CN112441201A - Direct-drive space flapping wing type bionic steering mechanism - Google Patents
Direct-drive space flapping wing type bionic steering mechanism Download PDFInfo
- Publication number
- CN112441201A CN112441201A CN202011479625.2A CN202011479625A CN112441201A CN 112441201 A CN112441201 A CN 112441201A CN 202011479625 A CN202011479625 A CN 202011479625A CN 112441201 A CN112441201 A CN 112441201A
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- CN
- China
- Prior art keywords
- joint
- flapping wing
- bionic
- swing rod
- linear motor
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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
- 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
- B63G8/20—Steering equipment
Abstract
The invention discloses a direct-drive space flapping wing type bionic steering mechanism, which comprises an installation bottom plate, wherein two sets of flapping wing units which are bilaterally symmetrical are arranged on the installation bottom plate, each set of flapping wing unit comprises a rotating support, a linear motor, a joint, a rotating joint and a bionic flapping wing, the rotating support is rotatably arranged on the installation bottom plate, the linear motor is fixedly arranged on the rotating support, the rotating joint comprises a rotating shaft and a swinging rod, the rotating shaft is fixed on the installation bottom plate, one end of the swinging rod is rotatably sleeved on the rotating shaft, the other end of the swinging rod is fixedly connected with the bionic flapping wing, one end of the joint is fixedly connected with an output shaft of the linear motor, the other end of the joint is hinged with the middle section of the swinging, thereby driving the joint to move together, and pushing the swing rod outwards or pulling the swing rod inwards by the joint, so that the swing rod rotates around the rotating shaft, and the bionic flapping wings are expanded or contracted. The invention has the advantages that: simple structure, good flexibility and high energy utilization rate.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a direct-drive space flapping wing type bionic steering mechanism.
Background
The high mobility of the underwater robot is an important index for meeting the requirements of marine environment research, submarine resource exploration and marine defense strategies. The steering mechanism is a key mechanism for realizing high maneuverability of the underwater robot. The steering mechanism of the existing underwater robot has the problems of poor flexibility, high noise and low energy utilization rate during underwater operation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a direct-drive space flapping wing type bionic steering mechanism with simple structure, good flexibility, low noise and high energy utilization rate,
the invention is realized by the following technical scheme:
a direct-drive space flapping wing type bionic steering mechanism comprises an installation base plate, wherein two sets of flapping wing units which are bilaterally symmetrical are arranged on the installation base plate, each set of flapping wing unit comprises a rotary support, a linear motor, a joint, a rotary joint and a bionic flapping wing, the rotary support is rotatably arranged on the installation base plate and can rotate in a plane parallel to the installation base plate, the linear motor is fixedly arranged on the rotary support, an output shaft of the linear motor is parallel to the installation base plate, the rotary joint comprises a rotary shaft and a swing rod, the rotary shaft is fixed on the installation base plate and is vertical to the installation base plate, one end of the swing rod is rotatably sleeved on the rotary shaft, the other end of the swing rod is fixedly connected with the bionic flapping wing, one end of the joint is fixedly connected with the output shaft of the linear motor, the other end of the joint is hinged with the middle section of the swing, thereby driving the joint to move together, and pushing the swing rod outwards or pulling the swing rod inwards by the joint, so that the swing rod rotates around the rotating shaft, and the bionic flapping wings are expanded or contracted.
Further, the runing rest includes last cutting ferrule and lower cutting ferrule of butt joint from top to bottom, goes up cutting ferrule and can dismantle between the cutting ferrule down and link together, goes up the circular mounting groove that forms one and be used for installing linear electric motor between cutting ferrule and the lower cutting ferrule, and the last fixed collet that is equipped with of mounting plate links together through spherical articulated form between lower cutting ferrule and the collet.
Furthermore, the bionic flapping wing is flat.
Furthermore, the joint is a Y-shaped joint, one end of the Y-shaped joint is in threaded connection with an output shaft of the linear motor, a convex block protruding outwards is arranged at the middle section of the swing rod, and the other end of the Y-shaped joint is hinged with the convex block at the middle section of the swing rod.
Furthermore, the rotating shaft is in a stepped shaft shape, the large end of the rotating shaft is fixed on the mounting base plate, one end of the oscillating rod is provided with a sleeve, and the sleeve at one end of the oscillating rod is rotatably sleeved on the small end of the rotating shaft and clamped at the small end of the rotating shaft through a clamp spring.
Compared with the prior art, the invention has the following advantages:
the direct-drive space flapping wing type bionic steering mechanism provided by the invention can simulate the motion characteristics of the flapping wings of the penguin, is provided with two sets of bilateral symmetric flapping wing units, and each set of flapping wing unit is driven by a linear motor to open or contract, so that the bionic steering mechanism can advance or retreat, and can realize turning to the left or right by controlling the difference of the opening angles of the two sets of bionic flapping wings, thereby realizing the flexible control of advancing, retreating, turning to the left or turning to the right. In addition, the invention adopts the linear motor for driving, and the linear motor has the advantages of high efficiency, silence, stability, high precision and the like, and is very suitable for being used as a steering power source of an underwater robot or a submarine.
