CN113428329A - Underwater robot imitating batfish propulsion mode - Google Patents
Underwater robot imitating batfish propulsion mode Download PDFInfo
- Publication number
- CN113428329A CN113428329A CN202110776831.8A CN202110776831A CN113428329A CN 113428329 A CN113428329 A CN 113428329A CN 202110776831 A CN202110776831 A CN 202110776831A CN 113428329 A CN113428329 A CN 113428329A
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- flexible
- propulsion
- fin
- steering
- Prior art date
- 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.)
- Pending
Links
- 241001596816 Halieutaea stellata Species 0.000 title claims abstract description 21
- 230000005484 gravity Effects 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 6
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 20
- 229910052742 iron Inorganic materials 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 230000036544 posture Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 5
- 229920002379 silicone rubber Polymers 0.000 claims description 3
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 2
- 241000251468 Actinopterygii Species 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 description 5
- 230000009182 swimming Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 230000003534 oscillatory effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 241000251184 Rajiformes Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000010429 evolutionary process Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- NMJORVOYSJLJGU-UHFFFAOYSA-N methane clathrate Chemical compound C.C.C.C.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O NMJORVOYSJLJGU-UHFFFAOYSA-N 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- 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
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention provides an underwater robot imitating batfish propulsion mode, which comprises an underwater robot pressure-resistant cabin body, a steering engine and flexible fins, wherein a gravity center adjusting mechanism, a control module, a camera, a supporting plate and a battery module are arranged in the underwater robot; the underwater robot pressure-resistant cabin body consists of a shell and an end cover, the steering engines are symmetrically arranged along two sides of the central axis of the pressure-resistant cabin body, 5 steering engines are arranged on each side, aluminum fin lines are arranged on the steering engines and used for being connected with flexible fins, the number of the flexible fins is 2, the flexible fins are respectively connected with the steering engines on the two sides, flexible deformation can be generated under the swinging of the fin lines, when an initial phase difference exists between the steering engines and reciprocating motion is carried out, the fin lines transmit sinusoidal motion to the flexible fins, and traveling waves are transmitted along the surfaces of the flexible fins to generate thrust; the invention provides an underwater robot with low-speed stability and high-efficiency maneuverability and simulating a batfish propulsion mode, which simulates a fish MPF propulsion mode and has the advantages of noiseless propulsion and less wake vortexes.
Description
Technical Field
The invention relates to an underwater robot, in particular to an underwater robot imitating a bat fish propulsion mode, and belongs to the technical field of underwater robots.
Background
In recent years, as development of land resources approaches the end, people have begun to look at a wide sea. The ocean area accounts for about 71 percent of the earth surface area, and the resources are abundant. Such as combustible ice, which is a new mineral known as natural gas hydrate, has a high energy density and is nearly pollution-free after combustion. According to measurement, the combustible ice resource amount of south China sea only reaches 700 hundred million tons of oil equivalent, which is about 1/2 of the total amount of land oil and gas resources in China. The method is limited by complicated seabed conditions, the depth of the seabed is thousands or tens of thousands of meters, the seabed which is known by people at present only accounts for 5 percent of the ocean area, and a large area is waiting for development. Facing to the water depth far beyond the submergence limit of human and rich resource storage, scientists are developing underwater robots capable of submerging into the deep sea, the underwater robots are large in submergence depth and high in safety coefficient, can integrate various sensors, are powerful helpers for exploring the sea, and a large number of underwater robot devices are emerging in recent years.
The propeller has a simple structure, is flexible and visual to operate, and the traditional underwater robot mostly adopts a propeller type propeller as a propelling device. But limited by the mechanical structure and propulsion mechanism, it has the disadvantages of large disturbance to the environment, large noise, low propulsion efficiency and poor maneuverability hiding performance. Fish, as an "original resident" of the ocean, has undergone hundreds of millions of years of evolutionary processes, and the swimming manner exhibits a high degree of adaptability to the ocean environment, and their respective biological structures can be regarded as optimal solutions for swimming under different water conditions. With the continuous development and progress of bionics and computer science and the research and understanding of new materials, scientists begin to apply the fish swimming mode to the development of underwater robots, so as to develop underwater robots with high efficiency, high maneuverability, high navigational speed and high stability.
