CN111137421A - Bionic small-skinned shrimp underwater rowing device based on motor drive - Google Patents
Bionic small-skinned shrimp underwater rowing device based on motor drive Download PDFInfo
- Publication number
- CN111137421A CN111137421A CN202010060662.3A CN202010060662A CN111137421A CN 111137421 A CN111137421 A CN 111137421A CN 202010060662 A CN202010060662 A CN 202010060662A CN 111137421 A CN111137421 A CN 111137421A
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- China
- Prior art keywords
- bionic
- shell
- rowing
- swing rod
- shrimp
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
Abstract
The present invention relates to the field of robots. The purpose provides a bionical skin shrimp device of rowing under water based on motor drive, and the device has carried out bionically to the action of rowing in the aquatic of skin shrimp, combines together motor drive and the bionic structure of skin shrimp, can improve the device sensitivity of rowing under water greatly, has simple structure, the nimble characteristics of motion. The technical scheme is as follows: the utility model provides a bionical skin shrimp is drawn outfit for a journey device under water based on motor drive which characterized in that: the device comprises a main body frame, a transmission assembly, a rowing assembly and a driving assembly; the main body frame comprises a plurality of shells which are parallel to each other and are arranged in a straight line shape along the front-back direction and a plurality of connecting columns which are used for fixedly connecting the adjacent shells; a group of transmission assemblies are symmetrically arranged on the left side and the right side of the inner wall of each section of the shell; the transmission assembly comprises a large gear driven by the driving assembly and two small gears which are rotatably positioned on the inner wall of the shell and are respectively arranged on the front side and the rear side of the large gear to be in meshing transmission with the large gear.
Description
Technical Field
The invention relates to the field of robots, in particular to an underwater rowing device for bionic peeled shrimps.
Background
In recent years, the robot field is developed rapidly, and the development is very remarkable in aviation and land. The bionic robot has incomparable superiority in research and application because of the characteristics of nature organisms, so that the bionic robot is deeply researched by many scholars and researchers. With the ever increasing exploration of water areas, underwater robots are being studied more and more deeply.
In order to enable the underwater robot to move in water so as to detect the seabed, various underwater bionic robots are designed based on the water-paddling mode of seabed organisms in water. At present, most of the researches on underwater bionic robots at home and abroad are mechanical devices for simulating the swinging of fish fins, and the researches on the bionic robots for biologically utilizing abdominal limbs or swimming feet are rare. Therefore, the research of the underwater bionic robot needs to be expanded and extended.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide the bionic peeled shrimp underwater rowing device based on the motor drive, the device carries out bionic scratching action on peeled shrimps in water, the motor drive and the bionic structure of the peeled shrimps are combined, the underwater rowing sensitivity of the device can be greatly improved, and the bionic peeled shrimp underwater rowing device has the characteristics of simple structure and flexible movement.
The technical scheme provided by the invention is as follows:
the utility model provides a bionical skin shrimp is drawn outfit for a journey device under water based on motor drive which characterized in that: the device comprises a main body frame, a transmission assembly, a rowing assembly and a driving assembly;
the main body frame comprises a plurality of shells which are parallel to each other and are arranged in a straight line shape along the front-back direction and a plurality of connecting columns which are used for fixedly connecting the adjacent shells; a group of transmission assemblies are symmetrically arranged on the left side and the right side of the inner wall of each section of the shell;
the transmission assembly comprises a large gear driven by the driving assembly and two small gears which are rotatably positioned on the inner wall of the shell and are respectively arranged on the front side and the rear side of the large gear to be in meshing transmission with the large gear; in all the shells, the big gears positioned on the same side of the inner wall of the shell are hinged with the same long connecting rod so as to ensure that the big gears on the same side rotate synchronously; each pinion is connected with one group of the rowing assemblies;
the rowing component comprises a short connecting rod, a swing rod and a bionic abdominal limb; one end of the short connecting rod is hinged at the eccentric position of the pinion; the swing rod is arranged in a V shape, and the folding angle at the middle part of the swing rod can be rotatably positioned on the inner wall of the shell; one end of the swing rod is hinged with the other end of the short connecting rod, and the other end of the swing rod is hinged with the bionic abdominal limb; the swing rod is provided with a convex block which is used for unidirectionally abutting against the bionic abdominal limb, so that the swing angle of the bionic abdominal limb is limited;
the driving assembly comprises two motors, a controller and a lithium battery, wherein the two motors are installed on the left side and the right side of one section of shell and respectively drive two large gears on the shell to rotate, the controller is installed on the shell and electrically connected with the two motors so as to control the rotating speed of the two motors, and the lithium battery is electrically connected with the controller so as to provide a working power supply.
