CN112977771A - Amphibious wave fin robot with compound power generation function - Google Patents
Amphibious wave fin robot with compound power generation function Download PDFInfo
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- 238000010248 power generation Methods 0.000 title claims abstract description 104
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- 239000002131 composite material Substances 0.000 claims abstract description 23
- 230000000694 effects Effects 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 31
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- 238000000034 method Methods 0.000 description 10
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- 238000004891 communication Methods 0.000 description 2
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- 230000001502 supplementing effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
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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
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/18—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing electrical output from mechanical input, e.g. generators
- H02N2/186—Vibration harvesters
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses an amphibious wave fin robot with a composite power generation function, wherein a wave fin main body module is arranged in a wave fin outer shell, and the wave fin main body module is connected with wave fins arranged on two sides of the wave fin outer shell through a fin surface wave type piezoelectric material power generation module; the fin surface of the wave fin swings like sine wave; the surface of the wave fin outer shell is provided with a solar power generation module, and the solar power generation module is connected with the wave fin main body module; when the fin surface of the wave fin moves, the piezoelectric material power generation device moves along with the fin surface to generate deformation, so that the piezoelectric material power generation device generates power, when the wave fin is positioned on the water surface or in the environment irradiated by the sun on the land, the solar power generation device starts to generate power, and the storage battery module provides electric energy for the whole amphibious wave fin robot system. The invention realizes the self power generation function of the amphibious fin-waving robot and solves the problem that the mission execution capacity and the activity range of the amphibious robot are limited due to insufficient cruising ability.
Description
Technical Field
The invention belongs to the technical field of robot energy, and particularly relates to an amphibious wavy fin robot with a composite power generation function.
Background
The ocean environment contains abundant resources, with the vigorous development of modern science and technology, ocean exploration gradually becomes an important role in the ocean science and technology field, and exploration of ocean resources is taken as a national development strategy by various countries, so that exploration, development and utilization of the ocean become research key points of scientists of various countries, and the ocean research and development strength is continuously increased. The underwater robot is used as a task controller integrating artificial intelligence and advanced computer technology, and can efficiently help people to detect, develop and utilize ocean resources.
The underwater unmanned vehicle is taken as an important branch of an underwater robot, particularly a towerless underwater vehicle, is flexible in movement, small in size and high in concealment due to the fact that no cable is bound, can carry various load tasks, is high in information sensing capacity and becomes a key point of research in the field of underwater robots, but due to the fact that power consumption of various sensors, a wireless communication system, an actuator, a propeller and the like is large, a battery module carried by the underwater robot is difficult to support the long-range endurance of the robot, operation time is short, and execution of underwater robot tasks is seriously affected.
The underwater wave fin robot is also a wireless cable type underwater autonomous navigation robot, mainly adopts a self-carrying battery module as energy supply, has the characteristics of flexible movement, high concealment, strong task execution capacity and the like, but is limited by factors such as self volume, weight and the like, so that the robot is limited in carrying energy, the cruising ability of the underwater wave fin robot is insufficient, the range of motion is severely limited, the detection and detection cannot be well met, and electronic systems such as communication and the like can continuously work underwater for a long time to meet the requirement on the energy.
Not only underwater robots, but also land robots and amphibious robots also face the problem that cruising ability and task execution ability are limited due to insufficient cruising ability of self-carried power supplies.
Therefore, the method has important significance for the research of the robot with the power generation function in order to solve the problem that the task execution capacity and the activity range are limited due to insufficient cruising ability of the existing cable-free autonomous robot.
Disclosure of Invention
The invention aims to solve the technical problem that aiming at the defects in the prior art, the invention provides the amphibious fin-waving robot with the composite power generation function, and solves the problem that the task execution capacity and the movement range of the existing underwater and land robots are limited due to insufficient cruising ability.
The invention adopts the following technical scheme:
an amphibious wave fin robot with a composite power generation function comprises a wave fin outer shell, wherein a wave fin main body module is arranged in the wave fin outer shell and comprises a single-chip microcomputer and a storage battery module, the single-chip microcomputer is connected with wave fins arranged on two sides of the wave fin outer shell through a fin surface wave type piezoelectric material power generation module, and fin surfaces of the wave fins swing in a sine-like waveform manner; the fin surface fluctuation type piezoelectric material power generation module is connected with the storage battery module and used for generating electric energy along with the motion of the fin surface of the fluctuation fin; the surface of the wave fin outer shell is provided with a solar power generation module, and the solar power generation module is connected with the storage battery module.