According to different Lindsey of propulsion parts, fish propulsion modes are divided into two main categories: BCF (Body and/or Caudal Fin propulsion) propulsion mode and MPF (Media and/or Paired Fin propulsion) mode. Although the BCF propulsion mode is fast, it is less stable and has low propulsion efficiency at low speeds. The MPF propulsion mode has the characteristics of high stability, high maneuverability, high efficiency and the like. The swimming mode of batfish-like batfish is MPF propulsion mode, Rosenberger analyzes the kinematics of eight batfish-like batfish, and identifies a continuous motion spectrum ranging from Rajiform fluctuations (multiple waves of travel through the fin and body) to Mobuliform oscillations (characterized by extensive flapping of pectoral fins). Compared with the traditional propeller, the MPF propulsion mode belongs to noiseless propulsion, the generated wake vortexes are less and are difficult to detect, and the military value of the propeller is more prominent.
Disclosure of Invention
The invention aims to provide an underwater robot which has low-speed stability and high-efficiency maneuverability and simulates a batfish propelling mode.
The purpose of the invention is realized as follows:
an underwater robot imitating batfish propulsion mode comprises an underwater robot pressure-resistant cabin body 1, steering engines 201, 202, 203, 204, 205, 206, 207, 208, 209 and 210, flexible fins 301 and 302, a gravity center adjusting mechanism 5, a control module 4, a camera 6, a supporting plate 8 and a battery module 7, wherein the underwater robot is internally provided with the flexible fins 301 and 302; the underwater robot pressure-resistant cabin body 1 consists of a shell and an end cover, wherein the shell is made of acrylic materials, the shell is cylindrical, the head part of the shell is hemispherical, ribs are uniformly arranged in the body length direction, round holes are formed in the ribs and are connected with steering gears through screws, the tail part of the underwater robot is provided with the end cover, the end cover is connected with the shell through 8 symmetrical screws, 10 steering gears are symmetrically arranged along the two sides of the central axis of the pressure-resistant cabin body, 5 fins are arranged on each side of the central axis of the pressure-resistant cabin body, the steering gears are provided with aluminum fin strips used for being connected with flexible fins, 2 flexible fins are respectively connected with the steering gears on the two sides, the flexible fins are made of flexible materials and can generate flexible deformation under the swinging of the fin strips, when an initial phase difference exists between the steering gears and the reciprocating motion is carried out, sinusoidal motion is transmitted to the flexible fins by the fin strips, traveling waves are transmitted along the surfaces of the flexible fins to generate thrust, and when only one-side flexible fin moves, lateral thrust is generated, the horizontal steering of the underwater robot can be realized.
The invention also includes such features:
an end cover is arranged at the tail of the underwater robot, the end cover is connected with the shell through 8 symmetrical screws, and the water tightness of the underwater robot is realized in an axial sealing mode;
the gravity center adjusting mechanism 5 is an iron block which can slide under the control of a motor, the iron block slides along a rod to change the gravity center position of the underwater robot, so that the head of the underwater robot is lifted, sunk and leveled, and three navigation postures of floating, sinking and leveling of the robot are realized;
an aluminum fin is arranged on the steering engine, the fin is a strip-shaped clamp, a row of small holes are formed in the upper portion of the fin, and the fin is connected with the flexible fin through screws;
the steering engine is waterproof, and 704 silicon rubber is uniformly coated on a steering engine circuit board to play a waterproof protection role;
the flexible fins are made of flexible materials and can generate flexible deformation under the swinging of the fin rays, when the steering engines have initial phase difference and do reciprocating motion, the fin rays transmit sinusoidal motion to the flexible fins, and the traveling wave is transmitted along the surfaces of the flexible fins to generate thrust; the change of the working frequency of the steering engine changes the advancing speed of the underwater robot; the change of the initial phase difference among the steering engines changes the propulsion mode of the underwater robot, realizes the conversion of fluctuation and swing, if the chord length direction of the flexible fins is less than one propulsion wavelength, the flexible fins are in a swing mode and more than one propulsion wavelength, the flexible fins are in a fluctuation mode, the fluctuation mode is suitable for low-speed and high-efficiency movement, and the swing mode is suitable for long-distance and high-speed cruising;
when the flexible fin moves on one side, lateral thrust is generated, and horizontal steering of the underwater robot can be achieved.