Drawings
Fig. 1 is a schematic structural view of a normal forward state of the present invention.
Fig. 2 is a schematic structural diagram of a deceleration state in the advancing process of the invention.
Fig. 3 is a schematic structural view of the present invention in a leftward turning state.
Fig. 4 is a schematic structural view of the present invention in a state of turning to the right.
Fig. 5 is a schematic structural view of the rotating bracket of the present invention.
Reference numbers in the figures: 1, mounting a bottom plate; 2, a flapping wing unit; 3, rotating the bracket; 4, a linear motor; 5, a joint; 6, bionic flapping wings; 7, a rotating shaft; 8, oscillating bars; 9 a sleeve; 10 a bump; 11, a hinged shaft; 12, mounting a ferrule; 13, cutting the ferrule; 14 fixing the plate; 15 mounting holes; 16 circular mounting grooves; 17 collet.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Referring to fig. 1 to 5, the embodiment discloses a direct-drive space flapping wing type bionic steering mechanism, which comprises a mounting base plate 1, two sets of flapping wing units 2 which are bilaterally symmetrical are arranged on the mounting base plate 1, each set of flapping wing unit 2 comprises a rotary support 3, a linear motor 4, a joint 5, a rotary joint and a bionic flapping wing 6, the rotary support 3 is rotatably arranged on the mounting base plate 1, the rotary support 3 can rotate in a plane parallel to the mounting base plate 1, the linear motor 4 is fixedly arranged on the rotary support 3, an output shaft of the linear motor 4 is parallel to the mounting base plate 1, the rotary joint comprises a rotary shaft 7 and a swing rod 8, the rotary shaft 7 is fixed on the mounting base plate 1 and is perpendicular to the mounting base plate 1, one end of the swing rod 8 is rotatably sleeved on the rotary shaft 7, the other end of the swing rod 8 is fixedly connected with the bionic flapping wing 6, and. The one end that connects 5 and linear electric motor 4's output shaft fixed connection, the other end that connects 5 passes through articulated shaft 11 and is articulated with 8 middle sections of pendulum rod, and articulated shaft 11 parallels with pivot 7, and is flexible through linear electric motor 4's output shaft to drive connects 5 and moves together, outwards promotes pendulum rod 8 or inwards stimulates pendulum rod 8 by connecting 5, makes pendulum rod 8 rotate round pivot 7, thereby realizes opening or the shrink of bionical flapping wing 6.
The rotary support 3 comprises an upper clamping sleeve 12 and a lower clamping sleeve 13 which are butted up and down, the upper clamping sleeve 12 is detachably connected with the lower clamping sleeve 13, fixing plates 14 are respectively arranged at two ends of the upper clamping sleeve 12 and two ends of the lower clamping sleeve 13, mounting holes 15 are formed in the fixing plates 14, screws pass through the mounting holes 15 in the upper fixing plate 14 and the lower fixing plate 14 and screw nuts, and the detachable connection of the upper clamping sleeve 12 and the lower clamping sleeve 13 is achieved. A circular mounting groove 16 for mounting the linear motor 4 is formed between the upper cutting sleeve 12 and the lower cutting sleeve 13, a bottom support 17 is fixedly arranged on the mounting bottom plate 1, and the lower cutting sleeve 13 and the bottom support 17 are connected together in a spherical hinged mode.
The joint 5 is a Y-shaped joint, one end of the Y-shaped joint is in threaded connection with an output shaft of the linear motor 4, a convex block 10 protruding outwards is arranged at the middle section of the swing rod 8, and the other end of the Y-shaped joint is hinged with the convex block 10 at the middle section of the swing rod 8.
The rotating shaft 7 is in a stepped shaft shape, the large end of the rotating shaft 7 is fixed on the mounting base plate 1, the sleeve 9 is arranged at one end of the swing rod 8, the sleeve 9 at one end of the swing rod 8 is rotatably sleeved on the small end of the rotating shaft 7 and is clamped at the end part of the small end of the rotating shaft 7 through the clamp spring, and the sleeve 9 is prevented from falling off.
When the direct-drive space flapping wing type bionic steering mechanism is used, the direct-drive space flapping wing type bionic steering mechanism is arranged on an underwater robot, and forward power is provided by the aid of a power source of the underwater robot.
When the whole bionic steering mechanism needs to move forwards, the output shafts of the linear motors 4 on the left side and the right side retract to pull the two bionic flapping wings 6 to be close to each other, so that the two bionic flapping wings 6 contract inwards, the advancing resistance is reduced, and the underwater robot can smoothly advance. The state of which is shown in figure 1.
