CN113525645B - Bionic underwater robot based on squid - Google Patents
Bionic underwater robot based on squid Download PDFInfo
- Publication number
- CN113525645B CN113525645B CN202110769301.0A CN202110769301A CN113525645B CN 113525645 B CN113525645 B CN 113525645B CN 202110769301 A CN202110769301 A CN 202110769301A CN 113525645 B CN113525645 B CN 113525645B
- Authority
- CN
- China
- Prior art keywords
- base
- rib
- connecting rod
- squid
- drive
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The invention discloses a squid-based bionic underwater robot, which relates to the technical field of bionic underwater robots and comprises a spraying part, wherein the spraying part comprises a base and a base which are arranged end to end, an outer coating is arranged between the base and the base, a cavity is formed in the outer coating, the base is provided with a water inlet channel communicated with the cavity, and the base is provided with a water outlet; and the rib part, the rib part sets up in the cavity, the rib part includes the lead screw, a plurality of first link structure around lead screw circumference distribution, first link structure is provided with the first rib that props, the lead screw has the first slip nut of being connected with first link structure soon, the lead screw removes in order to drive first link structure motion through the first slip nut of drive, thereby make first link structure drive first rib that props strut in order to expand the mantle, or drive each first rib that props and contract in order to reset the mantle. The invention reduces the influence of the environment on the engine body, realizes the propelling function of the engine body and can carry out continuous injection for many times.
Description
Technical Field
The invention relates to the technical field of bionic underwater robots, in particular to a bionic underwater robot based on squids.
Background
In recent years, under the drive of the development of unmanned aerial vehicle science and technology, underwater robot products also begin to become the popular science and technology field, and relevant product technologies play an important role in aspects such as resource investigation sampling, salvage and military application. In some scientific and technological exhibitions, various underwater robots not only show advanced technologies, but also embody the development potential and the afterward strength of the underwater robots. Therefore, the underwater robot can well make great contribution to the exploration of oceans for human beings and the development of ocean resources. At present, the detection type underwater robot has wider application and application market.
The bionic cuttlefish robot recorded in bionic cuttlefish robot and key technology research of the bionic cuttlefish robot by Harbin industry university utilizes SMA shape memory alloy to realize main motion and is used for driving cuttlefish fins, a water injection bag and a water spray nozzle. The inkfish fin is a bionic triangular fin propeller, SMA wires used as a drive are arranged above and below the front edge of the inkfish fin, and the upper SMA and the lower SMA are respectively heated by electrifying to realize upward or downward bending and swinging; the water jet bag utilizes silica gel as an outer covering film to play an insulating role, an SMA material is inserted into the water jet bag, the opening end of the bionic outer covering film can be driven to contract along the circumferential direction when the SMA wire is electrified and heated to contract, the water jet bag is tightened to increase the pressure in the water jet bag, the tongue flap at the nozzle is opened when certain pressure is reached, high-pressure water jet is used as the advancing power of the cuttlefish, and then the outer covering film is relaxed by utilizing the elasticity of the silica gel to absorb water under negative pressure. The three SMA wires are utilized at the silica gel nozzle to realize the arbitrary angle bending of the hemisphere, the bionic tongue flap is an elastic plastic sheet, and the opening and the closing are realized through the positive and negative compaction in the water bag.
However, the water temperature has a great influence on the heating and heat dissipation speed of the shape memory alloy, so that the motion effect of the cuttlefish robot in different underwater environments will be different, and the control requirement will also change due to the change of the ambient water temperature, and the cuttlefish robot is not flexible enough.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, the bionic underwater robot based on the squid provided by the embodiment of the invention has the advantages that the influence of the environment on the body is reduced, the body propelling function is realized, and multiple continuous injections can be performed.
The squid-based bionic underwater robot comprises a spraying part, wherein the spraying part comprises a base and a base which are arranged end to end, an outer casing is arranged between the base and the base, a cavity is formed in the outer casing, the base is provided with a water inlet channel communicated with the cavity, and the base is provided with a water outlet; and the rib part, the rib part sets up in the cavity, the rib part includes the lead screw, winds a plurality of first link structure that the lead screw circumference distributes, first link structure is provided with the first rib that props, the lead screw have soon with first sliding nut of first link structure connection, the lead screw is through the drive first sliding nut removes in order to drive first link structure motion, thereby makes first link structure drives first the rib that props struts in order to expand the mantle, or drive each first umbrella bone that props returns and contracts in order to reset the mantle.
In an optional or preferred embodiment, the first link structure includes a first rod, a second rod and a third rod, which are sequentially hinged, the head end of the first rod is hinged to the base, the head end of the third rod is hinged to the base, the first sliding nut is connected to the first link structure through a connecting rod to drive the first link structure to move, and the tail end of the third rod extends to form the first rib support.