The underwater robot is provided with a control module 4, and can realize environment detection, danger early warning and remote accurate obstacle avoidance by matching with a picture transmitted by a camera 6 in real time.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an underwater robot with low-speed stability and high-efficiency maneuverability and simulating a batfish propulsion mode, which simulates a fish MPF propulsion mode and has the advantages of noiseless propulsion and less wake vortexes. The tail of the underwater robot is provided with an end cover, the end cover is connected with the shell through 8 symmetrical screws, and the water tightness of the underwater robot is realized in an axial sealing mode. The gravity center adjusting mechanism is an iron block which can slide through the control of a motor, the iron block slides along a rod to change the gravity center position of the underwater robot, so that the head of the underwater robot is raised, sunk or leveled, and three navigation postures of floating, sinking and leveling of the robot are realized. The flexible fin motion aspect: and setting working parameters and an initial phase difference of the steering engine, driving the fin rays to do reciprocating motion under the driving of the steering engine, transmitting sinusoidal motion to the flexible fins by the fin rays, and transmitting the traveling wave along the surfaces of the flexible fins to generate thrust. The change of the working frequency of the steering engine changes the advancing speed of the underwater robot; the change of the initial phase difference between the steering engines changes the propulsion mode of the underwater robot, and the conversion between fluctuation and swing is realized. The flexible fin is in oscillatory mode if the chord length direction is less than one push wavelength and in wave mode if it is greater than one push wavelength. When only the single-side flexible fin moves, lateral thrust is generated, and horizontal steering of the underwater robot can be realized. The underwater robot is provided with a control module, and can realize environment detection, danger early warning and remote accurate obstacle avoidance by matching with a picture transmitted by a camera in real time. Different types of sensors can be selectively arranged in the robot cabin body to respond to different water conditions, and the expansibility is strong.
Drawings
FIG. 1 is an isometric view of the invention with the outer shell removed;
FIG. 2 is a top view of the present invention;
FIG. 3 is a right side view of the present invention;
fig. 4 is an overall structural view of the present invention.
In the figure: 1-a pressure-resistant cabin body of the underwater robot; 201. 202, 203, 204, 205, 206, 207, 208, 209, 210-steering engines; 301. 302-a flexible fin; 4-a control module; 5-a center of gravity adjusting mechanism; 6-a camera; 7-a battery module; 801. 802-support plate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1 and 2, an underwater robot simulating a batfish propulsion mode has the overall structure: the underwater robot pressure-resistant cabin comprises an underwater robot pressure-resistant cabin body 1, a semi-cylindrical structure, a pushing device and a water-proof structure, wherein the underwater robot pressure-resistant cabin body is internally waterproof and protects precise electronic elements, and the pushing device is externally connected. The pressure-resistant cabin body 1 of the underwater robot is internally provided with a gravity center adjusting mechanism 5, a control module 4, a camera 6, a supporting plate and a battery module 7. The gravity center adjusting mechanism 5 is used for changing the gravity center position of the underwater robot and realizing the switching of three navigation postures of floating, submerging and horizontal of the robot. The control module 4 is matched with the camera 6 for use, so that environment detection, danger early warning and remote accurate obstacle avoidance can be realized. The battery module 7 is heavy and is arranged at the bottom to supply power to all parts of the underwater robot. In order to fix the bottom of the control module 4 and the battery module 7, a support plate is arranged at the bottom of each of the control module and the battery module. Ribs are uniformly arranged in the longitudinal direction of the underwater robot body, round holes are formed in the ribs and are connected with the steering engine through screws. The number of the steering engines is 10, the steering engines are symmetrically arranged along two sides of the central axis of the pressure-resistant cabin body 1 of the underwater robot, and each side is 5. And an aluminum fin ray is arranged on the steering engine and is used for being connected with the flexible fin. The number of the flexible fins is 2, and the flexible fins are respectively connected with the steering engines on the two sides.