The fin surface fluctuation type piezoelectric material power generation module comprises a steering engine driving module and a piezoelectric material power generation device, wherein the steering engine driving module is arranged in the main fluctuation fin module and connected with the fin surface of the fluctuation fin; the piezoelectric material power generation device is arranged on the wave fin and connected with the storage battery module.
Furthermore, the steering engine driving module comprises a plurality of steering engines, and the steering engines are correspondingly arranged on two sides of the wave fin bottom plate and are correspondingly connected with wave fin strips on the wave fin surface through a steering engine arm respectively.
Further, the wave fin upper fin surface comprises a wave fin upper fin surface and a wave fin lower fin surface, and the piezoelectric material power generation device is arranged between the wave fin upper fin surface and the wave fin lower fin surface.
Furthermore, the wave fin lines are arranged on the upper surface of the lower fin surface of the wave fin at intervals.
Specifically, the wave fin surface is fan-shaped structure under natural state, and under the pretension effect, the inboard arc line that follows stretches to be the straight line, and the outside arc line becomes similar sinusoidal.
Specifically, the fin surface of the wave fin is made of latex or high-elastic rubber material.
Specifically, the wave fin main body module comprises a wave fin bottom plate, a front electronic sealed cabin, a steering engine driving module, a storage battery module and a rear electronic sealed cabin are sequentially arranged in a cavity formed by connecting the wave fin bottom plate with the wave fin outer shell, and the single-chip microcomputer is arranged in the rear electronic sealed cabin and is respectively connected with the steering engine driving module and the storage battery module.
Furthermore, a camera, an ultrasonic Doppler current meter and an underwater sound positioning system are arranged in the front electronic sealed cabin, and the camera, the ultrasonic Doppler current meter and the underwater sound positioning system are respectively connected with the single-chip microcomputer and the storage battery module.
Specifically, the solar power generation module comprises a solar power generation device which is of a similar rectangular plate-shaped structure, is embedded on the wave fin outer shell and is connected with the storage battery module.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention relates to an amphibious undulation fin robot with a composite power generation function, which continuously supplements electric energy for the undulation fin robot by a solar power generation module and a fin surface undulation type piezoelectric material power generation module, realizes the forward, backward and turning movement of the undulation fin robot on land and under water and the upward and downward movement and the downward movement on land or under water by the quasi-sinusoidal movement of the fin surfaces on the left and the right sides of an undulation fin, generates power by deforming a piezoelectric material power generation device by the quasi-sinusoidal movement of the fin surfaces of the undulation fin in the movement process, and further continuously charges a storage battery module, can generate power by the solar power generation device and further continuously charges the storage battery module in the environment with sunlight irradiation on the water surface or the land by an amphibious undulation fin, and better distributes the electric energy generated by the solar power generation module and the fin surface undulation type piezoelectric material power generation module by the storage battery module power management system at the same time, the electric energy use efficiency is improved, and the problems that the underwater robot and the land robot are limited in task execution capacity and moving range due to insufficient cruising ability are solved.
Furthermore, the steering engine driving module moves regularly to drive the wave fin surface to generate sine-like motion, the amphibious wave fin robot is driven to move, the piezoelectric material power generation device is driven to move according to the same rule in the wave fin surface movement process, the piezoelectric effect is generated to generate power, the generated power is stored in the wave fin storage battery module, the power is provided for the amphibious robot system, and the movement cruising ability of the wave fin robot is improved.
Furthermore, a plurality of steering engines are respectively arranged on two sides of the wave fin bottom plate and are respectively and correspondingly connected with wave fin lines on the wave fin surface through a steering engine arm, so that the amphibious robot can flexibly and stably move.
Furthermore, the piezoelectric material power generation device is arranged between the upper fin surface and the lower fin surface of the wave fin, so that the piezoelectric material power generation device is driven to deform to generate a piezoelectric effect to generate electric energy in the movement process of the fin surfaces.
Furthermore, the wave fin lines are arranged on the upper surface of the lower fin surface of the wave fin at intervals, so that the wave fin lines are driven to swing in the rotation process of the steering engine, the wave fin surfaces are further driven to generate sine-like waveform swing, and the amphibious wave fin robot is driven to move.