In an optional or preferred embodiment, the rib assembly further includes a plurality of second link structures distributed around the circumference of the lead screw, each of the first link structures is located at the head of the chamber, each of the second link structures is located at the tail of the chamber, the second link structures are provided with second rib supporting structures, the lead screw is screwed with a second sliding nut connected with the second link structures, and the lead screw drives the second sliding nut to move so as to drive the second link structures to move, so that the second link structures drive the second rib supporting structures to be spread so as to expand the mantle, or drive the second rib supporting structures to be retracted so as to reset the mantle.
In an optional or preferred embodiment, the second link structure includes a fourth rod and a fifth rod hinged to each other, one end of the fourth rod is hinged to the fifth rod, the other end of the fourth rod is hinged to the second sliding nut, the tail end of the fifth rod is hinged to the base, the head end of the fifth rod extends to form the second umbrella supporting rib, and the second sliding nut drives the second umbrella supporting rib to move through the fourth rod.
In an alternative or preferred embodiment, the base is provided with a motor for driving the screw rod to rotate, and the screw rod rotates to drive the first sliding nut and the second sliding nut to move from the tail end to the head end, so that the first supporting rib and the second supporting rib are both expanded to expand the mantle, or the first sliding nut and the second sliding nut are driven to move from the head end to the tail end, so that the first supporting rib and the second supporting rib are both retracted to reset the mantle.
In an optional or preferred embodiment, the squid-based bionic underwater robot further comprises a shell part, wherein the shell part comprises a head shell, a body shell and a tail shell, the head shell covers the base, the body shell is connected between the base and the base, the mantle is located in the body shell, and the tail shell covers the base.
In an alternative or preferred embodiment, the inlet of the water inlet channel faces to the side, and the base is provided with a valve cover at the outlet of the water inlet channel to prevent water in the cavity from flowing back to the water inlet channel.
In an alternative or preferred embodiment, the water outlet is directed towards the tail part and is connected with a nozzle, the nozzle is positioned in the tail part shell, and a one-way valve is arranged in the nozzle to prevent external water from flowing back to the chamber.
In optional or preferred embodiment, bionical underwater robot based on squid is still including installing the fin part of prelude casing, the fin part includes two rudders, the rudder includes the steering wheel and connects steering wheel's the epaxial rudder oar in the axis of rotation, two the steering wheel is located in the prelude casing, two the rudder oar is located the outside both sides of prelude casing to control turns to.
Based on the technical scheme, the embodiment of the invention at least has the following beneficial effects: according to the technical scheme, the umbrella rib component is designed to perform a water absorption action, the screw rod rotates to drive the first sliding nut to move so as to drive the first connecting rod structure to move, the first umbrella opening ribs on the first connecting rod structure are opened, so that the outer sleeve film is expanded, after the outer sleeve film is expanded, the internal water pressure of the cavity is reduced, and water enters the water inlet channel; when the spraying action is executed, the screw rod rotates to drive the first sliding nut to move reversely, the first umbrella supporting framework is driven to retract through the first connecting rod structure, so that the mantle is reset, water in the chamber is sprayed out from the water outlet, and the spraying action is completed; the first sliding nut is limited in the stroke of the screw rod, the movement range of the first umbrella supporting rib is limited, water in an inner cavity of the mantle cannot be discharged, squid spraying action can be simulated accurately, the water sucking action and the spraying action are repeatedly acted, continuous spraying can be realized, and the movement effect cannot be influenced due to the water temperature because the adopted umbrella rib parts are structural parts, so that the bionic effect is further improved.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a front view of an embodiment of the invention, wherein the fin portion is not shown;
FIG. 3 is a cross-sectional view of an embodiment of the invention, wherein the fin portion is not shown;
FIG. 4 is a front view of the injection section in the embodiment of the present invention;
FIG. 5 is a perspective view of the injection section in an embodiment of the present invention, wherein the first link structure and the second link structure are not shown;
FIG. 6 is a cross-sectional view of the injection section in an embodiment of the present invention, wherein the first link structure and the second link structure are not shown;
FIG. 7 is a perspective view of a base in an embodiment of the invention;
FIG. 8 is a perspective view of a base in an embodiment of the invention;
FIG. 9 is a cross-sectional view of the assembly of the aft housing with the nozzle in an embodiment of the present invention;
FIG. 10 is a cross-sectional view of a nozzle in an embodiment of the present invention;
FIG. 11 is a first schematic view of a fin portion in an embodiment of the invention;
FIG. 12 is a second schematic view of the fin portion of an embodiment of the present invention;
FIG. 13 is a wiring circuit diagram of the humidity sensor and the main board of the motion control section in the embodiment of the present invention;
fig. 14 is a wiring circuit diagram of a gyroscope and a main board of a motion control section in the embodiment of the present invention;
FIG. 15 is a wiring circuit diagram of a steering engine, a steering engine driving board and a main board of the motion control section in the embodiment of the present invention;
FIG. 16 is a wiring circuit diagram of the wireless communication module and the main board of the motion control section according to the embodiment of the present invention;
fig. 17 is a wiring circuit diagram of a motor, a motor driving board module, a main board, and a power supply of the motion control section in the embodiment of the present invention;
fig. 18 is a schematic diagram of the relationship between the output signal of the motion control part and the angle of the output shaft of the steering engine in the embodiment of the invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 12, a squid-based biomimetic underwater robot includes a jet part 200, wherein the jet part 200 includes a base 211, a base 261, and an umbrella rib part.