With reference to fig. 1 and 2, the underwater robot simulating the batfish propulsion mode adjusts the posture in the following manner: the underwater robot is internally provided with a gravity center adjusting mechanism 5 which is an iron block capable of sliding under the control of a motor, the iron block slides along a rod to change the gravity center position of the underwater robot, so that the head of the underwater robot is raised, sunk or leveled, and the three navigation postures of floating, sinking and leveling of the robot are realized. In addition, when the single-side flexible fin moves, lateral thrust is generated, and horizontal steering of the underwater robot can be realized.
With reference to fig. 2 and 3, the underwater robot simulating the batfish propulsion mode changes parameters in the following manner: the change of the working frequency of the steering engine changes the advancing speed of the underwater robot; the initial phase difference between the steering engines is changed, the propulsion mode of the underwater robot is changed, and the conversion between fluctuation and swing is realized. The flexible fin is in oscillatory mode if the chord length direction is less than one push wavelength and in wave mode if it is greater than one push wavelength.
Taking an example of a fluctuation mode, the specific process is as follows:
1) the underwater robot imitating the propulsion mode of the batfish is installed according to the figure 1 and the figure 2.
2) The initial angle of the steering engine takes the included angle of the central axis as reference, and the motion laws of the steering engines on the left side and the right side are the same. Because the steering engines on both sides are symmetrically distributed, only the initial angle of the steering engine on the right side is explained here. The initial angle of the steering engine is not fixed, and the amplitude of the steering engine is limited by the maximum flexible deformation of the flexible fin, and the amplitude of the steering engine is 15 degrees. The initial angle of the right steering engine is as follows: the steering engine 201 is 0 degrees, the steering engine 202 is-15 degrees, the steering engine 203 is 0 degrees, the steering engine 204 is 15 degrees and the steering engine 205 is 0 degrees.
3) The reciprocating motion range of the steering engine is set to be-15 degrees, and the frequencies are the same.
4) In the MPF propulsion mode of the fish, the propulsion wave of the MPF travels through the body in the direction opposite to the overall motion and at the speed higher than the overall swimming speed, so that at the initial moment, if the underwater robot needs to advance, the propulsion wave needs to be transmitted backwards, at the moment, the phase of the steering engine 205 is made to be 0, the phase of the steering engine 204 is-pi/2, the phase of the steering engine 203 is-pi, the phase of the steering engine 202 is-3 pi/2, and the phase of the steering engine 201 is-2 pi.
5) If the underwater robot needs to float, the center of gravity is adjusted to the rear end of the underwater robot through the center of gravity adjusting mechanism, so that the head of the underwater robot is lifted and pushed forward, and then floating can be achieved; similarly, when the underwater robot dives, the gravity center needs to be adjusted to the front end of the underwater robot, so that the head of the underwater robot sinks; if the underwater robot needs to move horizontally, the center of gravity needs to be adjusted to the middle part, so that the head of the underwater robot is horizontal.
6) When the underwater robot moves forward, if the underwater robot needs to turn to the right, the right steering engine is closed, and the left steering engine maintains a forward propulsion mode; or the left steering engine is closed, and the right steering engine is set to be in a backward propelling mode. The same applies to left-turn.
7) Taking the swing amplitude of 15 degrees as an example, if the swing type propulsion needs to be changed into the swing type, only the phase difference between the front steering engine and the last steering engine needs to be limited within 2 pi, and at the moment, the end points of the single-side fin rays cannot form a complete wave, and the swing mode is adopted.
The tail of the underwater robot is provided with an end cover, the end cover is connected with the shell through 8 symmetrical screws, and the water tightness of the underwater robot is realized in an axial sealing mode.