Furthermore, the fluctuating fin surface is of a fan-shaped structure in a natural state, the inner side of the fluctuating fin surface stretches along an arc line to form a straight line under the pre-tightening action, the outer side of the fluctuating fin surface forms a quasi-sine curve, a plurality of steering engine driving modules drive the fluctuating fin strip to regularly swing, the fin strip regularly swings to enable the fluctuating fin strip to form quasi-sine waveform swing, the amphibious fluctuating fin robot is driven to move, and meanwhile the piezoelectric material power generation device is driven to generate deformation power in the movement process.
Furthermore, the fin surface of the wave fin is made of latex or high-elastic rubber materials, so that certain flexibility of the fin surface is guaranteed in a tightened state, and the fin surface of the amphibious wave fin robot can be soft and smooth to generate sine-like waveform swinging in the movement process.
Furthermore, the wave fin main body module forms a main body part of the amphibious wave fin robot, so that motion control and power management of the wave fin robot are realized.
Furthermore, the camera is used for sensing the surrounding environment of the amphibious fin-waving robot, the ultrasonic Doppler current meter is used for measuring the movement speed of the amphibious fin-waving robot, and the underwater positioning of the amphibious fin-waving robot is realized through the underwater sound positioning system.
Furthermore, the solar power generation device is of a similar rectangular plate-shaped structure and is convenient to inlay on the wave fin outer shell, so that the amphibious wave fin robot generates power on the water surface or in a sunny environment on the land to generate electric energy.
In conclusion, the amphibious fin robot has the composite power generation function by continuously supplementing electric energy to the fin robot through the solar power generation module and the fin surface fluctuation type piezoelectric material power generation module, and the problems that the task execution capacity and the movement range are limited due to insufficient cruising ability of underwater and land robots are solved.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a fanning out schematic view of the wave fin surface of the present invention;
fig. 3 is an assembly schematic diagram of a wave fin-fin array, a wave fin surface, and a piezoelectric material power generation device according to the present invention.
Wherein: 1. a wave fin outer shell; 2. a front electronic capsule; 3. a steering engine driving module; 4. a rudder horn; 5. a wave fin-shaped line; 6. a solar power generation device; 7. a battery module; 8. the upper fin surface of the wave fin; 9. a piezoelectric material power generation device; 10. a wave fin lower fin surface; 11. a wave fin base plate; 12. and a rear electronic sealed cabin.
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 some, not all, embodiments of the present invention. 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 "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Various structural schematics according to the disclosed embodiments of the invention are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers and their relative sizes and positional relationships shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, according to actual needs.
The invention provides an amphibious wavy fin robot with a composite power generation function, a wavy fin steering engine drives a wavy fin steering engine arm, thereby driving the wave fin to regularly move, the wave fin further drives the wave fin surface to present similar sine wave, realizing wave fin movement, the piezoelectric material power generation device is arranged between the wave fin upper fin surface and the wave fin lower fin surface, when the fin surface of the wave fin moves, the piezoelectric material power generation device moves along with the fin surface to generate deformation, so that the piezoelectric material power generation device generates power, when the wave fin is positioned on the water surface or in the environment irradiated by the sun on land, the solar power generation device starts to generate power, the electric energy generated by the piezoelectric material power generation device and the solar power generation device is transmitted and stored in the storage battery module, and the storage battery module provides electric energy for the whole amphibious fin-waving robot system. The invention realizes the self power generation function of the amphibious fin-waving robot and solves the problem that the mission execution capacity and the activity range of the amphibious robot are limited due to insufficient cruising ability.
Referring to fig. 1, the present invention provides an amphibious fin robot with a composite power generation function, including: the solar power generation device comprises a wave fin main body module, a solar power generation module and a fin surface wave type piezoelectric material power generation module, wherein a wave fin outer shell body 1 is arranged outside the wave fin main body module, the solar power generation module is arranged on the wave fin outer shell body 1, and the fin surface wave type piezoelectric material power generation module is positioned on two sides of the wave fin main body module;
and the wave fin main body module is used for realizing motion control and power management of the wave fin robot.
The solar power generation module enables the amphibious undulation fin robot to generate power on the water surface or on the land in a sunshine shining environment, the generated electric energy is stored in the undulation fin storage battery module, electric energy is provided for the amphibious robot system, and the motion endurance of the undulation fin robot is improved.
The fin surface wave type piezoelectric material power generation module enables the amphibious wave fin robot to generate a piezoelectric effect in the motion process to generate power, the generated electric energy is stored in the wave fin storage battery module, electric energy is provided for an amphibious robot system, and the motion endurance capacity of the wave fin robot is improved.
