherein the content of the first and second substances,
the two-degree-of-freedom device is arranged in the two-degree-of-freedom device protective shell, one end of the two-degree-of-freedom device protective shell is connected to the main cabin body, and one end, far away from the main cabin body, of the two-degree-of-freedom device is connected to the outer side of the bionic mechanical leg shell;
the bionic mechanical leg shell is characterized in that the telescopic device, the knee joint steering engine component and the telescopic leg component are arranged in the bionic mechanical leg shell, the knee joint steering engine component is fixedly arranged below the telescopic device, and the telescopic leg component is fixed on the knee joint steering engine component through a steering engine frame.
Further, the two-degree-of-freedom device comprises a transverse steering engine assembly, an orthogonal steering engine rack and a longitudinal steering engine assembly, wherein the orthogonal steering engine rack comprises a transverse steering engine rack and a longitudinal steering engine rack which are fixed in an axial orthogonal mode, the transverse steering engine assembly is connected with the transverse steering engine rack, and the longitudinal steering engine assembly is connected with the longitudinal steering engine rack.
Further, telescoping device adopts electronic numerical control step motor slip table straight line module, including guide rail, transmission module, slip module, step motor and shaft coupling, wherein, the guide rail transversely sets up in bionical mechanical leg shell, the slip module with guide rail sliding connection, transmission module fixes on the shaft coupling, step motor drive the shaft coupling rotates, and then drives the guide rail rotates, makes the slip module produces relative displacement.
Furthermore, knee joint steering wheel subassembly includes knee joint steering wheel, knee joint steering wheel base and knee joint steering wheel frame, the knee joint steering wheel passes through knee joint steering wheel base to be fixed on the slip module, knee joint steering wheel frame links to each other with the steering wheel of knee joint steering wheel, forms horizontal revolute pair.
Furthermore, the telescopic leg assembly comprises a pneumatic spring and a spherical foot end, a joint at the tail end of the upper tube of the pneumatic spring is fixed on a cross rod of the knee joint rudder rack, and the tail end of the lower tube of the pneumatic spring is fixedly connected with the spherical foot end.
Furthermore, the transverse steering engine component comprises a transverse steering engine base and a transverse steering engine, the transverse steering engine base is fixed in the two-degree-of-freedom device protective shell, and a steering wheel of the transverse steering engine is connected with the transverse steering engine frame to form a transverse revolute pair.
Furthermore, the longitudinal steering engine component comprises a longitudinal steering engine base and a longitudinal steering engine, the longitudinal steering engine base is fixed outside the shell of the bionic mechanical leg, and a steering wheel of the longitudinal steering engine is connected with the longitudinal steering engine frame to form a longitudinal revolute pair.
Furthermore, the transverse rudder machine frame and the longitudinal rudder machine frame are U-shaped pieces with the same structure and size, one end of the longitudinal rudder machine frame, which is far away from the U-shaped opening, and one end of the transverse rudder machine frame, which is far away from the U-shaped opening, are fixedly connected together, and the U-shaped opening of the longitudinal rudder machine frame and the U-shaped opening of the transverse rudder machine frame are vertically arranged in space.
Furthermore, the arrangement positions of the first mechanical leg, the second mechanical leg, the third mechanical leg and the fourth mechanical leg on the main cabin body are in a rectangular structure.
Has the advantages that: the invention takes the front leg of the turtle as a basic research object, can flexibly move in three dimensions in water and flexibly move at the water bottom on the basis of adopting a streamline shape, adapts to different water condition environments, can efficiently perform tasks such as underwater environment exploration and monitoring, and the like, can move freely and flexibly and can flexibly crawl, and has low energy consumption and low noise.
Description of the drawings:
FIG. 1 is a structural diagram of a multifunctional underwater bionic robot of the present invention;
FIG. 2 is a structural view of a bionic robot leg of the present invention;
FIG. 3 is a longitudinal cross-sectional view of section 1-1 of FIG. 2;
FIG. 4 is a transverse cross-sectional view taken at section 2-2 of FIG. 2;
FIG. 5 is a front view of a two degree-of-freedom device of the present invention;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a schematic view of the telescoping device of the present invention;
FIG. 8 is a schematic structural view of a knee joint steering engine assembly of the present invention;
fig. 9 is a schematic structural view of the telescoping leg assembly of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1 to 9, the multifunctional underwater bionic robot of the present embodiment includes a main cabin E, a scout device F, a first mechanical leg a, a second mechanical leg B, a third mechanical leg C, and a fourth mechanical leg D, wherein a control device can be installed in the main cabin according to actual use conditions, an infrared sensor, a camera, and the like are installed in the scout device according to actual use conditions, and the underwater robot of the present embodiment focuses on the mechanical legs, so the main cabin and the scout device are not described in detail.
