CN112407211A

CN112407211A - Golden-edge-like dragon louse swimming foot underwater propulsion device

Info

Publication number: CN112407211A
Application number: CN202010984539.0A
Authority: CN
Inventors: 周祖鹏; 鹿浪; 王义华; 卫欢; 睢志成; 莫小章
Original assignee: Guilin University of Electronic Technology
Current assignee: Guilin University of Electronic Technology
Priority date: 2020-09-18
Filing date: 2020-09-18
Publication date: 2021-02-26

Abstract

The invention belongs to the technical field of bionic devices, and particularly relates to an underwater under-actuated swimming device simulating the swimming feet of the delphacidae. The bionic golden-edge dragon louse swimming foot has a reasonable and novel structure, and the structure is designed by simulating the structure of the bionic golden-edge dragon louse swimming foot and the structural change relation in the water-catching motion process of the swimming foot, so that the position change in the whole swimming process does not need to be driven by a motor, the shape and the position can be changed in a self-adaptive manner, the number of the motors is greatly reduced, the complexity of control and structure is reduced, the motion efficiency is higher, the manufacturing is simple, and the use effect is good.

Description

Golden-edge-like dragon louse swimming foot underwater propulsion device

Technical Field

The invention belongs to the technical field of bionic devices, and particularly relates to an underwater propulsion device for imitating golden-edge dragon louse swimming feet.

Background

The underwater robot adopts a propelling device with a plurality of degrees of freedom, at present, motors are adopted to drive different joints, a structural fixing motor and a link mechanism are required to be added for cooperative motion, the motor is required to control each degree of freedom, a corresponding motor or a link mechanism with complex design is required, and a control system needs complex instructions to control the positions of reciprocating motion in different states, so that the complexity and the size of the propelling device are greatly increased, the cost is high, and the underwater robot is difficult to realize on a miniature submersible.

Disclosure of Invention

The invention aims to provide an underwater propulsion device for imitating golden-edge dragon louse swimming feet, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides an imitative golden limit delphacidae sufficient advancing device that swims, includes the leg joint, the one end symmetry of leg joint is equipped with two keyways, near the leg joint other end is equipped with the protruding axle, protruding axle fixedly connected with stopper, the outside fixedly connected with commentaries on classics of leg joint, commentaries on classics are equipped with V type opening with the leg joint, the commentaries on classics is close to right-hand member cover and has the stopper, the fixed cavity hemisphere interface that is equipped with in commentaries on classics right side, cavity hemisphere interface and solid sphere are spherical articulated, spherical thing and rhombus cross-section's shin festival fixed connection, the flexible wing that flaps of shin festival side fixed connection, the edge of flexible wing that flaps is fixed and is raised certain angle.

Preferably, the leg section is provided with a stopper, one end of the stopper is aligned with the protruding shaft, and one end of the belt bending plate extends to the rotating section.

Preferably, the swivel is provided with a spherical hinge interface, one side of the spherical hinge interface is provided with a hollow structure, the other end of the hollow structure is in clearance fit with the spherical entity structure, and the hollow structure is rotatably connected with the spherical entity.

Preferably, a certain fixed bending angle is arranged on the flexible flapping wing far away from the shin section.

Preferably, the flexible flapping wing can be provided with a plurality of micro holes.

Preferably, the leg joint connecting driver can adopt a micro steering engine.

Compared with the prior art, the invention has the beneficial effects that: the main body is made of a plastic composite material, so that the swimming foot is automatically deformed, the swimming foot is automatically adjusted under the combined action of resistance of water and a limiting block during movement, under-actuated control and local favorable deformation are realized in the whole process, the limitation of complex structure to cost and size is avoided, the movement efficiency is ensured, the propulsion supply of an underwater micro-robot can be realized, and the manufacturing and the use are convenient.

Drawings

FIG. 1 is a diagram of the overall structure of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic view of a stop block of the present invention;

fig. 4 is a schematic top view of the present invention.

In the figure: 1-key groove, 2-leg section, 3-leg section, 4-installation bulge block, 5-connector, 6-rotation section, 7-spherical hinge, 8-shin section, 9-shin section, 10-flexible flapping wing, 11-limiting block and 12-wing curvature.

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.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides a imitative golden limit delphacidae swimming foot is advancing device under water, including leg section 2, one side symmetry of leg section 2 is fixed with two keyways 1, leg section 2 connects outside drive arrangement, two keyways 1 move the power to whole equipment and provide, turning force and hydrodynamic force are used for controlling the motion and the deformation of swimming foot, swivel 6 is connected through connection structure 5, swivel 6 is connected through spherical articulated structure 7 with shin festival 8, flexible flapping wing 10 and shin festival 8 fixed connection, the connecting wire position is partial to upstream face one side.