The wave fin main body module comprises a wave fin bottom plate 11, a front electronic sealed cabin 2, a rear electronic sealed cabin 12 and a storage battery module 7;
the solar power generation module comprises a wave fin outer shell body 1 and a solar power generation device 6;
the fin surface fluctuation type piezoelectric material power generation module comprises a steering engine driving module 3, a steering engine arm 4, a fluctuation fin strip 5, a fluctuation fin upper fin surface 8, a piezoelectric material power generation device 9 and a fluctuation fin lower fin surface 10;
the wave fin outer shell 1 is arranged on the wave fin bottom plate 11, and a cavity is formed between the wave fin outer shell 1 and the wave fin bottom plate 11; the front electronic sealed cabin 2, the steering engine driving module 3, the storage battery module 7 and the rear electronic sealed cabin 12 are arranged in the cavity and are sequentially installed and fixed on the wave fin bottom plate 11.
A camera, an ultrasonic Doppler current meter and an underwater sound positioning system are arranged in the front electronic sealed cabin 2, the camera is used for acquiring underwater environment information, the ultrasonic Doppler current meter is used for acquiring water velocity information of the underwater robot in the advancing direction, and the underwater sound positioning system is used for determining the azimuth information of the underwater robot in water; a single-chip microcomputer is arranged in the rear electronic sealed cabin 12 and used for controlling the steering engine driving module 3.
Referring to fig. 2, the steering engine driving module 3 includes 18 steering engines, the 18 steering engines are respectively installed on two sides of the wave fin bottom plate 11, 9 steering engines are arranged on one side, each steering engine is connected with one steering engine arm 4, each steering engine arm 4 is connected with a corresponding wave fin strip 5, the wave fin strip 5 is pasted on the upper surface of the lower fin surface 10 of the wave fin, the steering engines in the steering engine driving module 3 rotate according to a phase difference of 10-30 degrees to drive the steering engine arms 4, and the wave fin strips 5 form regular swinging similar to sine wave form, so that the wave fin surface generates a motion form similar to sine wave rule.
Referring to fig. 3, an upper fin surface 8 and a lower fin surface 10 of the wave fin are collectively referred to as a wave fin surface, the wave fin surface is made of latex or high-elastic rubber, the wave fin surface is in a fan-shaped structure in a natural state, the inner side of the wave fin surface is stretched along an arc line to form a straight line under the pre-tightening action of the wave fin strip 5, and the outer side arc line is changed into a sine-like curve under the pre-tightening action because the arc length of the outer side edge is greater than that of the inner side edge.
A piezoelectric material power generation device 9 is arranged between the wave fin upper fin surface 8 and the wave fin lower fin surface 10, the piezoelectric material power generation device 9 is connected with the storage battery module 7 through a transmission electric wire line and used for achieving electric energy transmission, in the wave fin surface movement process, the piezoelectric material deforms to generate power, and the electric energy is stored in the storage battery module 7.
The solar power generation device 6 is of a similar rectangular plate-shaped structure and is embedded on the wave fin outer shell 1, the solar power generation device 6 is connected with the storage battery module 7 through a transmission wire circuit and is used for realizing electric energy transmission, and under the environment of shining sunlight, the solar power generation device 6 generates electricity and stores the electric energy in the storage battery module 7.
The working principle of the amphibious wavy fin robot with the composite power generation function is as follows:
the storage battery module 7 receives and stores electric energy generated by the solar power generation device 6 and the piezoelectric material power generation device 9, and provides required electric energy for the amphibious fin-type robot with the composite power generation function, a power management system is arranged inside the storage battery module 7, when the fin-type robot is in a sunshine shining environment, the generated energy of the solar power generation module is directly utilized to provide required electric energy for the whole system, and when the fin-type robot is in an underwater environment, the fin-type piezoelectric material power generation module and the storage battery self store electric energy to provide required electric energy for the whole robot system.
The 18 steering engines are respectively arranged at two sides of the wave fin bottom plate 11, 9 steering engines at one side are arranged on a straight line of the wave fin bottom plate, and the corresponding steering engines at two sides of the same line are arranged on a straight line and have the same motion phase; the fin surfaces on the two sides of the wave fin act on the pre-tightening force of the wave fin surface through the wave fin rays, so that the wave fin surface has certain hardness, and the wave fin is supported to realize land motion. Under the drive of the steering engine, the fin surface swings in a sine-like form, so that the fluctuating fin robot can move forward, backward, turn and move underwater or on the land and can float and dive underwater.