Referring to fig. 4, the base 211 and the base 261 are arranged end to end, an overcoat film, not shown, is arranged between the base 211 and the base 261, a chamber is formed in the overcoat film, the base 211 is provided with a water inlet channel 212 communicating with the chamber, and the base 261 is provided with a water outlet 262.
Specifically, two water inlet channels 212 are provided in the base 211, and the inlets of the water inlet channels 212 face the sides, and a valve cover 213 is provided at the outlet of the water inlet channel 212 of the base 211 to prevent the water in the chamber from flowing back to the water inlet channels 212. The water outlet 262 faces the tail and is connected with a nozzle 271, and a one-way valve 272 is arranged in the nozzle 271 to prevent external water from flowing back to the chamber, as shown in fig. 7. It can be understood that, when the spraying part 200 performs the water sucking action, the mantle is expanded, the external water flows into the chamber from both sides through the water inlet channel 212, at this time, the one-way valve 272 is closed, the water can not enter the chamber from the one-way valve 272, and can only enter from the water inlet channel 212 of the base 211 of the spraying part, so that the robot can be prevented from backing up; when the spraying part 200 performs the spraying action, the one-way valve 272 is opened, the mantle is reset, the water in the chamber is sprayed out from the water outlet at the tail part through the nozzle 271, the bionic underwater robot based on the squid moves forward, at the moment, the valve cover 213 at the outlet of the water inlet channel 212 can prevent the water in the chamber from flowing back to the water inlet channel 212, and the water sucking action and the spraying action are repeated, so that the continuous spraying can be realized. In this embodiment, since the check valve 272 is provided in the nozzle 271, the one-way flow of the water flow can be further ensured.
Referring to fig. 4 to 6, the rib members are disposed in the chamber and include a screw 223 and a plurality of first link structures 230 circumferentially distributed around the screw 223, in this embodiment, the first link structures 230 are disposed in a total of six and uniformly circumferentially distributed. Specifically, the first link structure 230 is provided with a first supporting rib 234, the screw rod 223 is screwed with a first sliding nut 225 connected with the first link structure 230, and the screw rod 223 drives the first sliding nut 225 to move so as to drive the first link structure 230 to move. Specifically, the first link structure 230 includes a first rod 231, a second rod 232, and a third rod 233 hinged in sequence, a head end of the first rod 231 is hinged to the base 211, a head end of the third rod 233 is hinged to the base 211, a tail end of the third rod 233 extends to form a first supporting rib 234, and the first sliding nut 225 is connected to the first link structure 230 through a connecting rod 235.
As can be appreciated, the lead screw 223 drives the first sliding nut 225 to move, which can drive the first link structure 230 to move, so that the first link structure 230 drives the first supporting ribs 234 to expand the mantle, or drives the first supporting ribs 234 to retract to reset the mantle. In this embodiment, when performing a water absorbing action, the screw rod 223 rotates, the first sliding nut 225 moves from the tail end to the head end, the first sliding nut 225 drives the first link structure 230 to act through the connecting rod 235, the first link structure 230 is a four-bar link structure, at this time, the tail end of the third rod 233 rotates outwards, that is, the first support rib 234 opens the mantle, the specific action direction can be shown in fig. 4, and a person skilled in the art can design the length of each rod of the first link structure 230 to control the movement amplitude of the first support rib 234 according to the specific structure; when the spraying action is performed, the screw rod 223 rotates, the first sliding nut 225 moves from the head end to the tail end, the first sliding nut 225 drives the first connecting rod structure 230 to act through the connecting rod 235, at this time, the tail end of the third rod 233 rotates inwards, namely, the first supporting rib 234 retracts, and the outer covering membrane resets.