The housing is configured in a dome shape.
The shell and the connecting column are made of hard materials.
The shell and the connecting column are made of aluminum materials.
The bionic abdominal limb is arranged in a V shape.
The invention has the beneficial effects that:
1) in the invention, the large gears positioned on the same side of the inner wall of the shell are fixedly connected with the same long connecting rod, so that the rotating speeds of the large gears on each section on the same side can be ensured to be the same, and the consistency of the swing speeds of the bionic abdominal limbs on the same side is further realized.
2) The invention can control the rotating speeds of the two motors through the controller, and when the rotating speeds of the two motors are the same, the device moves forwards; when the rotating speeds of the two motors are different, the device performs steering motion, and is simple to control and flexible in motion.
3) The swing rod is provided with a convex block which is in one-way contact with the bionic abdominal limb, and when the bionic abdominal limb padches forwards, the convex block contacts the bionic abdominal limb to enable the bionic abdominal limb to generate large paddling power; when the bionic abdominal limb padches reversely, the lug is separated from the bionic abdominal limb to reduce the acting force of the bionic abdominal limb and water; therefore, the bionic abdominal limb drives the device to move forwards in the continuous reciprocating motion process, and the reasonable design of the device is ensured.
4) The shell and the connecting column are both made of aluminum materials, so that the resistance of the device in water can be greatly reduced, and the flexibility of the movement of the device is improved.
5) The underwater floating type floating platform is simple in overall structure and reasonable in concept, can guarantee the overall flexibility and agility of the device, and achieves that the device can stably and quickly move underwater.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of the present invention in partial cross section (front view).
Fig. 3 is a schematic view of the installation position of the motor according to the present invention.
Fig. 4 is a right-view structural diagram of the present invention.
Fig. 5 is an enlarged schematic view of a portion a of fig. 4.
FIG. 6 is a schematic view of the bionic abdominal limb in forward paddling.
Fig. 7 is a schematic view of the bionic abdominal limb in a state of reversely paddling.
Description of the drawings:
1. a housing; 2. connecting columns; 3. a bull gear; 4. a pinion gear; 5. a long connecting rod; 6. a short connecting rod; 7. a swing rod; 8. simulating abdominal limbs; 9. a motor; 10. a controller; 11. a through groove; 12. a bump; 13. and a hinged shaft of the swing rod.
Detailed Description
The following further description is made with reference to the embodiments shown in the drawings.
For convenience of description, the right side of fig. 2 is taken as the front, the left side of fig. 2 is taken as the back, the direction from the inside of the vertical paper of fig. 2 is taken as the left, and the direction from the outside of the vertical paper of fig. 2 is taken as the right.
The bionic peeled shrimp underwater rowing device based on motor driving as shown in fig. 1 comprises a main body frame, a transmission assembly, a rowing assembly and a driving assembly.
The main body frame comprises a plurality of (five sections in the figure) shells 1 and a plurality of connecting columns 2. The shells are arranged into a circular arch shape, and the shells are parallel to each other and are arranged in a straight line shape along the front-back direction; and the two adjacent shells are fixedly connected by the connecting column. The shell and the connecting column are made of hard materials, preferably aluminum materials, so that the resistance of the whole device in underwater motion is reduced, the flexibility and the sensitivity of the device are optimized, and the flexible motion of the device in water is realized.
And a group of transmission assemblies are symmetrically arranged on the left side and the right side of the inner wall of each section of the shell. As shown in fig. 2, each set of transmission assemblies comprises one gearwheel 3 and two pinions 4. The bull gear is driven by a driving assembly; the two small gears are rotatably positioned on the inner wall of the shell and are respectively arranged on the front side and the rear side of the large gear so as to be meshed with the large gear for transmission. In all the shells, the big gears positioned on the same side of the inner wall of the shell are fixedly connected with the same long connecting rod 5, so that the big gears on the same side can synchronously rotate.