The steering engine is waterproof, and 704 silicon rubber is uniformly coated on a steering engine circuit board to play a waterproof protection role.
The underwater robot is provided with a control module 4, and can realize environment detection, danger early warning and remote accurate obstacle avoidance by matching with a picture transmitted by a camera 6 in real time.
The invention provides an underwater robot with low-speed stability and high-efficiency maneuverability and simulating a batfish propelling mode. The underwater robot pressure-resistant cabin comprises an underwater robot pressure-resistant cabin body, a control module, a gravity center adjusting mechanism, a camera, a battery module, a supporting plate, a steering engine and flexible fins. It simulates the MPF propulsion mode of fish, and has the advantages of noiseless propulsion and less wake vortexes. The tail of the underwater robot is provided with an end cover, the end cover is connected with the shell through 8 symmetrical screws, and the water tightness of the underwater robot is realized in an axial sealing mode. The gravity center adjusting mechanism is an iron block which can slide through the control of a motor, the iron block slides along a rod to change the gravity center position of the underwater robot, so that the head of the underwater robot is raised, sunk and leveled, and three navigation postures of floating, sinking and leveling of the robot are realized. The flexible fin motion aspect: and setting working parameters and an initial phase difference of the steering engine, driving the fin rays to do reciprocating motion under the driving of the steering engine, transmitting sinusoidal motion to the flexible fins by the fin rays, and transmitting the traveling wave along the surfaces of the flexible fins to generate thrust. The change of the working frequency of the steering engine changes the advancing speed of the underwater robot; the change of the initial phase difference between the steering engines changes the propulsion mode of the underwater robot, and the conversion between fluctuation and swing is realized. The flexible fin is in oscillatory mode if the chord length direction is less than one push wavelength and in wave mode if it is greater than one push wavelength. When only the single-side flexible fin moves, lateral thrust is generated, and horizontal steering of the underwater robot can be realized. The underwater robot is provided with a control module, and can realize environment detection, danger early warning and remote accurate obstacle avoidance by matching with a picture transmitted by a camera in real time. Different types of sensors can be selectively arranged in the robot cabin body to respond to different water conditions, and the expansibility is strong.
Claims (6)
1. An underwater robot imitating a bat fish propulsion mode is characterized in that: the device comprises a pressure-resistant cabin body (1) of the underwater robot, steering engines (201) (202) (203) (204) (205) (206) (207) (208) (209) (210) and flexible fins (301) (302), wherein a gravity center adjusting mechanism (5), a control module (4), a camera (6), a supporting plate (8) and a battery module (7) are arranged in the underwater robot; the underwater robot pressure-resistant cabin body (1) consists of a shell and an end cover, wherein the shell is made of acrylic materials, the shell is cylindrical, the head of the shell is hemispherical, ribs are uniformly arranged in the body length direction, round holes are formed in the ribs and are connected with steering gears through screws, the tail of the underwater robot is provided with the end cover, the end cover is connected with the shell through 8 symmetrical screws, 10 steering gears are symmetrically arranged along the two sides of the central axis of the pressure-resistant cabin body, 5 steering gears are arranged on each side of the central axis, the steering gears are provided with aluminum fin strips used for being connected with flexible fins, 2 flexible fins are respectively connected with the steering gears on the two sides, the flexible fins are made of flexible materials and can generate flexible deformation under the swinging of the fin strips, when an initial phase difference exists between the steering gears and the steering gears do reciprocating motion, the fin strips transmit sinusoidal motion to the flexible fins, the traveling wave is transmitted along the flexible fin surfaces to generate thrust, and when only one-side flexible fin moves, the lateral thrust is generated, the horizontal steering of the underwater robot can be realized.
2. An underwater robot simulating batfish propulsion as claimed in claim 1, wherein: the tail of the underwater robot is provided with an end cover, the end cover is connected with the shell through 8 symmetrical screws, and the water tightness of the underwater robot is realized in an axial sealing mode.