As shown in fig. 1, the scout devices F are arranged at both sides of the front end of the main cabin E; the first mechanical leg A, the second mechanical leg B, the third mechanical leg C and the fourth mechanical leg D are respectively connected to the main cabin body E through screws, the first mechanical leg A, the second mechanical leg B, the third mechanical leg C and the fourth mechanical leg D are identical in structure and respectively comprise a two-degree-of-freedom device A1, a two-degree-of-freedom device protective shell A2, a bionic mechanical leg shell A3, a telescopic device A4, a knee joint steering engine component A5 and a telescopic leg component A6 as shown in the figures 2-4; the two-degree-of-freedom device A1 is arranged in the two-degree-of-freedom device protective shell A2, one end of the two-degree-of-freedom device protective shell A2 is connected to the main cabin body E, and one end, far away from the main cabin body, of the two-degree-of-freedom device A1 is connected to the outer side of the bionic mechanical leg shell A3; the telescopic device A4, the knee joint steering engine component A5 and the telescopic leg component A6 are arranged in the bionic mechanical leg shell A3, the knee joint steering engine component A5 is fixedly arranged below the telescopic device A4, and the telescopic leg component A6 is fixedly arranged on the knee joint steering engine component A5 through a steering engine frame.
Referring to fig. 5-6, the two-degree-of-freedom device a1 of the embodiment includes a transverse steering engine assembly a11, an orthogonal steering engine frame a12 and a longitudinal steering engine assembly a13, where the orthogonal steering engine frame assembly a12 includes a transverse steering engine frame a12-1 and a longitudinal steering engine frame a12-2, the transverse steering engine frame a12-1 and the longitudinal steering engine frame a12-2 are axially and orthogonally fixed and are U-shaped pieces with the same structural size, an end of the longitudinal steering engine frame a12-2 away from a U-shaped opening is fixedly connected with an end of the transverse steering engine frame a12-1 away from the U-shaped opening, and the U-shaped opening of the longitudinal steering engine frame a12-2 is vertically distributed in space from the U-shaped opening of the transverse steering engine frame a 12-1; the transverse steering engine component A11 is connected with the transverse steering engine frame A12-1 so as to enable the bionic mechanical leg arm to generate an up-and-down rotation degree of freedom, and the longitudinal steering engine component A13 is connected with the longitudinal steering engine frame A12-2 so as to enable the bionic mechanical leg arm A to generate two-degree-of-freedom rotation. The transverse steering engine component A11 comprises a transverse steering engine base A11-1 and a transverse steering engine A11-2, wherein one end of the transverse steering engine base A11-1 is fixed on one side of the transverse steering engine A11-2 through a screw, the other end of the transverse steering engine base A11-1 is fixed on a groove-shaped piece in a two-degree-of-freedom device protective shell A2, and a steering wheel of the transverse steering engine A11-2 is connected with the transverse steering engine frame A12-1 to form a transverse revolute pair so that mechanical legs can rotate up and down around the revolute pair; the longitudinal steering engine component A13 comprises a longitudinal steering engine base A13-1 and a longitudinal steering engine A13-2, wherein the longitudinal steering engine base A13-1 is a groove-shaped component, one end of the groove-shaped component is fixed on one side of the longitudinal steering engine A13-2 through a screw, the other end of the groove-shaped component is fixed outside a bionic mechanical leg shell A3, a steering wheel of the longitudinal steering engine A13-2 is connected with the longitudinal steering engine frame A12-2 through a screw to form a longitudinal revolute pair, and a machine leg can swing back and forth around the revolute pair; in summary, the two-degree-of-freedom device a1 can be used to realize two-degree-of-freedom rotation of the robot arm.