Each pinion gear is connected with one group of the rowing assemblies. Each group of rowing components comprises a short connecting rod 6, a swing rod 7 and a bionic abdominal limb 8; one end of the short connecting rod is hinged at the eccentric position of the pinion; the swing rod is arranged in a V shape, and the folding angle at the middle part of the swing rod is rotatably positioned on the inner wall of the shell through a swing rod hinge shaft 13 (see figure 5); one end of the swing rod is hinged with the other end of the short connecting rod, and the other end of the swing rod is hinged with the bionic abdominal limb; the swing rod is provided with a convex block 12 (shown in figures 6 and 7) which is in one-way abutting connection with the bionic abdominal limb, so that the bionic abdominal limb abuts against the convex block under the reaction force of water when the bionic abdominal limb padches forwards (namely moves along the anticlockwise direction of figure 2) in the reciprocating motion process, and the bionic abdominal limb and the swing rod are forced to swing anticlockwise together, so that the bionic abdominal limb is ensured to generate enough power for driving the device to move forwards; when the bionic abdominal limb paddies reversely (namely moves along the clockwise direction of figure 2), the bionic abdominal limb is separated from the lug under the reaction force of water, so that the acting force of the bionic abdominal limb and the water is reduced, the movement resistance of the device on forward movement is reduced, and the rationalization of the device design is ensured. The bionic abdominal limb is set to be V-shaped, the opening angle of a V-shaped angle of the bionic abdominal limb is slightly larger than 100 degrees, so that the abdominal limb structure imitating the body of the brine shrimp swings to realize faster and quicker paddling action.
The drive assembly is mounted on one of the housings (preferably the forwardmost one) and includes two motors 9, a controller 10 and a lithium battery (not shown). The two motors are arranged on the left side and the right side of the shell and respectively drive the two large gears on the shell to rotate. The controller is electrically connected with the two motors so as to control the rotating speeds of the two motors; the controller is preferably a stm32 single-chip microcomputer. The lithium battery is electrically connected with the controller so as to provide working power supply for the controller. The shell is provided with a placing platform for placing the motor, the controller and the lithium battery. As shown in fig. 3, a through groove 11 is formed on the inner wall of the housing in the embodiment, the motor is installed in the through groove, and a motor shaft of the motor is fixedly connected with the large gear to drive the large gear to rotate; as shown in fig. 1, the controller and the lithium battery are installed at the outer wall of the housing to avoid interference with the motion of the bionic abdominal limb.
All the above components are subjected to waterproofing treatment (prior art, such as filling waterproof material outside the device) to improve the working life of the device.
The motion principle of the bionic abdominal limb of the invention is as follows:
when the device works, the controller controls the motor to rotate, the motor drives the corresponding gear wheels to rotate, all the gear wheels on the same side synchronously rotate under the driving of the long connecting rod, all the pinion wheels on the same side are further driven to synchronously rotate, the pinion wheels drive all the bionic abdominal limbs on the same side to realize synchronous paddling action through the short connecting rod and the oscillating bar, and the whole device is driven to move in water.
The working mode of the invention is as follows:
in the initial state, the device is static in water, wherein the top end of the shell slightly exposes out of the water surface, and the rest part is positioned below the water surface; then the controller controls the two motors to rotate, and when the rotating speeds of the two motors are the same, the device moves forwards; when the rotating speeds of the two motors are different, the device performs steering motion (in the embodiment, when the rotating speed of the left motor is greater than that of the right motor, the device rotates to the right, and when the rotating speed of the left motor is less than that of the right motor, the device rotates to the left).
Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (5)
1. The utility model provides a bionical skin shrimp is drawn outfit for a journey device under water based on motor drive which characterized in that: the device comprises a main body frame, a transmission assembly, a rowing assembly and a driving assembly;
the main body frame comprises a plurality of shells (1) which are parallel to each other and are arranged in a straight line shape along the front-back direction and a plurality of connecting columns (2) for fixedly connecting adjacent shells; a group of transmission assemblies are symmetrically arranged on the left side and the right side of the inner wall of each section of the shell;
the transmission assembly comprises a large gear (3) driven by the driving assembly and two small gears (4) which are rotatably positioned on the inner wall of the shell and are respectively in meshing transmission with the large gear; in all the shells, the big gears positioned on the same side of the inner wall of the shell are hinged with the same long connecting rod (5) so as to ensure that the big gears on the same side rotate synchronously; each pinion is connected with one group of the rowing assemblies;
the rowing component comprises a short connecting rod (6), a swing rod (7) and a bionic abdominal limb (8); one end of the short connecting rod is hinged at the eccentric position of the pinion, the swing rod is arranged in a V shape, and the folding angle at the middle part of the swing rod is rotatably positioned on the inner wall of the shell; one end of the swing rod is hinged with the other end of the short connecting rod, and the other end of the swing rod is hinged with the bionic abdominal limb; the swing rod is provided with a convex block (12) which is used for unidirectionally abutting against the bionic abdominal limb, so that the swing angle of the bionic abdominal limb is limited;
the driving assembly comprises two motors (9) which are arranged on the left side and the right side of one section of the shell and respectively drive two large gears on the shell to rotate, a controller (10) which is arranged on the shell and electrically connected with the two motors to control the rotating speed of the two motors, and a lithium battery which is electrically connected with the controller to provide a working power supply.