3. An underwater robot simulating batfish propulsion as claimed in claim 1, wherein: the gravity center adjusting mechanism (5) is an iron block which can be slid through a motor, the iron block can slide along the rod to change the gravity center position of the underwater robot, so that the head of the underwater robot is raised, sunk and leveled, and three navigation postures of floating, sinking and leveling of the robot are realized.
4. An underwater robot simulating batfish propulsion as claimed in claim 1, wherein: the steering engine is provided with an aluminum fin, the fin is a strip-shaped clamp, a row of small holes are formed in the upper portion of the fin, and the fin is connected with the flexible fin through screws.
5. An underwater robot simulating batfish propulsion as claimed in claim 1, wherein: the steering engine is waterproof, and 704 silicon rubber is uniformly coated on a steering engine circuit board to play a waterproof protection role.
6. An underwater robot simulating batfish propulsion as claimed in claim 1, wherein: the flexible fins are made of flexible materials and can generate flexible deformation under the swinging of the fin rays, when the steering engines have initial phase difference and do reciprocating motion, the fin rays transmit sinusoidal motion to the flexible fins, and the traveling wave is transmitted along the surfaces of the flexible fins to generate thrust; the change of the working frequency of the steering engine changes the advancing speed of the underwater robot; the change of the initial phase difference between the steering engines changes the propulsion mode of the underwater robot, the conversion of fluctuation and swing is realized, if the chord length direction of the flexible fins is smaller than one propulsion wavelength, the flexible fins are in a swing mode and larger than one propulsion wavelength, the flexible fins are in a fluctuation mode, the fluctuation mode is suitable for low-speed and efficient movement, and the swing mode is suitable for long-distance and high-speed cruising.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110776831.8A CN113428329A (en) | 2021-07-09 | 2021-07-09 | Underwater robot imitating batfish propulsion mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110776831.8A CN113428329A (en) | 2021-07-09 | 2021-07-09 | Underwater robot imitating batfish propulsion mode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113428329A true CN113428329A (en) | 2021-09-24 |
Family
ID=77759755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110776831.8A Pending CN113428329A (en) | 2021-07-09 | 2021-07-09 | Underwater robot imitating batfish propulsion mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113428329A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313181A (en) * | 2022-01-21 | 2022-04-12 | 广州大学 | Bionic underwater navigation device based on sea flatworm motion mode and control method thereof |
| CN114671000A (en) * | 2022-04-13 | 2022-06-28 | 上海电力大学 | Bionic devil fish robot based on sine-swinging wave fin structure |
| CN114715364A (en) * | 2022-04-11 | 2022-07-08 | 中国人民解放军国防科技大学 | Compound drive underwater robot |
| CN114750912A (en) * | 2022-05-07 | 2022-07-15 | 广州大学 | Underwater exploration robot based on sea flatworm motion morphology is bionical |
| CN117902022A (en) * | 2024-03-20 | 2024-04-19 | 中国海洋大学 | Separated MPF (multi-platform surface mount) propelled underwater robot and moving method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079371A (en) * | 2010-11-19 | 2011-06-01 | 王世全 | Bionic robofish propelled by vibration of lateral fins |
| CN102490884A (en) * | 2011-12-01 | 2012-06-13 | 中国科学院合肥物质科学研究院 | Ray-imitating robot body structure with underwater three-dimensional athletic ability |
| CN103213665A (en) * | 2013-05-09 | 2013-07-24 | 中国科学院自动化研究所 | Biomimetic long-fin undulatory propulsion robotic fish |
| CN110758689A (en) * | 2019-11-22 | 2020-02-07 | 中国科学院自动化研究所 | Bionic robot fish |
| CN112810782A (en) * | 2019-11-15 | 2021-05-18 | 广州中国科学院先进技术研究所 | Underwater bionic robot and motion control system thereof |
