CN112441202A - Flapping wing type bionic steering mechanism - Google Patents
Flapping wing type bionic steering mechanism Download PDFInfo
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- CN112441202A CN112441202A CN202011482485.4A CN202011482485A CN112441202A CN 112441202 A CN112441202 A CN 112441202A CN 202011482485 A CN202011482485 A CN 202011482485A CN 112441202 A CN112441202 A CN 112441202A
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- driven gear
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 123
- 230000007246 mechanism Effects 0.000 title claims abstract description 70
- 239000000758 substrate Substances 0.000 claims abstract description 15
- 241000272194 Ciconiiformes Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a flapping wing type bionic steering mechanism which comprises a substrate, wherein two sets of flapping wing units are symmetrically distributed on the left and right of the substrate, each set of flapping wing unit comprises a set of bionic swinging mechanism and a set of bionic rotating mechanism, and each set of bionic swinging mechanism comprises a first motor, a driving gear and a driven gear; each group of bionic rotating mechanisms comprises a second motor and bionic flapping wings; the first motor drives the driving gear to rotate, the driving gear drives the driven gear to rotate, and the bionic rotating mechanism arranged on the driven gear rotates along with the driven gear, so that the bionic flapping wings are driven to rotate around the axial lead of the driven gear, and the adjustment of the angle between the two bionic flapping wings in the two sets of flapping wing units is realized; the bionic flapping wings are driven to rotate around the axis of the connecting shaft by the second motor, so that the self angle of the bionic flapping wings can be adjusted. The invention has the advantages that: simple structure, the flexibility is high, and the noise is little, and energy utilization is high.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a 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 the flapping wing type bionic steering mechanism which is simple in structure, good in flexibility, low in noise and high in energy utilization rate.
The invention is realized by the following technical scheme:
a flapping wing type bionic steering mechanism comprises a base plate, wherein two sets of flapping wing units are symmetrically distributed on the left and right of the base plate, and each set of flapping wing unit comprises a set of bionic swinging mechanism and a set of bionic rotating mechanism;
each group of bionic swinging mechanisms comprises a first motor, a driving gear and a driven gear, wherein the first motor is fixedly arranged on the base plate, the driving gear is fixedly sleeved on an output shaft of the first motor, the driven gear is rotatably arranged on the base plate, the axial lead of the driven gear is vertical to the base plate, and the driven gear is meshed with the driving gear;
each group of bionic rotating mechanisms comprises a second motor and bionic flapping wings, the second motor is fixedly installed on the end face of one end, away from the base plate, of the driven gear, a connecting shaft is arranged at one end of each bionic flapping wing, the connecting shaft of each bionic flapping wing is coaxially and fixedly connected with the output shaft of the second motor, and the connecting shaft of each bionic flapping wing is perpendicular to the axial lead of the driven gear;
the first motor drives the driving gear to rotate, the driving gear drives the driven gear to rotate, and the bionic rotating mechanism arranged on the driven gear rotates along with the driven gear, so that the bionic flapping wings are driven to rotate around the axial lead of the driven gear, and the adjustment of the angle between the two bionic flapping wings in the two sets of flapping wing units is realized; the bionic flapping wings are driven to rotate around the axis of the connecting shaft by the second motor, so that the self angle of the bionic flapping wings can be adjusted.
Furthermore, the connecting shaft of the bionic flapping wing is rotatably supported through a bearing seat, the bearing seat is fixedly installed on the base plate, and the connecting shaft of the bionic flapping wing is connected with the output shaft of the second motor through a coupler.
Furthermore, the bionic flapping wing is flat.
Furthermore, the driven gear is rotatably sleeved on a central shaft through a bearing, the central shaft is fixed on the base plate, and a clamp spring is sleeved on the central shaft and positioned outside the bearing.
Furthermore, the first motor is arranged on the base plate through a first motor support in a Z shape.
Furthermore, the second motor is arranged on the driven gear through a second motor support in an L shape.