2. The motor-driven underwater rowing device for the bionic peeled shrimp as claimed in claim 1, wherein: the housing is configured in a dome shape.
3. The motor-driven underwater rowing device for the bionic peeled shrimp as claimed in claim 1, wherein: the shell and the connecting column are made of hard materials.
4. The motor-driven underwater rowing device for the bionic peeled shrimp as claimed in claim 3, wherein: the shell and the connecting column are made of aluminum materials.
5. The motor-driven underwater rowing device for the bionic peeled shrimp as claimed in claim 1, wherein: the bionic abdominal limb is arranged in a V shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010060662.3A CN111137421A (en) | 2020-01-19 | 2020-01-19 | Bionic small-skinned shrimp underwater rowing device based on motor drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010060662.3A CN111137421A (en) | 2020-01-19 | 2020-01-19 | Bionic small-skinned shrimp underwater rowing device based on motor drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111137421A true CN111137421A (en) | 2020-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010060662.3A Pending CN111137421A (en) | 2020-01-19 | 2020-01-19 | Bionic small-skinned shrimp underwater rowing device based on motor drive |
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| CN (1) | CN111137421A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112373631A (en) * | 2020-10-30 | 2021-02-19 | 电子科技大学 | Flexible robot on water |
| CN112537412A (en) * | 2020-11-27 | 2021-03-23 | 福州力佳达智能科技有限公司 | Robot walking on water |
| CN112549881A (en) * | 2020-12-03 | 2021-03-26 | 浙江海洋大学 | Amphibious agricultural machine |
| CN112793742A (en) * | 2021-01-12 | 2021-05-14 | 浙江理工大学 | Underwater robot for imitating peeled shrimps |
| CN112793743A (en) * | 2021-01-12 | 2021-05-14 | 浙江理工大学 | Modular underwater bionic web type robot |
| CN113772059A (en) * | 2021-10-27 | 2021-12-10 | 东北大学 | Underwater multi-degree-of-freedom motion robot imitating Sepiella maindroni and shrimp heads |
| CN114802660A (en) * | 2022-04-08 | 2022-07-29 | 中国科学院深圳先进技术研究院 | Underwater robot |
-
2020
- 2020-01-19 CN CN202010060662.3A patent/CN111137421A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112373631A (en) * | 2020-10-30 | 2021-02-19 | 电子科技大学 | Flexible robot on water |
| CN112537412A (en) * | 2020-11-27 | 2021-03-23 | 福州力佳达智能科技有限公司 | Robot walking on water |
| CN112549881A (en) * | 2020-12-03 | 2021-03-26 | 浙江海洋大学 | Amphibious agricultural machine |
| CN112793742A (en) * | 2021-01-12 | 2021-05-14 | 浙江理工大学 | Underwater robot for imitating peeled shrimps |
| CN112793743A (en) * | 2021-01-12 | 2021-05-14 | 浙江理工大学 | Modular underwater bionic web type robot |
| CN112793743B (en) * | 2021-01-12 | 2021-12-07 | 浙江理工大学 | Modular underwater bionic web type robot |
| CN112793742B (en) * | 2021-01-12 | 2022-05-06 | 浙江理工大学 | Underwater robot for imitating peeled shrimps |
| CN113772059A (en) * | 2021-10-27 | 2021-12-10 | 东北大学 | Underwater multi-degree-of-freedom motion robot imitating Sepiella maindroni and shrimp heads |
| CN114802660A (en) * | 2022-04-08 | 2022-07-29 | 中国科学院深圳先进技术研究院 | Underwater robot |
| CN114802660B (en) * | 2022-04-08 | 2024-01-12 | 中国科学院深圳先进技术研究院 | Underwater robot |
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