CN113415401B

CN113415401B - Bionic type simulation robot

Info

Publication number: CN113415401B
Application number: CN202110835999.1A
Authority: CN
Inventors: 黄湘翼; 黄思思
Original assignee: Zhejiang Ruizhi Artificial Intelligence Technology Co ltd
Current assignee: Zhejiang Ruizhi Artificial Intelligence Technology Co ltd
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2022-04-15
Anticipated expiration: 2041-07-23
Also published as: CN113415401A

Abstract

The invention provides a bionic type simulation robot, which relates to the field of robots and comprises a base, wherein side plates are symmetrically arranged on two sides of the base, a slide way is formed between the two side plates, a rubber belt is arranged on the outer side of the base and positioned in the slide way, a plurality of spurs are arranged on the outer surface of the rubber belt, four motors are arranged on one side of each side plate, which faces towards the base, four rotating rollers are arranged on the periphery of the base, and the four motors are in one-to-one correspondence with the four rotating rollers. This simulation robot of bionical classification, through base, baffle, the cooperation of rubber tape constitutes the robot, whole volume is little for ordinary underwater robot. So as to be convenient for passing between the coral reefs. The sea urchin is simulated through the coordination of the spurs on the rubber belt and the antenna, so that the underwater creatures are prevented from being disturbed, and the most real underwater state of the marine creatures can be observed. Through the cooperation of kickboard, ball piece, inserted bar, miniature electric push rod, pop out the kickboard under the low-grade condition of electric quantity, so be convenient for the researcher to look for and retrieve.

Description

Bionic type simulation robot

Technical Field

The invention relates to the technical field of robots, in particular to a bionic type simulation robot.

Background

The sea is the origin of life, and the demand for sea exploration is increasing. Coral reef distribution areas are increased, wherein coral reefs are distributed in some shallow water areas. Coral reefs are the most important ecosystem in the ocean. The coral reef is one of typical ecosystems with most abundant biodiversity and highest productivity on the earth, is known as a tropical rain forest in the ocean, and plays an irreplaceable important role in regulating the global climate and the balance of the ecosystems.

There is a certain inconvenience in observing and researching the organisms in the coral reef. The artificial launching is used for shooting, and is easily influenced by ocean weather. And due to the uncontrollable and uncertainty of the marine environment. Artificial drainage is dangerous to some extent. The traditional underwater unmanned aerial vehicle has larger volume, can disturb underwater organisms, and cannot observe the most real underwater state of marine organisms. Secondly, most of organisms inhabit the accessory of coral reef, and partial region space is narrow and small, and the too big activity of unmanned aerial vehicle volume receives the restriction, easily causes the coral reef to damage. For this reason, a new underwater working robot having a small volume is required.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a bionic type simulation robot, which solves the problems that the traditional underwater unmanned aerial vehicle in the background technology is large in size, limited in movement and easy to disturb underwater organisms during movement, so that the most real underwater state of marine organisms cannot be observed.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an imitation robot of bionical classification, includes the base, base bilateral symmetry is equipped with the curb plate, forms the slide between two curb plates, is equipped with the rubber tape in the base outside and being located the slide, and the rubber tape surface is equipped with a plurality of burs, the curb plate is equipped with four motors towards base one side, and the base is equipped with four all around and changes the roller, and four motors change the roller one-to-one with four, change roller tip and motor drive shaft connection, change roller and rubber tape internal surface contact, it is rotatory that the roller is used for driving the rubber tape.

The side plate is provided with a groove, a ball block is pivoted in the groove, the top of the ball block is provided with a floating plate, and a camera module is arranged in the floating plate.

The inside cavity of ball piece, ball piece top central authorities department is equipped with the hole, and the kickboard top is inlayed and is had transparent clamshell, and kickboard bottom central authorities department is connected with the singlechip, and the singlechip bottom is connected with the battery piece, singlechip, battery piece clearing hole stretch into in the ball piece, and the battery piece bottom is connected with the rope, and the rope lower extreme is connected with ball piece inner wall bottom, and the kickboard bottom is connected with the inserted bar, and the inserted bar passes in the ball piece top stretches into the ball piece, ball piece inner wall bottom is connected with miniature electric putter, and miniature electric putter is located under the inserted bar.