Compared with the prior art, the invention has the following advantages:
the invention provides a flapping wing type bionic steering mechanism, which is characterized in that two sets of flapping wing units which are bilaterally symmetrical are arranged, each set of flapping wing unit comprises a set of bionic swinging mechanism and a set of bionic rotating mechanism, and the whole bionic rotating mechanism can be driven to integrally swing through the bionic swinging mechanism so as to drive a bionic flapping wing to swing back and forth, so that the bionic steering mechanism can advance or retreat; the bionic flapping wing can be driven to rotate by the bionic rotating mechanism, so that the angle between the bionic flapping wing and the water surface is adjusted, the advancing resistance can be adjusted, and when the advancing resistances of the left and right flapping wing units are adjusted to be different, the bionic steering mechanism can be controlled to turn left or right. The bionic steering mechanism is applied to an underwater robot, can realize flexible control of advancing, retreating, turning left or turning right, and has the advantages of simple structure, low noise and high energy utilization rate.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the bionic rotation mechanism of the invention.
Fig. 3 is a schematic structural diagram of the bionic swing mechanism of the invention.
Reference numbers in the figures: 1 a substrate; 2, a flapping wing unit; 3, a bionic swing mechanism; 4, a bionic rotating mechanism; 5 a first motor; 6, a driving gear; 7 a driven gear; 8 a first motor support; 9 bearing; 10 central shaft; 11, a clamp spring; 12 a second motor; 13 bionic flapping wings; 14 a second motor mount; 15 connecting the shaft; 16 bearing seats; 17 a coupling.
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.
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 3, the embodiment discloses a flapping wing type bionic steering mechanism, which includes a substrate 1, two sets of flapping wing units 2 symmetrically distributed on the substrate 1, and each set of flapping wing unit 2 includes a set of bionic swing mechanism 3 and a set of bionic rotation mechanism 4.
Each group of bionic swing mechanisms 3 comprises a first motor 5, a driving gear 6 and a driven gear 7, wherein the first motor 5 is arranged on the substrate 1 through a first motor support 8 in a Z shape, the first motor support 8 is arranged between the first motor support 8 and the substrate 1, the first motor 5 and the first motor support 8 are respectively fixedly arranged through screws, the first motor support 8 is arranged in a Z shape, and a reserved space is reserved for the installation of the driving gear 6, so that the whole bionic swing mechanism 3 is compact in overall layout. The driving gear 6 is fixedly sleeved on an output shaft of the first motor 5, the driven gear 7 is rotatably installed on the substrate 1, the axial lead of the driven gear 7 is perpendicular to the substrate 1, the driven gear 7 is rotatably sleeved on a central shaft 10 through a bearing 9, the central shaft 10 is fixed on the substrate 1, a clamp spring 11 is sleeved on the central shaft 10 and positioned outside the bearing 9, and the bearing 9 can be prevented from falling off through the clamp spring 11; the driven gear 7 is engaged with the driving gear 6.
Each group of bionic rotating mechanisms 4 comprises a second motor 12 and bionic flapping wings 13, the second motor 12 is fixedly installed on the end face of one end, departing from the base plate 1, of the driven gear 7, the second motor 12 is installed on the driven gear 7 through a second motor support 14 in an L shape, and the second motor 12 and the second motor support 14, and the second motor support 14 and the driven gear 7 are fixedly installed through screws respectively. The bionic flapping wing 13 is flat, a connecting shaft 15 is arranged at one end of the bionic flapping wing 13, the connecting shaft 15 of the bionic flapping wing 13 is rotatably supported through a bearing block 16, and the bearing block 16 is fixedly arranged on the substrate 1. The connecting shaft 15 of the bionic flapping wing 13 is coaxially and fixedly connected with the output shaft of the second motor 12, the connecting shaft 15 of the bionic flapping wing 13 is connected with the output shaft of the second motor 12 through a coupler 17, and the connecting shaft 15 of the bionic flapping wing 13 is vertical to the axis line of the driven gear 7.
The first motor 5 drives the driving gear 6 to rotate, the driving gear 6 drives the driven gear 7 to rotate, and the bionic rotating mechanism 4 arranged on the driven gear 7 rotates along with the driven gear 7, so that the bionic flapping wings 13 are driven to rotate around the axis of the driven gear 7, and the angle between the two bionic flapping wings 13 in the two sets of flapping wing units 2 is adjusted; the bionic flapping wing 13 is driven to rotate around the axis of the connecting shaft 15 by the second motor 12, so that the self angle of the bionic flapping wing 13 is adjusted.