In one embodiment, the umbrella rib assembly further comprises a plurality of second connecting rod structures 240 distributed around the circumference of the screw rod 223, each first connecting rod structure 230 is located at the head of the chamber, each second connecting rod structure 240 is located at the tail of the chamber, the second connecting rod structure 240 is provided with a second supporting umbrella rib 243, the screw rod 223 is screwed with a second sliding nut 226 connected with the second connecting rod structure 240, and the screw rod 223 drives the second connecting rod structure 240 to move by driving the second sliding nut 226 to move. Specifically, the second link structure 240 includes a fourth rod 241 and a fifth rod 242 hinged to each other, the fourth rod 241 has one end hinged to the fifth rod 242 and the other end hinged to the second sliding nut 226, the trailing end of the fifth rod 242 is hinged to the base 261, and the leading end of the fifth rod 242 extends to form a second support rib 243.
It will be appreciated that the screw 223 drives the second sliding nut 226 to move, so as to drive the second connecting rod structure 240 to move, i.e. drive the fifth rod 242 to move through the fourth rod 241, and further drive the second supporting ribs 243 to move, so that the second connecting rod structure 240 drives the second supporting ribs 243 to expand the mantle, or drives each second supporting rib 243 to retract to reset the mantle. In this embodiment, when performing the water absorption action, the screw rod 223 rotates, the second sliding nut 226 moves from the tail end to the head end, the second sliding nut 226 drives the second connecting rod structure 240 to act, the head end of the fifth rod 242 rotates towards the outside, that is, the second supporting rib 243 supports the mantle, the specific action direction can be shown in fig. 4, and a person skilled in the art can design the length of each rod of the second connecting rod structure 240 to control the movement amplitude of the second supporting rib 243 according to the specific structure; when the spraying operation is performed, the screw rod 223 rotates, the second sliding nut 226 moves from the head end to the tail end, the second sliding nut 226 operates by driving the second link structure 240, at this time, the tail end of the fifth rod 242 rotates inwards, i.e. the second supporting rib 243 retracts, and the mantle is reset.
As shown in fig. 5, the base 211 is provided with a motor 221 for driving the screw rod 223 to rotate, the motor 211 adopts a speed reduction motor, when performing a water absorbing action, the screw rod 223 rotates to drive the first sliding nut 225 and the second sliding nut 226 to move from the tail end to the head end, so that the first supporting rib 234 and the second supporting rib 243 are both expanded to expand the mantle, when performing a spraying action, the screw rod 223 rotates to drive the first sliding nut 225 and the second sliding nut 226 to move from the head end to the tail end, so that the first supporting rib 234 and the second supporting rib 243 are both retracted to reset the mantle.
In addition, referring to fig. 6 and 8, the screw rod 223 and the motor 221 are connected by a double clutch 222, a waterproof bearing is arranged on one side close to the double clutch 222 and fixed in a central hole of the base 211, and the tail end of the screw rod 223 is fixed on a horizontal bearing seat 224 on the base.
In this embodiment, because the rib part that adopts is the structure, can not influence the motion effect because of the temperature, and first sliding nut and second sliding nut have the restriction at the stroke of lead screw, and first rib and the second of propping props the motion range of rib also has the restriction, can't get rid of the water of the internal cavity of mantle, can accurately simulate squid and spray the action, foretell absorb water action and spray the action and repeat the action, can realize continuous jet. And the elastic rubber overcoat film is wrapped on the outer side of the umbrella rib component, one end of the elastic rubber overcoat film is fixed on the side surface of the base by the fixing ring, and one section of elastic rubber overcoat film is adhered to the side surface of the base, so that the umbrella rib component has the characteristic of complete sealing. When the first umbrella supporting ribs and the second umbrella supporting ribs are unfolded or contracted, the rubber mantle can expand or contract along with the first umbrella supporting ribs and the second umbrella supporting ribs.
In order to make the structure of the squid-based bionic underwater robot more stable, the squid-based bionic underwater robot further comprises a shell part, wherein the shell part comprises a head shell 101, a main body shell 102 and a tail shell 103, the head shell 101 covers the base 211, the main body shell 102 is connected between the base 211 and the base 261, an outer mantle is positioned in the main body shell 102, and the tail shell 103 covers the base 261. In this embodiment, the head casing 101 has a half-and-half structure and is fastened by screws, so that the head casing 101 has a completely closed characteristic, a sealing ring can be designed by a person skilled in the art according to a corresponding structure, the head casing 101 is formed by combining a left part and a right part, a clamping groove is formed in the inner side of the head casing, a development circuit board can be placed in the head casing, and a fixing seat of a motor is arranged on the inner side of one part of the head casing. The main body shell 102 is in a shuttle shape, is formed by combining a left part and a right part, is fastened by screws, is integrally in a fence shape with uniform circumferential distribution, does not have airtightness, and is mainly responsible for connecting the main body shell 102 with the tail shell 103 and protecting the injection part 200, a wiring groove is designed on the inner side of one part in the main body shell 102, in the embodiment, a battery is arranged in the tail shell 103, a control system is arranged in the head shell 101, and the battery supplies power to the control system through a circuit which passes through the main body shell 102 and extends to the tail shell 103 and can be fixed at the wiring groove when passing through the inside of the main body shell 102. The rear housing 103 is funnel-shaped and is an integral body which is responsible for protecting the nozzle 271 and the battery, the nozzle 271 being located within the rear housing 103.