The ball piece is made by rubber, and the jack has been seted up at the ball piece top, and the inserted bar inserts in the jack, and the inserted bar lower extreme is circular arch, and circular arch blocks the jack, and miniature electric push rod extension can be followed the jack with the ball piece and is pushed out.

Preferably, the ball piece left and right sides all is equipped with the motor, and the motor is inlayed in the recess, and motor drive shaft and ball piece welding have the flabellum around the ball piece bilateral symmetry welding.

Preferably, a cavity is formed in the base, a master control module and a storage battery are installed in the cavity, an iron bar is arranged on one side of the storage battery, a coil is arranged on the iron bar body, the coil is electrically connected with the storage battery, the iron bar body is sleeved with a magnet, the magnet is located above the coil, a press switch is arranged on one side of the inner wall of the cavity, and the press switch is located between the magnet and the coil.

Preferably, an antenna is fixedly installed on the outer surface of the side plate and used for transmitting signals to the outside.

Preferably, the base is 20cm long, the base is 8cm wide and high, the side plates are semi-elliptical, the side plate is 8cm high, the side plate is 15cm long, and the side plate is 6cm wide.

(III) advantageous effects

The invention provides a bionic type simulation robot. The method has the following beneficial effects:

1. this simulation robot of bionical classification, through base, curb plate, the cooperation of rubber tape constitutes the robot, whole volume is little for ordinary underwater robot. So as to be convenient for passing between the coral reefs. The sea urchin is simulated through the coordination of the spurs on the rubber belt and the antenna, so that the underwater creatures are prevented from being disturbed, and the most real underwater state of the marine creatures can be observed. Through the cooperation of kickboard, ball piece, inserted bar, miniature electric push rod, pop out the kickboard under the low-grade condition of electric quantity, so be convenient for the researcher to look for and retrieve.

Drawings

FIG. 1 is a perspective view of the structure of the present invention;

FIG. 2 is a bottom view of the present invention;

FIG. 3 is a schematic view of a base structure according to the present invention;

FIG. 4 is a schematic view of the construction of the rubber belt of the present invention;

FIG. 5 is a schematic view of the structure of the side plate of the present invention;

FIG. 6 is a view showing the structure of the inner block of the ball of the present invention;

FIG. 7 is a partial structure display diagram of the present invention.

In the figure: the device comprises a base 1, a cavity 11, an iron rod 12, a coil 13, a magnet 14, a press switch 15, a side plate 2, a groove 21, an antenna 22, a motor 3, a rotary roller 31, a ball 4, fan blades 41, a motor 42, a rubber belt 5, a bur 51, a floating plate 6, a transparent shell cover 61, an inserted link 62, a camera module 7, a singlechip 8, a battery block 81, a rope 82, a miniature electric push rod 9, a total control module 10 and a storage battery 101.

Detailed Description

The embodiment of the invention provides a bionic type simulation robot, which comprises a base 1 and side plates 2 symmetrically welded on two sides of the base 1, as shown in figures 1-7. A slide way is formed between the two side plates 2, and a rubber belt 5 is arranged on the outer side of the base 1 and in the slide way. The entire rubber belt 5 is endless.

The outer surface of the rubber belt 5 is provided with a plurality of spurs 51. The spurs 51 are integrally formed with the rubber belt 5. Four motors 3 are embedded on one side of the side plate 2 facing the base 1, and four rotating rollers 31 are arranged around the base 1. The four motors 3 correspond to the four rollers 31 one by one. The end of the roller 31 is welded with the transmission shaft of the motor 3. The roller 31 is in contact with the inner surface of the rubber belt 5. The motor 3 drives the roller 31 to rotate slowly, so that the roller 31 drives the rubber belt 5 to rotate. By means of the stabs on the surface of the rubber belt 5, the whole robot moves forward and backward in the process of slowly rotating the rubber belt 5.

The existence of the spurs 51 facilitates the whole robot to walk on the sand and stones on the seabed near the coral reef.

The side plate 2 is provided with a groove 21, a ball block 4 is pivoted in the groove 21, the top of the ball block 4 is provided with a floating plate 6, and a camera module 7 is arranged in the floating plate 6. The camera module 7 is used for capturing pictures of organisms near the coral reef.