The working process of the flapping-wing bionic steering mechanism provided by the embodiment is as follows:
when the whole bionic steering mechanism needs to move forwards, the second motor 12 drives the bionic flapping wings 13 to rotate, so that the bionic flapping wings 13 rotate to the state with the minimum resistance in the advancing direction, then the first motor 5 drives the driving gear 6 to rotate, the driving gear 6 drives the driven gear 7 to rotate, the driven gear 7 drives the whole bionic rotating mechanism 4 to swing together in the advancing direction, and the bionic flapping wings 13 swing together to the position at the most front end. Then the second motor 12 drives the bionic flapping wing 13 to rotate, so that the bionic flapping wing rotates to a state with the maximum resistance in the advancing direction; the first motor 5 rotates reversely to drive the driving gear 6 to rotate reversely, the driving gear 6 drives the driven gear 7 to rotate reversely, and the driven gear 7 drives the whole bionic rotating mechanism 4 to swing reversely, so that the bionic flapping wings 13 swing backwards to the rearmost position together to further push the whole bionic steering mechanism to move forwards; and repeating the process to keep the whole bionic steering mechanism in a forward state all the time.
When the whole bionic steering mechanism needs to turn left, the second motor 12 positioned on the left side drives the bionic flapping wing 13 on the left side to rotate and adjust to a proper angle according to the turning radius, and then the first motor 5 positioned on the left side drives the bionic rotating mechanism 4 on the left side and the bionic flapping wing 13 to open to a certain position and keep the state; the bionic rotating mechanism 4 and the bionic swinging mechanism 3 on the right side move according to the normal advancing step; therefore, the power on the right side of the whole bionic steering mechanism enables the whole bionic steering mechanism to deflect towards the left side due to the large resistance on the left side, and the purpose of turning towards the left side is achieved.
When the whole bionic steering mechanism needs to turn right, the second motor 12 on the right side drives the bionic flapping wing 13 on the right side to adjust to a proper angle according to the size of the turning radius, and then the first motor 5 on the right side drives the whole bionic rotating mechanism 4 and the bionic flapping wing 13 to be unfolded to a certain position and keep the state; the bionic rotating mechanism 4 and the bionic swinging mechanism 3 on the left side move according to the normal advancing step, so that the power on the left side of the whole bionic steering mechanism enables the whole bionic steering mechanism to deflect to the right side due to the large resistance on the right side, and the aim of turning to the right side is fulfilled.
The empire penguin has extremely high swimming ability, has the characteristics of strong explosive force, high maneuverability, good stability and the like, and can easily realize maneuvering actions such as steering, sinking and floating, rolling, U-shaped turning and the like through small turning of flapping wings of the empire penguin during predation and attack avoidance; the flapping-wing type bionic steering mechanism provided by the embodiment is just used for simulating the flapping-wing characteristics of the Dipenguin, provides a high-maneuverability flapping-wing type bionic steering mechanism for an underwater robot, can easily realize steering underwater by combining the swinging of the bionic flapping wing with the overturning of the bionic flapping wing, breaks through the bottleneck of inflexible steering of the underwater robot in the prior art, and has good application prospect.
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 (6)
1. The utility model provides a bionic steering mechanism of flapping wing formula, includes base plate (1), its characterized in that: two flapping wing units (2) which are symmetrically distributed at left and right are arranged on the base plate (1), each flapping wing unit (2) comprises a group of bionic swinging mechanisms (3) and a group of bionic rotating mechanisms (4),
each group of bionic swinging mechanisms (3) comprises a first motor (5), a driving gear (6) and a driven gear (7), wherein the first motor (5) is fixedly arranged on the substrate (1), the driving gear (6) is fixedly sleeved on an output shaft of the first motor (5), the driven gear (7) is rotatably arranged on the substrate (1), the axial lead of the driven gear (7) is vertical to the substrate (1), and the driven gear (7) is meshed with the driving gear (6);
each group of bionic rotating mechanisms (4) comprises a second motor (12) and bionic flapping wings (13), the second motor (12) is fixedly installed on the end face of one end, deviating from the base plate (1), of the driven gear (7), a connecting shaft (15) is arranged at one end of each bionic flapping wing (13), the connecting shaft (15) of each bionic flapping wing (13) is coaxially and fixedly connected with the output shaft of the corresponding second motor (12), and the connecting shaft (15) of each bionic flapping wing (13) is perpendicular to the axial lead of the corresponding driven gear (7);
the driving gear (6) is driven to rotate through the first motor (5), the driving gear (6) drives the driven gear (7) to rotate, and the bionic rotating mechanism (4) arranged on the driven gear (7) rotates along with the driven gear (7), so that the bionic flapping wings (13) are driven to rotate around the axis of the driven gear (7), and the angle between the two bionic flapping wings (13) in the two sets of flapping wing units (2) is adjusted; the bionic flapping wing (13) is driven to rotate around the axis of the connecting shaft (15) by the second motor (12), so that the self angle of the bionic flapping wing (13) can be adjusted.