Furthermore, a limiting block 11 is arranged on the leg section 2, the limiting block 11 is in interference fit with the protruding shaft 4, the extending bent plate cantilever beam extends to the upper part of the rotary joint, and the limiting block 11 limits the rotation angle of the rotary joint and avoids damage caused by overlarge rotation angle; furthermore, the spherical hinge structure 7 is connected with the shank 8 in a clearance fit manner, so that the shank can flexibly rotate around the axis of the swivel, and meanwhile, the swivel is provided with a limiting block 11; furthermore, the edge part of the flexible flapping wing has a certain plastic deformation angle, so that the steering in the opposite direction is avoided; furthermore, all the structures of the mechanism are cast by adopting a composite material with certain flexibility, and the leg joint, the rotating joint, the shank joint, the upper flapping wing and the limiting block are separately cast and assembled.

The working principle is as follows: when the leg joint is used, the leg joint is connected with an external driving device through the key groove, the driving mechanism drives the rotating joint to swing when swinging, and the rotating joint drives the shank joint to swing. When the leg sections are driven to do paddling backwards, the rotation sections are driven to move, the rotation sections rotate around the leg sections for a certain angle and are blocked by the limiting blocks when the leg sections are on the same axis, meanwhile, the water-facing wing surfaces warped up for a certain angle are driven to rotate quickly under the action of flowing force due to the asymmetrical distribution of the flexible flapping wings, the rotation sections rotate to a certain angle due to the limitation of the limiting blocks on the angle and stop rotating when the rotation sections are on the same axis and are perpendicular to the rotation sections, the water-facing surface of the device is the largest at the moment to generate the largest fluid resistance, the propulsion device moves forwards under the reaction force, in the recovery process, the water-facing surface is changed into the other surface of the flexible flapping wings, the water-facing surface drives the shin sections to rotate reversely along the original rotation direction, meanwhile, the rotation sections are driven to the leg sections to rotate and close along the V-shaped interfaces, and at the moment, the minimum resistance of the water-facing, when the robot flaps backwards again, the hydrofoil acts on all joints of the leg part to unfold the hydrofoil again to be perpendicular to the incoming flow, and the action of the previous cycle is repeated. The bionic golden-edge dragon louse swimming device is reasonable and novel in structure, the size and complexity are greatly reduced in the whole swimming process compared with a mechanical arm with a motor by simulating the structure and the motion mode of the swimming foot of the bionic golden-edge dragon louse, the manufacturing cost is reduced, the control complexity is reduced, the bionic degree of flexibility is improved, the propelling efficiency is greatly improved, and the bionic golden-edge dragon louse swimming device has a good using effect.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an imitative golden-rimmed dragon lice swimming foot is advancing device under water, includes leg section (2), its characterized in that: two connecting grooves (1) are fixed at the front ends of the leg sections (2), a boss (4) is arranged outside the leg sections (2), the outer part of the boss (4) is fixedly connected with a limiting block (11), the section profile of the leg section (2) is characterized by (3), the tail end of the leg joint (2) is connected with a rotating joint (6), the tail end of the leg joint (2) is connected with the rotating joint (6) by a connecting rod (5), the tail end of the swivel (6) is fixedly connected with the hollow cavity (7) in the swivel (7), a shank (8) is hinged in the cavity in a spherical manner, a flexible flapping wing (10) is fixedly connected to the lower side of the shank (8), the outer side of the flexible flapping wing (10) is fixed by a characteristic bend angle (12), the section of the rotating joint (6) is a section characteristic (9), one end of the swivel (6) is a solid ball-shaped object which is hinged (7) in a hemispherical manner and extends inwards.

2. The golden-rimmed dragon-louse swimming foot underwater propulsion device of claim 1, characterized in that: the leg sections (2) are wound with grooves (1), and the grooves (1) are fixedly connected with an external driving mechanism.

3. The golden-rimmed dragon-louse swimming foot underwater propulsion device of claim 1, characterized in that: the protruding department is connected with the stopper, one side of stopper (11) has the crooked board of stretching out, and the other end of crooked board (11) extends to swivel department and offsets.

4. The golden-rimmed dragon-louse swimming foot underwater propulsion device of claim 1, characterized in that: the hinged parts (5) are distributed at an angle of 60 degrees when being parallel.

5. The golden-rimmed dragon-louse swimming foot underwater propulsion device of claim 1, characterized in that: the surface of the rotating joint (6) is provided with a limiting block (11), a bent plate of the limiting block (11) extends to the upper side of the shank (8), and the direction of the bent plate is consistent with that of the lug (4).

6. The golden-rimmed dragon-louse swimming foot underwater propulsion device of claim 1, characterized in that: the flexible flapping wing (10) adopts a bent wing shape (12) to control the return rotation direction of the flexible flapping wing.