The ball block 4 is hollow, and a hole is arranged in the center of the top of the ball block 4. The top of the floating plate 6 is embedded with a transparent shell cover 61. The single chip microcomputer 8 is fixedly installed at the center of the bottom of the floating plate 6, and the bottom of the single chip microcomputer 8 is electrically connected with a battery block 81. The singlechip 8 and the battery block 81 extend into the ball block 4 through the holes. The bottom of the battery block 81 is fixedly bound with a rope 82, and the lower end of the rope 82 is fixedly bound with the bottom of the inner wall of the ball block 4. The bottom of the floating plate 6 is fixedly bonded with an inserted rod 62.

The inserted link 62 passes through the top of the ball block 4 and extends into the ball block 4, the miniature electric push rod 9 is fixedly installed at the bottom of the inner wall of the ball block 4, and the miniature electric push rod 9 is positioned under the inserted link 62.

The ball block 4 is made of rubber, the top of the ball block 4 is provided with a jack, and the inserted rod 62 is inserted into the jack. The lower end of the insertion rod 62 is a circular bulge, and the circular bulge is used for clamping the insertion hole. The miniature electric push rod 9 can be extended to push the ball block 4 out of the jack.

The singlechip 8 is connected with the control camera module 7, the micro electric push rod 9 and the battery block 81 through leads.

A cavity 11 is formed in the base 1, a master control module 10 and a storage battery 101 are fixedly mounted in the cavity 11, and an iron rod 12 is inlaid on one side of the storage battery 101. The upper end of the iron rod 12 is fixedly bonded with the top of the inner wall of the chamber 11, and the lower end of the iron rod 12 is fixedly bonded with the bottom of the inner wall of the chamber. The iron rod 12 is sleeved with a coil 13, and the coil 13 is electrically connected with the storage battery 101. The iron rod 12 is sleeved with a magnet 14, the magnet 14 is positioned above the coil 13, one side of the inner wall of the chamber 11 is fixedly provided with a press switch 15, and the press switch 15 is positioned between the magnet 14 and the coil 13.

The master control module 10 is used for controlling the singlechip 8 and the motor 3 to work. The battery 101 supplies power for the operation of the motor 3 and the overall control module 10. The master control module 10 is connected with the singlechip 8 through a wireless module. Since this is a conventional technical means, the wireless module model, circuit arrangement, and the like are the same as those of the prior art and will not be described in detail.

When the magnetic field generating device works, the coil 13 is electrified to be matched with the iron rod 12 to generate a magnetic field. The magnetic poles of the magnet 14 towards the lower end are the same as the magnetic poles at the upper end of the magnetic field. Therefore, in the operating state, the magnet 14 floats upward under the influence of the magnetic force and does not contact the push switch 15. As the amount of electricity is gradually exhausted, the magnetic field becomes weak due to the decrease in current, the magnet 14 gradually slides down, eventually the magnet 14 cannot be supported, and the magnet 14 falls down to touch the push switch 15. The master control module 10 transmits the signal to the single chip microcomputer 8.

The singlechip 8 receives signals to control the extension of the miniature electric push rod 9. The miniature electric push rod 9 pushes the plunger 62 out of the ball block 4. The floating block 6 is separated from the ball block 4 and slowly floats upwards based on buoyancy. So that the robot can be easily found by researchers when the robot is recovered.

The left side and the right side of the ball block 4 are both provided with motors 42, the motors 42 are embedded in the grooves 21, the transmission shafts of the motors 42 are welded with the ball block 4, and the front side and the rear side of the ball block 4 are symmetrically welded with fan blades 41. The motor 42 rotates the ball 4 so that the fan blades 41 agitate the water. Thereby scaring prey people who wrongly regard the robot as food.

And an antenna 22 is fixedly arranged on the outer surface of the side plate 2, the antenna 22 is used for transmitting signals to the outside, and the signals of the used electric quantity blocks are transmitted to a researcher by using the antenna 22 to inform the researcher of recycling.