Referring to fig. 7-9, the telescoping device a4 of the present embodiment adopts an electric numerical control stepping motor sliding table linear module, which includes a guide rail a41, a transmission module a42, a sliding module a43, a stepping motor a44 and a coupling a45, wherein the sliding module a43 is slidably connected to the guide rail a41, the transmission module a42 is fixed to the coupling a45, the stepping motor a44 drives the coupling a45 to rotate, and drives the guide rail a41 to rotate, so that the sliding module a43 generates relative displacement to realize that the mechanical leg automatically extends out of the telescoping leg a62 when the mechanical leg needs to walk; the knee joint steering engine component A5 comprises a knee joint steering engine A51, a knee joint steering engine base A52 and a knee joint rudder rack A53, wherein the knee joint steering engine base A52 is a groove-shaped piece fixedly connected to the sliding module A43 through screws, and a steering wheel of the knee joint steering engine A51 is connected with the knee joint rudder rack A53 to form a transverse revolute pair, so that the telescopic leg component A6 can rotate up and down; the telescopic leg assembly A6 comprises a pneumatic spring A61 and a spherical foot end A62, wherein a joint at the tail end of an upper pipe of the pneumatic spring A61 is fixed on a cross rod of a knee joint rudder frame A53, and a lower pipe of the pneumatic spring A61 is matched and fixed with a threaded hole of the spherical foot end A62 through a threaded rod fixed with the lower pipe.
When the robot of this embodiment lands at the water bottom, the main cabin body E lands smoothly first, and then the telescopic leg a62 is extended from the telescopic device a4, the longitudinal steering engine assembly a13 rotates in the positive z direction to lift the first mechanical leg a, and the longitudinal knee steering engine assembly a5 rotates in the negative y direction to vertically land the telescopic leg, the first mechanical leg a and the third mechanical leg C simultaneously support the main cabin body E of the front half part of the robot, and the second mechanical leg B and the fourth mechanical leg D simultaneously support the main cabin body E of the robot, which has the same specific implementation manner as above.
When the robot of the embodiment moves in water, the robot moves by a hydrofoil method, namely, the transverse rudder machine frame A12-1 rotates towards the positive y direction, and meanwhile, the longitudinal rudder machine frame rotates towards the positive z direction to drive the mechanical leg A to rotate in an upward-flapping and upward-flapping mode, and then the longitudinal rudder machine frame rotates towards the negative z direction, and meanwhile, the transverse rudder machine frame A12-1 rotates towards the negative y direction to drive the mechanical leg A to rotate in a downward-flapping and downward-flapping mode. The other mechanical legs are realized in the same way as the first mechanical leg A.
Claims (8)
1. A multifunctional underwater bionic robot comprises a main cabin body (E), a scout device (F), a first mechanical leg (A), a second mechanical leg (B), a third mechanical leg (C) and a fourth mechanical leg (D), wherein the scout device (F) is arranged on two sides of the front end of the main cabin body (E); the first mechanical leg (A), the second mechanical leg (B), the third mechanical leg (C) and the fourth mechanical leg (D) are respectively connected to the main cabin body (E), and the mechanical leg is characterized in that: the first mechanical leg (A), the second mechanical leg (B), the third mechanical leg (C) and the fourth mechanical leg (D) are identical in structure and respectively comprise a two-degree-of-freedom device (A1), a two-degree-of-freedom device protective shell (A2), a bionic mechanical leg shell (A3), a telescopic device (A4), a knee joint steering engine component (A5) and a telescopic leg component (A6); wherein the content of the first and second substances,
the two-degree-of-freedom device (A1) is arranged in the two-degree-of-freedom device protective shell (A2), one end of the two-degree-of-freedom device protective shell (A2) is connected to the main cabin body (E), and one end, far away from the main cabin body, of the two-degree-of-freedom device (A1) is connected to the outer side of the bionic mechanical leg shell (A3);
the telescopic device (A4), the knee joint steering engine component (A5) and the telescopic leg component (A6) are all arranged in the bionic mechanical leg shell (A3), the knee joint steering engine component (A5) is fixedly arranged below the telescopic device (A4), and the telescopic leg component (A6) is fixed on the knee joint steering engine component (A5) through a steering engine frame;
wherein, telescoping device (A4) adopts electronic numerical control step motor slip table straight line module, including guide rail (A41), transmission module (A42), slip module (A43), step motor (A44) and shaft coupling (A45), wherein, guide rail (A41) transversely sets up in bionical machinery leg shell (A3), slip module (A43) with guide rail (A41) sliding connection, transmission module (A42) is fixed on shaft coupling (A45), step motor (A44) drive shaft coupling (A45) rotate, and then drive guide rail (A41) rotate, make slide module (A43) produce relative displacement.