The bionic underwater robot based on the squid further comprises a fin part 300 arranged on the head shell 101, the fin part 300 comprises two rudders 310, each rudder 310 comprises a steering engine 311 and a steering oar 313 connected to a rotating shaft 312 of the steering engine 311, the two steering engines 311 are located in the head shell 101, and the two steering oars 313 are located on two outer sides of the head shell 101 to control steering. Further, the head shell 101 is provided with a steering engine bracket 314 for mounting the steering engine 311. When the robot is understood, the steering engines 311 on the two sides drive the steering paddles 313 to rotate, and the resistance on the two sides of the robot in the advancing process is different due to the different orientation of the steering paddles 313, so that the steering effect is achieved.
The bionic underwater robot based on the squid also comprises a motion control part, and the motion control part can be mainly divided into three functional sub-layers by combining figures 13 to 18: a decision layer, an execution layer and an information acquisition and exchange layer. The decision layer comprises two parts, namely an instruction which is embedded in the MCU and controls the invention to move in a default state (straight forward); secondly, the user sends a motion instruction to the invention through the upper computer. The execution layer comprises a motor, a steering engine and a driving module thereof. The information acquisition and exchange layer comprises a wireless communication module and a humidity sensor.
The electronic components used in the present invention are shown in the following table.
Under the default state, the motor driving the screw rod to rotate firstly rotates forwards for 2s at the speed of 180rpm, so that the umbrella rib parts are opened to finish the water sucking action, and then rotates backwards for 2s to contract the umbrella rib parts, discharge the water in the cavity and finish one-time complete spraying. If no person sends a motion command and the information collected by the humidity sensor shows that the inner condition of the sleeve-fish sealed chamber is good, the robot repeats the actions and keeps a straight-ahead state in water.
The robot can be remotely controlled by the upper computer. The working frequency range of the communication module used by the invention is 425-525MHz, the problem of underwater signal attenuation can be effectively resisted, and cross-medium communication between air and water is realized. The upper computer is connected with the communication modules with the same model, so that a user can input an instruction at the upper computer to change the speed, the steering and the rotating time of a motor for controlling the movement of the screw rod; the angle of a steering engine for controlling the fin part is changed, so that the robot can realize steering motion. Meanwhile, the user can also check the information collected by the humidity sensor carried on the robot in real time at the upper computer. Under the normal working condition of the singlechip, great temperature change can not be produced. The robot will not generate a large amount of heat so as to raise the water temperature greatly. The underwater environment temperature of the robot is relatively stable, the self temperature is relatively stable, and electronic components such as a motor and the like work normally. The shell of the robot is made of photosensitive resin, the electronic components are located in the closed space inside the robot, and the normal work of the electronic components cannot be affected basically due to the change of water temperature within a certain range.
In the embodiment, the spraying part drives the first connecting rod structure and the second connecting rod structure to move through the screw rod so as to suck and discharge water in the cavity. The shell part is integrally in a shuttle shape and plays a role in supporting and protecting. The nozzle at the water outlet realizes the unidirectional flow of water flow, and the spraying propulsion of the robot is realized by the synergistic effect of the nozzle and the spraying part. In the fin part, two steering engines control the pie rudder propeller to realize the control of the robot direction. And the motion control part controls the robot to realize basic underwater motion.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (9)
1. The utility model provides a bionical underwater robot based on squid which characterized in that: comprises an injection part (200), wherein the injection part (200) comprises
The water-saving device comprises a base (211) and a base (261) which are arranged end to end, wherein an outer coating film is arranged between the base (211) and the base (261), a cavity is formed in the outer coating film, the base (211) is provided with a water inlet channel (212) communicated with the cavity, and the base (261) is provided with a water outlet (262); and
the umbrella rib component is arranged in the cavity and comprises a screw rod (223), a plurality of first connecting rod structures (230) distributed around the circumference of the screw rod (223) and a plurality of second connecting rod structures (240) distributed around the circumference of the screw rod (223), each first connecting rod structure (230) is positioned at the head part of the cavity, each second connecting rod structure (240) is positioned at the tail part of the cavity, the first connecting rod structure (230) is provided with a first supporting umbrella rib (234), the screw rod (223) is screwed with a first sliding nut (225) connected with the first connecting rod structure (230), the screw rod (223) drives the first sliding nut (225) to move so as to drive the first connecting rod structure (230) to move, so that the first connecting rod structure (230) drives the first supporting umbrella ribs (234) to be supported so as to expand the mantle, or drive each first rib (234) that props and contract in order to restore the mantle, second connecting rod structure (240) are provided with second and prop rib (243), lead screw (223) have soon with second slip nut (226) that second connecting rod structure (240) are connected, lead screw (223) through the drive second slip nut (226) remove in order to drive second connecting rod structure (240) motion, thereby make second connecting rod structure (240) drive second prop rib (243) and strut in order to expand the mantle, or drive each second prop rib (243) and contract in order to restore the mantle.