When the amphibious undulation fin robot with the composite power generation function moves on land, on the water surface and under the water, the fin surface swings like a sine wave, so that the piezoelectric material swings and deforms along with the undulation fin surface, the power generation of the piezoelectric material power generation device is realized, the power generation of the amphibious undulation fin is realized in the movement process, the generated electric energy is transmitted and stored in the storage battery module 7, and the electric energy is provided for the whole amphibious undulation fin robot system.
When the wave fin robot with the compound power generation function is located on the water surface or in an environment with sunlight irradiation on land, the solar power generation device 6 starts to generate power, and the generated electric energy is transmitted and stored in the storage battery module 7 to provide electric energy for the whole water and land wave fin robot system.
In conclusion, according to the amphibious fin robot with the composite power generation function, the solar power generation module and the fin surface wave type piezoelectric material power generation module are used for continuously supplementing electric energy to the fin robot, so that the amphibious fin robot has the composite power generation function, and the problems that the task execution capacity and the activity range are limited due to insufficient cruising ability of underwater and land robots are solved.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. An amphibious wave fin robot with a composite power generation function is characterized by comprising a wave fin outer shell (1), wherein a wave fin main body module is arranged in the wave fin outer shell (1), the wave fin main body module comprises a single-chip microcomputer and a storage battery module (7), the single-chip microcomputer is connected with wave fins arranged on two sides of the wave fin outer shell (1) through a fin surface wave type piezoelectric material power generation module, and fin surfaces of the wave fins swing in a sine-like waveform; the fin surface fluctuation type piezoelectric material power generation module is connected with the storage battery module (7) and used for generating electric energy along with the motion of the fin surface of the fluctuation fin; the surface of the wave fin outer shell (1) is provided with a solar power generation module, and the solar power generation module is connected with the storage battery module (7).
2. The amphibious wavy fin robot with the composite power generation function according to claim 1, wherein the fin surface wavy piezoelectric material power generation module comprises a steering engine driving module (3) and a piezoelectric material power generation device (9), and the steering engine driving module (3) is arranged in the wavy fin main body module and connected with the fin surface of the wavy fin; the piezoelectric material power generation device (9) is arranged on the wave fin and connected with the storage battery module (7).
3. The amphibious fin robot with the composite power generation function according to claim 2, wherein the steering engine driving module (3) comprises a plurality of steering engines, the steering engines are correspondingly arranged on two sides of the fin base plate (11) and are correspondingly connected with the fin fins (5) on the fin surface through a steering engine arm (4).
4. The amphibious undulation fin robot with composite power generation function according to claim 2, wherein the fin surface of the undulation fin includes an undulation fin upper fin surface (8) and an undulation fin lower fin surface (10), and the piezoelectric material power generation device (9) is disposed between the undulation fin upper fin surface (8) and the undulation fin lower fin surface (10).
5. The amphibious undulation fin robot with composite power generation function according to claim 4, wherein the undulation fin lines (5) are arranged on the upper surface of the undulation fin lower fin surface (10) at intervals.
6. The amphibious wavy fin robot with the composite power generation function according to claim 1, wherein the wavy fin surface is of a fan-shaped structure in a natural state, under the pre-tightening effect, the inner side of the wavy fin surface is stretched into a straight line along an arc line, and the outer side of the wavy fin surface is a sine-like curve.
7. The amphibious fin robot with the composite power generation function according to claim 1, wherein the fin surface of the wave fin is made of latex or high-elastic rubber material.
8. The amphibious fin robot with the composite power generation function according to claim 1, wherein the main body module of the fin comprises a fin bottom plate (11), a front electronic sealed cabin (2), a steering engine driving module (3), a storage battery module (7) and a rear electronic sealed cabin (12) are sequentially arranged in a cavity formed by connecting the fin bottom plate (11) and the fin outer shell (1), and the single-chip microcomputer is arranged in the rear electronic sealed cabin (12) and is respectively connected with the steering engine driving module (3) and the storage battery module (7).
9. The amphibious fin robot with the composite power generation function according to claim 8, wherein a camera, an ultrasonic Doppler current meter and an underwater sound positioning system are arranged in the front electronic sealed cabin (2), and are respectively connected with the single-chip microcomputer and the storage battery module (7).
10. The amphibious fin robot with the composite power generation function according to claim 1, wherein the solar power generation module comprises a solar power generation device (6), and the solar power generation device (6) is of a rectangular plate-like structure, is embedded in the outer wave fin shell (1) and is connected with the storage battery module (7).
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