2. The multifunctional underwater bionic robot as claimed in claim 1, wherein: the two-degree-of-freedom device (A1) comprises a transverse steering engine assembly (A11), an orthogonal steering engine frame (A12) and a longitudinal steering engine assembly (A13), wherein the orthogonal steering engine frame (A12) comprises a transverse steering engine frame (A12-1) and a longitudinal steering engine frame (A12-2) which are axially and orthogonally fixed, the transverse steering engine assembly (A11) is connected with the transverse steering engine frame (A12-1), and the longitudinal steering engine assembly (A13) is connected with the longitudinal steering engine frame (A12-2).
3. The multifunctional underwater bionic robot as claimed in claim 1, wherein: the knee joint steering engine assembly (A5) comprises a knee joint steering engine (A51), a knee joint steering engine base (A52) and a knee joint rudder rack (A53), the knee joint steering engine (A51) is fixed on the sliding module (A43) through the knee joint steering engine base (A52), and the knee joint rudder rack (A53) is connected with a steering wheel of the knee joint steering engine (A51) to form a transverse revolute pair.
4. The multifunctional underwater bionic robot as claimed in claim 3, wherein: the telescopic leg assembly (A6) comprises a pneumatic spring (A61) and a spherical foot end (A62), a joint at the tail end of an upper pipe of the pneumatic spring (A61) is fixed on a cross rod of a knee joint rudder rack (A53), and the tail end of a lower pipe of the pneumatic spring (A61) is fixedly connected with the spherical foot end (A62).
5. The multifunctional underwater bionic robot as claimed in claim 2, wherein: the transverse steering engine assembly (A11) comprises a transverse steering engine base (A11-1) and a transverse steering engine (A11-2), the transverse steering engine base (A11-1) is fixed in a two-degree-of-freedom device protective shell (A2), and a steering wheel of the transverse steering engine (A11-2) is connected with a transverse steering engine frame (12-1) to form a transverse revolute pair.
6. The multifunctional underwater bionic robot as claimed in claim 2, wherein: the bionic mechanical leg comprises a bionic mechanical leg shell (A3), and is characterized in that the longitudinal steering engine component (A13) comprises a longitudinal steering engine base (A13-1) and a longitudinal steering engine (A13-2), wherein the longitudinal steering engine base (A13-1) is fixed outside the bionic mechanical leg shell (A3), and a steering wheel of the longitudinal steering engine (A13-2) is connected with a longitudinal steering engine frame (12-2) to form a longitudinal revolute pair.
7. The multifunctional underwater bionic robot as claimed in claim 2, wherein: the transverse rudder machine frame (A12-1) and the longitudinal rudder machine frame (A12-2) are U-shaped pieces with the same structure and size, one end, far away from the U-shaped opening, of the longitudinal rudder machine frame (A12-2) is fixedly connected with one end, far away from the U-shaped opening, of the transverse rudder machine frame (A12-1), and the U-shaped opening of the longitudinal rudder machine frame (A12-2) and the U-shaped opening of the transverse rudder machine frame (A12-1) are vertically arranged in space.
8. The multifunctional underwater biomimetic robot as claimed in any one of claims 1 to 7, wherein: the arrangement positions of the first mechanical leg (A), the second mechanical leg (B), the third mechanical leg (C) and the fourth mechanical leg (D) on the main cabin body are in a rectangular structure.
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| CN203876970U (en) * | 2014-03-12 | 2014-10-15 | 卢小平 | Bionic swimming device |
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| CN105840950A (en) * | 2016-06-06 | 2016-08-10 | 沈阳建筑大学 | Stepping pipeline robot |
| CN209336974U (en) * | 2019-01-08 | 2019-09-03 | 百奥创新(天津)科技有限公司 | Amphibious bionic turtle robot |
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| CN2827822Y (en) * | 2005-09-23 | 2006-10-18 | 哈尔滨工程大学 | Mechanical crab |
| CN101016081A (en) * | 2007-03-01 | 2007-08-15 | 北京大学 | Bionic machinery chelonian with two-stage freedom degree flipper mechanism |
| KR20090000328U (en) * | 2007-07-09 | 2009-01-14 | 김영성 | Rescue on the change of roadbed for the forward and backward movement of turtle ships. |
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