2. A squid-based biomimetic underwater robot as claimed in claim 1, characterized in that: first link structure (230) including articulated first pole (231), second pole (232) and third pole (233) in proper order, first pole (231) head end with base (211) are articulated, third pole (233) head end with base (211) are articulated, first slip nut (225) through connecting rod (235) with first link structure (230) are connected, in order to drive first link structure (230) motion, third pole (233) tail end extends in order to form first rib (234) props.
3. A squid-based biomimetic underwater robot as claimed in claim 2, characterized in that: the second connecting rod structure (240) comprises a fourth rod (241) and a fifth rod (242) which are hinged to each other, one end of the fourth rod (241) is hinged to the fifth rod (242), the other end of the fourth rod is hinged to the second sliding nut (226), the tail end of the fifth rod (242) is hinged to the base (261), the head end of the fifth rod (242) extends to form the second supporting rib (243), and the second sliding nut (226) drives the second supporting rib (243) to move through the fourth rod (241).
4. A squid-based biomimetic underwater robot as claimed in claim 3, characterized in that: the base (211) is installed and is used for driving lead screw (223) pivoted motor (221), lead screw (223) rotate in order to drive first slip nut (225) and second slip nut (226) move from the tail end towards the head end, thereby make first rib (234) and the second rib (243) of propping strut all strut with the inflation mantle, or drive first slip nut (225) and second slip nut (226) move from the head end towards the tail end, thereby make first rib (234) and the second rib (243) of propping all retract in order to reset the mantle.
5. A squid-based biomimetic underwater robot as claimed in any of claims 1 to 4, characterized in that: bionic underwater robot based on squid still includes the casing part, the casing part includes bow part casing (101), main part casing (102) and afterbody casing (103), bow part casing (101) cover on base (211), main part casing (102) are connected base (211) with between base (261), the mantle is located in main part casing (102), afterbody casing (103) cover is in on base (261).
6. A squid-based biomimetic underwater robot as claimed in claim 5, characterized in that: the inlet of the water inlet channel (212) faces to the side edge, and the base (211) is provided with a valve cover (213) at the outlet of the water inlet channel (212) to prevent water in the cavity from flowing back to the water inlet channel (212).
7. A squid-based biomimetic underwater robot as claimed in claim 6, characterized in that: the water outlet (262) faces the tail part and is connected with a nozzle (271), the nozzle (271) is located in the tail part shell (103), and a one-way valve (272) is arranged in the nozzle (271) to prevent external water from flowing back to the cavity.
8. A squid-based biomimetic underwater robot as claimed in claim 5, characterized in that: bionic underwater robot based on squid is still including installing fin part (300) of prelude casing (101), fin part (300) include two rudders (310), rudder (310) include steering wheel (311) and connect rudder propeller (313) on axis of rotation (312) of steering wheel (311), two steering wheel (311) are located in prelude casing (101), two rudder propeller (313) are located the outside both sides of prelude casing (101) turn to control.