2. The flapping-wing bionic steering mechanism of claim 1, wherein: the bionic flapping wing is characterized in that a connecting shaft (15) of the bionic flapping wing (13) is rotatably supported through a bearing seat (16), the bearing seat (16) is fixedly installed on the base plate (1), and the connecting shaft (15) of the bionic flapping wing (13) is connected with an output shaft of the second motor (12) through a coupler (17).
3. The flapping-wing bionic steering mechanism of claim 1, wherein: the bionic flapping wings (13) are flat.
4. The flapping-wing bionic steering mechanism of claim 1, wherein: the driven gear (7) is rotatably sleeved on a central shaft (10) through a bearing (9), the central shaft (10) is fixed on the substrate (1), and a clamp spring (11) is sleeved on the central shaft (10) and positioned outside the bearing (9).
5. The flapping-wing bionic steering mechanism of claim 1, wherein: the first motor (5) is arranged on the base plate (1) through a first motor support (8) in a Z shape.
6. The flapping-wing bionic steering mechanism of claim 1, wherein: the second motor (12) is mounted on the driven gear (7) through a second motor support (14) in an L shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011482485.4A CN112441202A (en) | 2020-12-15 | 2020-12-15 | Flapping wing type bionic steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011482485.4A CN112441202A (en) | 2020-12-15 | 2020-12-15 | Flapping wing type bionic steering mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN112441202A true CN112441202A (en) | 2021-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011482485.4A Pending CN112441202A (en) | 2020-12-15 | 2020-12-15 | Flapping wing type bionic steering mechanism |
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| CN (1) | CN112441202A (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 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103010438A (en) * | 2012-12-26 | 2013-04-03 | 兰州交通大学 | Novel robot fish pectoral fin propelling mechanism |
| CN105460189A (en) * | 2015-11-27 | 2016-04-06 | 天津大学 | Underwater flapping wing driving device |
| CN107097922A (en) * | 2017-06-14 | 2017-08-29 | 兰州交通大学 | A kind of Three-degree-of-freedom bionic pectoral fin propulsive mechanism based on Scad sections fish |
| CN107161308A (en) * | 2017-06-14 | 2017-09-15 | 兰州交通大学 | A kind of modified propulsive mechanism of imitative case Molidae machine fish pectoral fin |
| CN206841691U (en) * | 2017-06-01 | 2018-01-05 | 兰州天佑机器人科技有限公司 | A kind of machine fish two degrees of freedom pectoral fin propulsive mechanism |
| CN110562454A (en) * | 2019-08-29 | 2019-12-13 | 南京理工大学 | Bionic flapping wing aircraft |
| CN213768926U (en) * | 2020-12-15 | 2021-07-23 | 中国科学院合肥物质科学研究院 | Flapping wing type bionic steering mechanism |
-
2020
- 2020-12-15 CN CN202011482485.4A patent/CN112441202A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103010438A (en) * | 2012-12-26 | 2013-04-03 | 兰州交通大学 | Novel robot fish pectoral fin propelling mechanism |
| CN105460189A (en) * | 2015-11-27 | 2016-04-06 | 天津大学 | Underwater flapping wing driving device |
| CN206841691U (en) * | 2017-06-01 | 2018-01-05 | 兰州天佑机器人科技有限公司 | A kind of machine fish two degrees of freedom pectoral fin propulsive mechanism |
| CN107097922A (en) * | 2017-06-14 | 2017-08-29 | 兰州交通大学 | A kind of Three-degree-of-freedom bionic pectoral fin propulsive mechanism based on Scad sections fish |
| CN107161308A (en) * | 2017-06-14 | 2017-09-15 | 兰州交通大学 | A kind of modified propulsive mechanism of imitative case Molidae machine fish pectoral fin |
| CN110562454A (en) * | 2019-08-29 | 2019-12-13 | 南京理工大学 | Bionic flapping wing aircraft |
| CN213768926U (en) * | 2020-12-15 | 2021-07-23 | 中国科学院合肥物质科学研究院 | Flapping wing type bionic steering mechanism |
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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