-
2021
- 2021-07-09 CN CN202110776831.8A patent/CN113428329A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079371A (en) * | 2010-11-19 | 2011-06-01 | 王世全 | Bionic robofish propelled by vibration of lateral fins |
| CN102490884A (en) * | 2011-12-01 | 2012-06-13 | 中国科学院合肥物质科学研究院 | Ray-imitating robot body structure with underwater three-dimensional athletic ability |
| CN103213665A (en) * | 2013-05-09 | 2013-07-24 | 中国科学院自动化研究所 | Biomimetic long-fin undulatory propulsion robotic fish |
| CN112810782A (en) * | 2019-11-15 | 2021-05-18 | 广州中国科学院先进技术研究所 | Underwater bionic robot and motion control system thereof |
| CN110758689A (en) * | 2019-11-22 | 2020-02-07 | 中国科学院自动化研究所 | Bionic robot fish |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313181A (en) * | 2022-01-21 | 2022-04-12 | 广州大学 | Bionic underwater navigation device based on sea flatworm motion mode and control method thereof |
| CN114715364A (en) * | 2022-04-11 | 2022-07-08 | 中国人民解放军国防科技大学 | Compound drive underwater robot |
| CN114671000A (en) * | 2022-04-13 | 2022-06-28 | 上海电力大学 | Bionic devil fish robot based on sine-swinging wave fin structure |
| CN114750912A (en) * | 2022-05-07 | 2022-07-15 | 广州大学 | Underwater exploration robot based on sea flatworm motion morphology is bionical |
| CN117902022A (en) * | 2024-03-20 | 2024-04-19 | 中国海洋大学 | Separated MPF (multi-platform surface mount) propelled underwater robot and moving method thereof |
| CN117902022B (en) * | 2024-03-20 | 2024-06-04 | 中国海洋大学 | Separated MPF (multi-platform surface mount) propelled underwater robot and moving method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113428329A (en) | Underwater robot imitating batfish propulsion mode | |
| WO2021000628A1 (en) | Bionic robotic manta ray | |
| Wang et al. | Development and control of underwater gliding robots: A review | |
| Chew et al. | Development of propulsion mechanism for Robot Manta Ray | |
| WO2019184662A1 (en) | Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof | |
| Yu et al. | A framework for biomimetic robot fish's design and its realization | |
| CN105882925A (en) | Two-degree-of-freedom gliding solar underwater vehicle and control method thereof | |
| CN108394542B (en) | Wave-energy-driven simulated bat ray underwater propulsion device | |
| CN108688783B (en) | Bionic underwater glider with fluctuation fins | |
| CN212637870U (en) | Ray-imitating robotic fish with single main shaft and single motor and by taking fluctuating pectoral fins as power | |
| CN109866903B (en) | Bionic foldable pectoral fin robotic fish | |
| AU2020103022A4 (en) | Autonomous Robotic Fish | |
| Cui et al. | Review of research and control technology of underwater bionic robots | |
| CN114655405A (en) | Underwater multi-degree-of-freedom motion mechanism for bionic cuttlefish | |
| Khalin et al. | Performance comparison of different aerodynamic shapes for autonomous underwater vehicles | |
| Zhou et al. | Overview of progress in development of the bionic underwater propulsion system | |
| CN104015899B (en) | Based on the underwater propulsion unit that the parallel swing-bar mechanism of twin-stage drives | |
| Gao et al. | Design, fabrication, and testing of a maneuverable underwater vehicle with a hybrid propulsor | |
| Liu et al. | Design and preliminary evaluation of a biomimetic underwater robot with undulating fin propulsion | |
| CN108146600B (en) | Bionic underwater vehicle propelled by long fin torsional waves and motion mode thereof | |
| CN217496510U (en) | Bionic devil fish robot based on sine-swinging wave fin structure | |
| Dinelli et al. | Design of a hybrid detachable amphibious drone for monitoring marine environment | |
| CN116252935A (en) | Bionic machine penguin | |
| Zhang et al. | Mechanism Design, Kinematic and Hydrodynamic Simulation of a Wave-driven Amphibious Bionic Robot | |
| CN115352603A (en) | Penguin-like underwater robot capable of realizing sea-air switching |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210924 |
|
| RJ01 | Rejection of invention patent application after publication |