The length of the base 1 is 20cm, the width and the height of the base 1 are 8cm, the side plate 2 is in a semi-elliptical shape, the height of the side plate 2 is 8cm, the length of the side plate 2 is 15cm, and the width of the side plate 2 is 6 cm.

In conclusion, the bionic type simulation robot is formed by matching the base 1, the side plates 2 and the rubber belts 5, and the whole volume is small compared with that of a common underwater robot. So as to be convenient for passing between the coral reefs. The sea urchin is simulated by the cooperation of the burs 51 on the rubber belt 5 and the antenna 22, so that the underwater creatures are prevented from being disturbed, and the most real underwater state of the marine creatures can be observed. Through the cooperation of kickboard 6, ball 4, inserted bar 62, miniature electric putter 9, pop out kickboard 6 under the low condition of electric quantity, so be convenient for the researcher to look for and retrieve.

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. A biomimetic-typed simulated robot, characterized in that: the rubber belt conveyor comprises a base (1), wherein side plates (2) are symmetrically arranged on two sides of the base (1), a slide way is formed between the two side plates (2), a rubber belt (5) is arranged in the slide way and on the outer side of the base (1), a plurality of burs (51) are arranged on the outer surface of the rubber belt (5), four motors (3) are arranged on one side of each side plate (2) facing the base (1), four rotating rollers (31) are arranged on the periphery of the base (1), the four motors (3) correspond to the four rotating rollers (31) one by one, the end parts of the rotating rollers (31) are connected with a transmission shaft of the motors (3), the rotating rollers (31) are in contact with the inner surface of the rubber belt (5), and the rotating rollers (31) are used for driving the rubber belt (5) to rotate;

the side plate (2) is provided with a groove (21), a ball block (4) is pivoted in the groove (21), the top of the ball block (4) is provided with a floating plate (6), and a camera module (7) is arranged in the floating plate (6);

the ball block (4) is hollow, a hole is formed in the center of the top of the ball block (4), a transparent shell cover (61) is inlaid in the top of the floating plate (6), a single chip microcomputer (8) is connected to the center of the bottom of the floating plate (6), a battery block (81) is connected to the bottom of the single chip microcomputer (8), the single chip microcomputer (8) and the battery block (81) extend into the ball block (4) through the hole, a rope (82) is connected to the bottom of the battery block (81), the lower end of the rope (82) is connected with the bottom of the inner wall of the ball block (4), an inserting rod (62) is connected to the bottom of the floating plate (6), the inserting rod (62) penetrates through the top of the ball block (4) and extends into the ball block (4), a miniature electric push rod (9) is connected to the bottom of the inner wall of the ball block (4), and the miniature electric push rod (9) is located right below the inserting rod (62);

ball piece (4) are made by rubber, and the jack has been seted up at ball piece (4) top, and inserted bar (62) insert in the jack, and inserted bar (62) lower extreme is circular arch, and circular arch blocks the jack, and extension of miniature electric putter (9) can be followed ball piece (4) and is pushed out in the jack.

2. The biomimetic type of mock robot according to claim 1, wherein: the ball piece (4) left and right sides all is equipped with motor (42), and motor (42) are inlayed in recess (21), and motor (42) transmission shaft and ball piece (4) welding, and the side symmetry welding has flabellum (41) around ball piece (4).

3. The biomimetic type of mock robot according to claim 1, wherein: set up cavity (11) in base (1), install total control module (10) and battery (101) in cavity (11), battery (101) one side is equipped with iron bar (12), iron bar (12) pole body is equipped with coil (13), coil (13) and battery (101) electric connection, iron bar (12) pole body cover has magnet (14), magnet (14) are located coil (13) top, cavity (11) inner wall one side is equipped with press switch (15), press switch (15) are located between magnet (14) and coil (13).

4. The biomimetic type of mock robot according to claim 1, wherein: and an antenna (22) is fixedly arranged on the outer surface of the side plate (2), and the antenna (22) is used for transmitting signals to the outside.

5. The biomimetic type of mock robot according to claim 1, wherein: the base (1) is 20cm long, the base (1) is 8cm wide and high, the side plate (2) is semi-elliptical, the side plate (2) is 8cm high, the side plate (2) is 15cm long, and the side plate (2) is 6cm wide.