When the whole bionic steering mechanism needs to decelerate, the output shafts of the linear motors 4 on the left side and the right side extend out to push the two bionic flapping wings 6 to be away from each other, the two bionic flapping wings 6 are opened to a proper angle, so that the resistance on the left side and the right side of the advancing direction is increased, and the aim of decelerating is fulfilled. The state of which is shown in figure 2.
When the whole bionic steering mechanism needs to turn left, the bionic flapping wings 6 on the left side are pushed to be unfolded to a proper angle by the linear motor 4 on the left side according to the size of the turning radius, and the linear motor 4 on the right side does not act, so that the bionic flapping wings 6 on the right side are always kept at a normal position, the resistance on the left side in the advancing direction is increased, and the purpose of turning left is achieved. The state of which is shown in figure 3.
When the whole bionic steering mechanism needs to turn to the right, the right bionic flapping wing 6 is pushed to be unfolded to a proper angle by the right linear motor 4 according to the size of the turning radius, the left linear motor 4 does not act, and the left bionic flapping wing 6 is always kept at a normal position, so that the resistance on the right side in the advancing direction is increased, and the purpose of turning to the right is achieved. The state is shown in fig. 4.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a bionical steering mechanism of space flapping wing formula directly drives, includes mounting plate (1), its characterized in that: the flapping wing device is characterized in that two sets of flapping wing units (2) which are bilaterally symmetrical are arranged on the mounting base plate (1), each set of flapping wing unit (2) comprises a rotary support (3), a linear motor (4), a joint (5), a rotary joint and a bionic flapping wing (6), the rotary support (3) is rotatably arranged on the mounting base plate (1), the rotary support (3) can rotate in a plane parallel to the mounting base plate (1), the linear motor (4) is fixedly arranged on the rotary support (3), an output shaft of the linear motor (4) is parallel to the mounting base plate (1), the rotary joint comprises a rotary shaft (7) and a swing rod (8), the rotary shaft (7) is fixed on the mounting base plate (1) and is vertical to the mounting base plate (1), one end of the swing rod (8) is rotatably sleeved on the rotary shaft (7), the other end of the swing rod (8) is fixedly connected with the bionic flapping wing (6), one end of the joint (5) is fixedly connected with the output shaft, the other end that connects (5) passes through articulated shaft (11) and is articulated with pendulum rod (8) middle section, and articulated shaft (11) parallel with pivot (7), and the output shaft through linear electric motor (4) is flexible to drive and connect (5) and move together, outwards promote pendulum rod (8) or inwards stimulate pendulum rod (8) by connecting (5), make pendulum rod (8) rotate round pivot (7), thereby realize opening or the shrink of bionical flapping wing (6).
2. The direct-drive space flapping type bionic steering mechanism of claim 1, wherein: the rotary support (3) comprises an upper clamping sleeve (12) and a lower clamping sleeve (13) which are butted up and down, the upper clamping sleeve (12) and the lower clamping sleeve (13) are detachably connected together, a circular mounting groove (16) for mounting the linear motor (4) is formed between the upper clamping sleeve (12) and the lower clamping sleeve (13), a bottom support (17) is fixedly arranged on the mounting bottom plate (1), and the lower clamping sleeve (13) and the bottom support (17) are connected together in a spherical hinged mode.
3. The direct-drive space flapping type bionic steering mechanism of claim 1, wherein: the bionic flapping wings (6) are flat.
4. The direct-drive space flapping type bionic steering mechanism of claim 1, wherein: the joint (5) is a Y-shaped joint, one end of the Y-shaped joint is in threaded connection with an output shaft of the linear motor (4), a convex block (10) protruding outwards is arranged at the middle section of the swing rod (8), and the other end of the Y-shaped joint is hinged with the convex block (10) at the middle section of the swing rod (8).
5. The direct-drive space flapping type bionic steering mechanism of claim 1, wherein: the rotating shaft (7) is in a stepped shaft shape, the large end of the rotating shaft (7) is fixed on the mounting base plate (1), the sleeve (9) is arranged at one end of the swing rod (8), the sleeve (9) at one end of the swing rod (8) is rotatably sleeved on the small end of the rotating shaft (7), and the small end of the rotating shaft (7) is clamped by the clamp spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011479625.2A CN112441201A (en) | 2020-12-15 | 2020-12-15 | Direct-drive space flapping wing type bionic steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011479625.2A CN112441201A (en) | 2020-12-15 | 2020-12-15 | Direct-drive space flapping wing type bionic steering mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112441201A true CN112441201A (en) | 2021-03-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011479625.2A Pending CN112441201A (en) | 2020-12-15 | 2020-12-15 | Direct-drive space flapping wing type bionic steering mechanism |
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| CN (1) | CN112441201A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928528A (en) * | 2021-10-26 | 2022-01-14 | 中国科学院合肥物质科学研究院 | Flapping wing type bionic steering control device |
-
2020
- 2020-12-15 CN CN202011479625.2A patent/CN112441201A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928528A (en) * | 2021-10-26 | 2022-01-14 | 中国科学院合肥物质科学研究院 | Flapping wing type bionic steering control device |
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