9. A squid-based biomimetic underwater robot as claimed in claim 8, characterized in that: the head shell (101) is provided with a rudder frame (314) for mounting the steering engine (311).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110769301.0A CN113525645B (en) | 2021-07-07 | 2021-07-07 | Bionic underwater robot based on squid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110769301.0A CN113525645B (en) | 2021-07-07 | 2021-07-07 | Bionic underwater robot based on squid |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113525645A CN113525645A (en) | 2021-10-22 |
| CN113525645B true CN113525645B (en) | 2022-05-24 |
Family
ID=78127043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110769301.0A Active CN113525645B (en) | 2021-07-07 | 2021-07-07 | Bionic underwater robot based on squid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113525645B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113772059B (en) * | 2021-10-27 | 2022-07-12 | 东北大学 | Underwater multi-degree-of-freedom motion robot imitating Rochebrugia leinii and Rochebrunia praecox |
| CN114212225B (en) * | 2021-12-03 | 2022-12-23 | 东南大学 | Machine squid propelled by adopting multi-tail cooperative vector |
| CN114602191B (en) * | 2022-03-09 | 2024-02-20 | 延边大学 | Underwater propulsion power device |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001340662A (en) * | 2000-06-02 | 2001-12-11 | Takara Co Ltd | Jellyfish type underwater swimming body |
| CN1743044A (en) * | 2005-10-14 | 2006-03-08 | 哈尔滨工业大学 | Deep-water submersible biorobot of cuttlefish imitation type mollush |
| CN101638144A (en) * | 2009-07-16 | 2010-02-03 | 哈尔滨工业大学 | Quasi-plastic cuttlefish-imitating pulse jet propeller |
| CN103950524A (en) * | 2014-04-15 | 2014-07-30 | 南京航空航天大学 | Spraying type simulative underwater vehicle and working manner thereof |
| CN106253743A (en) * | 2016-10-05 | 2016-12-21 | 吉林大学 | Bionical Octopus underwater propulsion system based on flexible piezoelectric driver |
| CN106346462A (en) * | 2016-09-19 | 2017-01-25 | 哈尔滨工业大学深圳研究生院 | Snake-like amphibious robot provided with modular joints |
| CN106477009A (en) * | 2016-12-08 | 2017-03-08 | 东北大学 | A kind of memory alloy driven bionical Octopuses telecontrol equipment |
| CN108516067A (en) * | 2018-03-23 | 2018-09-11 | 西北工业大学 | A kind of deformable mechanical jellyfish based on cam wheel Composite Transmission |
| CN108910003A (en) * | 2018-06-25 | 2018-11-30 | 哈尔滨工程大学 | A kind of bionical octopus robot |
| CN109178263A (en) * | 2018-11-05 | 2019-01-11 | 江西理工大学 | A kind of impulse jet type underwater robot based on tubulose origami structure |
| CN209395929U (en) * | 2018-12-21 | 2019-09-17 | 华南理工大学广州学院 | A kind of bionical hexapod robot |
| CN210852857U (en) * | 2019-10-15 | 2020-06-26 | 上海海洋大学 | Bionic line-driven wrist cuttlefish |
| CN111619777A (en) * | 2020-06-08 | 2020-09-04 | 江苏科技大学 | Double-propelling type bionic jellyfish robot |
| CN211543841U (en) * | 2019-11-27 | 2020-09-22 | 中国石油大学(华东) | Novel bionic jellyfish robot |
| CN112319753A (en) * | 2020-11-16 | 2021-02-05 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6481148B1 (en) * | 1999-10-05 | 2002-11-19 | Peter B. Lindgren | Underwater battery powered lighted fishing lure and method therefor |
| FR2959208B1 (en) * | 2010-04-22 | 2012-05-25 | Eurl Jmdtheque | GYROPENDULAR ENGINE WITH COMPENSATORY PROPULSION AND COLLIMATION OF MULTIMODAL MULTI-MEDIUM FLUID FLOWING GRADIENT WITH VERTICAL LANDING AND LANDING |
| CN106090530B (en) * | 2016-08-18 | 2019-07-16 | 华南理工大学 | A kind of self-adapting pipe flaw detection robot |
| US10336420B2 (en) * | 2017-04-28 | 2019-07-02 | BOYA GONGDAO (Beijing) ROBOT Technology Co., Ltd. | Single-joint underwater robot fish |
| CN209956190U (en) * | 2019-05-07 | 2020-01-17 | 中国石油大学(北京) | Jellyfish type robot based on SMA drive |
| CN110937092A (en) * | 2019-12-12 | 2020-03-31 | 华南理工大学 | CPG control method of multi-mode bionic stay wire robot fish and robot fish |
-
2021
- 2021-07-07 CN CN202110769301.0A patent/CN113525645B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001340662A (en) * | 2000-06-02 | 2001-12-11 | Takara Co Ltd | Jellyfish type underwater swimming body |
| CN1743044A (en) * | 2005-10-14 | 2006-03-08 | 哈尔滨工业大学 | Deep-water submersible biorobot of cuttlefish imitation type mollush |
| CN101638144A (en) * | 2009-07-16 | 2010-02-03 | 哈尔滨工业大学 | Quasi-plastic cuttlefish-imitating pulse jet propeller |
| CN103950524A (en) * | 2014-04-15 | 2014-07-30 | 南京航空航天大学 | Spraying type simulative underwater vehicle and working manner thereof |
| CN106346462A (en) * | 2016-09-19 | 2017-01-25 | 哈尔滨工业大学深圳研究生院 | Snake-like amphibious robot provided with modular joints |
| CN106253743A (en) * | 2016-10-05 | 2016-12-21 | 吉林大学 | Bionical Octopus underwater propulsion system based on flexible piezoelectric driver |
| CN106477009A (en) * | 2016-12-08 | 2017-03-08 | 东北大学 | A kind of memory alloy driven bionical Octopuses telecontrol equipment |
| CN108516067A (en) * | 2018-03-23 | 2018-09-11 | 西北工业大学 | A kind of deformable mechanical jellyfish based on cam wheel Composite Transmission |
| CN108910003A (en) * | 2018-06-25 | 2018-11-30 | 哈尔滨工程大学 | A kind of bionical octopus robot |
| CN109178263A (en) * | 2018-11-05 | 2019-01-11 | 江西理工大学 | A kind of impulse jet type underwater robot based on tubulose origami structure |
| CN209395929U (en) * | 2018-12-21 | 2019-09-17 | 华南理工大学广州学院 | A kind of bionical hexapod robot |
| CN210852857U (en) * | 2019-10-15 | 2020-06-26 | 上海海洋大学 | Bionic line-driven wrist cuttlefish |
| CN211543841U (en) * | 2019-11-27 | 2020-09-22 | 中国石油大学(华东) | Novel bionic jellyfish robot |
| CN111619777A (en) * | 2020-06-08 | 2020-09-04 | 江苏科技大学 | Double-propelling type bionic jellyfish robot |
| CN112319753A (en) * | 2020-11-16 | 2021-02-05 | 华南理工大学 | Deep-diving bionic wire-pulling machine fish |
Non-Patent Citations (5)
| Title |
|---|
| 一种基于气动驱动的软体机器人的模块化设计与研究;葛宪东;《华南理工大学硕士学位论文》;20180409;全文 * |
| 仿生墨鱼机器人及其关键技术研究;王扬威;《哈尔滨工业大学博士学位论文》;20110701;全文 * |
| 仿生脉冲射流推进系统应用分析;周剑涵;《新型工业化》;20210620;全文 * |
| 受拟态章鱼模仿能力启发的仿生机器人研究;徐东飞;《杭州电子科技大学硕士学位论文》;20180317;全文 * |
| 杯芳烃基酚类抗氧剂的合成及其对天然橡胶抗热氧老化作用的研究;钟勇;《华南理工大学硕士学位论文》;20160430;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113525645A (en) | 2021-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113525645B (en) | Bionic underwater robot based on squid | |
| CN104943839B (en) | Modular bionic underwater robot based on full-flexible pectoral fins | |
| US20210354800A1 (en) | Water-air amphibious cross-medium bio-robotic flying fish | |
| CN102963514B (en) | Portable underwater marine environmental monitoring aerodone | |
| CN113086136B (en) | Compound propulsion bionic jellyfish robot | |
| CN103950524B (en) | Injecting type bionic underwater vehicle and mode of operation thereof | |
| CN103552679A (en) | Small four-axle autonomous underwater robot based on vector thrust | |
| CN104443332B (en) | A kind of bionic machine fish being combined driving by active joint and passive joint | |
| CN108910032A (en) | A kind of imitative flying fish telescopic type hang gliding robot | |
| CN107390530A (en) | A kind of bionical jellyfish design and control method based on memory alloy spring driving | |
| CN210618442U (en) | Bionic robotic fish with rotatable tail fins | |
| CN112758334B (en) | Water-air cross-medium engine and cross-medium aircraft with same | |
| CN113415114A (en) | Cross-medium aircraft based on bionic morphing wing | |
| CN105059512A (en) | Jellyfish-type bio-robot | |
| CN206417164U (en) | A kind of Biomimetic Fish humanoid robot | |
| CN115258153A (en) | Wing deformation mechanism for water-air cross-medium flapping wing aircraft | |
| CN207843294U (en) | Stratosphere powered balloon | |
| Hou et al. | Design, fabrication and morphing mechanism of soft fins and arms of a squid-like aquatic-aerial vehicle with morphology tradeoff | |
| CN204998736U (en) | Jellyfish formula bio -robot | |
| CN107839863A (en) | A kind of two degrees of freedom of imitative fish tail swings flexible parallel mechanism | |
| CN115071934A (en) | Novel underwater robot based on flapping wing propulsion | |
| CN108248809A (en) | Stratosphere powered balloon | |
| CN108609176A (en) | A kind of coaxial air-sea aircraft of verting | |
| CN207809772U (en) | A kind of meteorological unmanned plane of inverted Y-shaped rack | |
| CN207917156U (en) | Gripping-type delivery aircraft |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |