CN114313181B - Bionic underwater navigation device based on sea flatworm motion mode and control method thereof - Google Patents
Bionic underwater navigation device based on sea flatworm motion mode and control method thereof Download PDFInfo
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- CN114313181B CN114313181B CN202210072076.XA CN202210072076A CN114313181B CN 114313181 B CN114313181 B CN 114313181B CN 202210072076 A CN202210072076 A CN 202210072076A CN 114313181 B CN114313181 B CN 114313181B
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Abstract
The invention provides a bionic underwater navigation device based on a sea flatworm motion mode and a control method thereof, wherein the bionic underwater navigation device structurally comprises two supporting rods, two driving rods and a plurality of swinging rods, the swinging rods are sleeved on the supporting rods and are rotationally connected with the supporting rods, the driving rods are slidably connected with the end parts of the swinging rods through eccentric mechanisms, the swinging rods are driven to rotate along the supporting rods through the eccentric mechanisms, and power is generated through the up-and-down circular swinging of the swinging rods; the driving rods are respectively connected with a driving motor and used for driving the driving rods to rotate; the output shaft of steering wheel has the dwang, and the both ends of dwang articulate respectively has the regulation pole, and the end portion setting of two branches just can slide in the slide rail. The invention changes the wave shape by changing the distance between the two support rods by adopting the wave type advancing mode of the bionic flatworm so as to change the advancing speed. The invention has no vortex which is generated by the propeller and is vertical to the propelling direction, the fluid performance is better, and the energy utilization rate is high.
Description
Technical Field
The invention relates to the technical field of underwater vehicles, in particular to a bionic underwater navigation device based on a sea flatworm motion mode and a control method thereof.
Background
In recent years, with the progress of bionics research, researchers have focused on the research on the swimming mechanism of fish living underwater for a long time, particularly free-roaming in water. The fish swimming has the advantages of high efficiency, high speed, flexibility and the like, and the design target of the current underwater propeller is the fish swimming speed. Although conventional AUVs (Auto inside water vehicles and inside water navigation devices) are used in different applications, the motion control and propulsion system is composed of a plurality of propeller propulsion systems, and an electromagnetic motor or a hydraulic motor is used as more motive power. The propulsion device has the advantages of large volume, high energy consumption, low efficiency and larger noise and wake, so that the starting and accelerating performances of the AUV are poor, and the flexibility and the concealment cannot meet the requirements of the development of underwater robot technology.
The propulsion mode adopted by the sea flatworms is a wave propulsion mode similar to the MPF of the fish. Compared with the traditional underwater navigation equipment, the propulsion mode has the following remarkable characteristics: the vortex perpendicular to the propulsion direction generated by the propeller is avoided, the fluid performance is better, the efficiency of wave propulsion is higher than that of conventional underwater navigation equipment, the energy utilization rate is high, and the energy can be saved; the propeller propulsion and rudder control adopted by the traditional AUV have large turning radius and poorer flexibility. The sea flatworm is flat and long in body, the fin surface of the fish-like body is flexible enough, so that the sea flatworm can have good maneuvering performance in a narrow terrain space, the turning radius is greatly reduced, and the stability is better. The noise is also less, and the disguise is higher, is difficult to be found by underwater sonar.
In conclusion, the research of the underwater navigation equipment based on the bionic sea flatworm motion mode has important practical application value, and the research significance and the purpose of the bionic underwater navigation equipment are self-evident from the transformation from propeller propulsion to wave propulsion through the bionic research.
The bionic of sea flatworms at home and abroad is very little, but the research on bionic underwater robots of ray (and other fishes with the same motion mode) with the same motion mode (MPF motion mode) is more, the ray-imitating robot fish developed in 2013 by Japan Ongshan university comprises 6 fin driving units which are independently controlled on each side, each fin is provided with swinging power after being decelerated by a bevel gear by a servo motor, and the small group researches exploratory behavior to realize the rising and diving strategy of the robot fish by improving the special motion of the fin and performs a series of carrier underwater experiments. However, there are some problems, such as the motor is too heavy, and the whole fish is too heavy and easy to sink due to 12 motors; the volume is too large, and the machine is not beneficial to moving underwater; driven by a gear set and a motor, the wave shape of the fin ray can not be changed. Therefore, there is a need for a bionic underwater navigation device based on the sea flatworm motion mode.
Disclosure of Invention
The invention aims to provide a bionic underwater navigation device based on a sea flatworm motion mode and a control method thereof, which can change the waveform of the driving underwater navigation device by changing the wheelbase so as to change the advancing speed of the underwater navigation device.
According to an object of the present invention, there is provided a bionic underwater navigation device based on a sea flatworm movement pattern, comprising:
the fin-like device comprises two supporting rods, two driving rods and a plurality of swinging rods, wherein the swinging rods are sleeved on the supporting rods and are rotatably connected with the supporting rods, the driving rods are provided with eccentric mechanisms, the driving rods are slidably connected with the end parts of the swinging rods through the eccentric mechanisms, the swinging rods are driven to rotate along the supporting rods through the eccentric mechanisms, and power is generated through the vertical circulating swinging of the swinging rods;
the driving device comprises a driving motor, and the driving rods are respectively connected with the driving motor and are used for driving the driving rods to rotate;
the distance adjusting device comprises a steering engine and a slide rail, an output shaft of the steering engine is connected with a rotating rod, two ends of the rotating rod are respectively hinged with an adjusting rod, one end of the adjusting rod is hinged with the rotating rod, the other end of the adjusting rod is hinged with a support rod, and the end part of the support rod is arranged in the slide rail and can slide in the slide rail.
The steering engine is connected with the control device, and the rotation of the steering engine is controlled through the control device.
Further, the driving motor is connected with the control device, and the control device controls the rotation of the driving motor.
Furthermore, the steering gear fixing device further comprises a fixing device, the fixing device comprises a machine shell, the supporting rod and the driving rod are arranged in the machine shell, the sliding rails are arranged at two ends of the machine shell, and the driving motor and the steering gear are fixed on the machine shell.
Further, the two supporting rods are respectively positioned at the outer sides of the two driving rods.
Furthermore, the swing rod with the one end that the actuating lever is connected is fixed with the U-shaped board, the opening block of U-shaped board is in on the eccentric mechanism, the U-shaped board is close to the one end of swing rod is equipped with the through-hole, the U-shaped board passes through the through-hole cover is established on the branch.
Further, the eccentric mechanism is in equidistance setting on the actuating lever, eccentric mechanism follows the circumferencial direction of actuating lever is the angle and sets gradually.
Furthermore, the number of the driving motors is two, and the driving rods are respectively connected with the corresponding driving motors.
Furthermore, the swinging rods are carbon fiber tubes, and silica gel sheets are connected between the swinging rods.
According to another object of the present invention, the present invention provides a method for controlling a bionic underwater navigation device based on a sea flatworm movement mode, comprising the steps of:
when the advancing speed of the underwater navigation device needs to be changed, the steering engine rotates to drive the rotating rod to rotate, and the adjusting rods at the two ends of the rotating rod drive the two supporting rods to move outwards or inwards in the sliding rail, so that the change of the wheelbase is realized; when the axle distance variation reaches the requirement, the steering engine stops rotating and keeps still, the rotating rod and the supporting rod stop and keep at fixed positions, and new waveforms can be formed after the axle distance movement is stable.
According to the technical scheme, the wave type advancing mode of the bionic sea flatworms is adopted, and the wave shape is changed by changing the distance between the two support rods, so that the advancing speed is changed. The vortex perpendicular to the propelling direction generated by the propeller is avoided, the fluid performance is better, the energy utilization rate is high, and the energy can be saved; the motor has good maneuvering performance in narrow terrain space, the turning radius is greatly reduced, and the stability is good.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of the internal structure of the embodiment of the present invention;
FIG. 3 is a schematic view of a drive rod according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a sway bar according to an embodiment of the invention;
FIG. 5 is a schematic structural diagram of a steering engine according to an embodiment of the present invention;
FIG. 6 is a schematic representation of an embodiment of the present invention.
In the figure, 1, a housing; 2. a slide rail; 3. a drive motor; 4. a steering engine; 5. a strut; 6. a drive rod; 7. a swing lever; 8. an eccentric mechanism; 9. a U-shaped plate; 10. a through hole; 11. rotating the rod; 12. and adjusting the rod.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
As shown in figures 1-5 of the drawings,
the utility model provides a bionical navigation device under water based on sea flatworm motion mode, includes casing 1, and the both ends of casing 1 are equipped with slide rail 2 respectively, and driving motor 3 and steering wheel 4 are all fixed at the both ends of casing 1.
The fin-like device comprises two support rods 5, two driving rods 6 and a plurality of swinging rods 7, wherein the two support rods are respectively positioned on the outer sides of the two driving rods. The swing rod 7 is sleeved on the supporting rod 5 and is connected with the supporting rod 5 in a rotating mode, the driving rod 6 is provided with an eccentric mechanism 8, the driving rod 6 is connected with the end portion of the swing rod 7 in a sliding mode through the eccentric mechanism 8, the swing rod 7 is driven to rotate along the supporting rod 5 through the eccentric mechanism 8, and power is generated through the up-and-down circulating swing of the swing rod 7. The swing levers are carbon fiber tubes, and silica gel sheets are connected between the swing levers.
The number of the driving motors 3 is two, the driving rods 6 are respectively connected with the corresponding driving motors 3, the driving motors 3 are used for driving the driving rods 6 to rotate, and the driving rods 6 drive the eccentric mechanisms 8 on the driving rods 6 to rotate, so that the swinging rods 7 are driven to rotate along the supporting rods 5;
a U-shaped plate 9 is fixed at one end of the swinging rod 7 connected with the driving rod, an opening of the U-shaped plate 9 is clamped on the eccentric mechanism 8, a through hole 10 is arranged at one end of the U-shaped plate 9 close to the swinging rod 7, and the U-shaped plate 9 is sleeved on the supporting rod 5 through the through hole 10.
The eccentric mechanisms 8 are arranged on the drive rod 6 at equal intervals, and the eccentric mechanisms 8 are arranged in sequence at equal angles along the circumferential direction of the drive rod 6. The plurality of eccentric mechanisms 8 are arranged on the driving rod 6 at equal intervals, and in order to realize complete and stable waveform of the oscillating rod 7, the plurality of eccentric mechanisms 8 are distributed in an equal angle mode in the circumferential direction of the driving rod 6, namely, the adjacent eccentric mechanisms 8 are arranged at the same angle interval, and the eccentric mechanisms 8 are arranged on the driving rod 6 like a spiral.
The distance adjusting device comprises a steering engine 4 and a sliding rail 2, an output shaft of the steering engine 4 is connected with a rotating rod 11, two ends of the rotating rod 11 are respectively hinged with an adjusting rod 12, one end of the adjusting rod 12 is hinged with the rotating rod 11, and the other end of the adjusting rod 12 is hinged with a supporting rod 5; thereby through the rotation of steering wheel 4 drive dwang 11 and rotate and drive branch 5 through adjusting pole 12 and keep away from each other or be close to each other in slide rail 2 to realize the distance adjustment between two branches 5, realized the adjustment of wave form promptly.
The invention also comprises a control device, wherein the steering engine 4 and the driving motor 3 are respectively connected with the control device, and the rotation of the steering engine 4 and the driving motor 3 is controlled through the control device.
The control device can adopt a single chip microcomputer, specifically can be a corresponding ardui no single chip microcomputer, and the single chip microcomputer is provided with an HC-04 Bluetooth serial port module, so that communication with a single-product computer can be realized through a mobile phone Bluetooth module, and remote control is realized. The steering engine of this embodiment adopts SPT 5425LV 25KG waterproof steering engine (180 degrees), and when the singlechip received the change signal that the cell-phone was sent, the singlechip control steering engine was rotatory, made the action of changing the wheel base.
The control method of the bionic underwater navigation device based on the sea flatworm motion mode comprises the following steps:
firstly, the wheel base between two struts 5 is changed into three states: initial state, changed state, and end steady state.
When being in initial condition, the underwater navigation device is in the wheelbase of original settlement, and its wave form crest and trough position are certain, therefore displacement and speed are also certain (neglecting motor rotational speed influence).
When the advancing speed of the underwater navigation device needs to be changed, the advancing speed can be changed by using the mobile phone to control and change the wheelbase through the HC-04 Bluetooth serial port module. After the mobile phone sends a signal, the single chip microcomputer responds to send pulse signals to the steering gears at the front end and the rear end of the underwater navigation device, so that the steering gears rotate simultaneously to drive the connecting rod, and the connecting rod drives the outer shaft to move, thereby achieving the purpose of changing the wheelbase.
When the axle distance change amount is enough, the mobile phone is controlled to send out a stop signal, the single chip microcomputer stops sending out a pulse signal, but the single chip microcomputer still keeps electrified, at the moment, the steering engine stops rotating and keeps still, the rotating rod 11 and the support rod 5 also stop moving and keep at a certain position. The wheel base moves stably to form a new waveform, the heights of the wave crests and the wave troughs are changed, and the displacement is changed, so that the aim of changing the advancing speed by changing the wheel base of the two support rods 5 is fulfilled.
It should be understood that, in order to realize the connection between the casing 1 and the oscillating rod 7, a shaft hole and a bearing are provided between the casing 1 and the oscillating rod 7, and are used as main parts for ensuring the coaxiality of the inner shaft; the thrust ring is used for limiting the axial movement of the inner shaft; and the thrust bearing is used for reducing the friction force between the thrust ring and the bearing. The above-mentioned arrangement belongs to the conventional arrangement in the field, and the specific arrangement mode thereof is not described herein again.
The driving motor that this embodiment adopted is two 370 direct current gear motors, passes through the coupling joint between actuating lever 6 and the driving motor, and when two driving motors counter-rotate with fast, the bionic device will go forward under water, when two driving motors differential motion, will go forward left or right.
In this embodiment, for making the change of two branch wheel base more stable, be equipped with steering wheel 4 respectively at the both ends of casing 1, when two steering wheels rotated, drive the dwang respectively and rotate, and then drive the regulation pole and drive branch 5 and remove to reach the effect that changes the wheel base.
The control device in this embodiment specifically can adopt the waterproof steering wheel of SPT 5425LV 25KG (180 °) that is used for the rotation, HC-04 bluetooth serial ports module, 7.2V lithium cell, power module and corresponding ardui no module. The HC-04 Bluetooth serial port module is connected with the 5V and the GND of the multipurpose power module and is powered by the multipurpose power module; simultaneously TXD and RXD pin connect the A2 of singlechip respectively, and A3 pin (A2 is the RXD of singlechip, and A3 is the TXD of singlechip), connect bluetooth send instruction control singlechip through the cell-phone, and the singlechip is handled and identification information, then control steering wheel and carry out corresponding operation, change the wheelbase of navigation equipment under water.
Example 2
As shown in fig. 6, the wave shape of a single fin is influenced by three factors, namely the length of the eccentric mechanism, the distance between the driving rod and the bracket and the length of the fin-like structure. Some physical quantities are defined herein: x1: length of eccentric mechanism, X2: drive rod and support interval, X3 type fin length, H: amplitude, ω motor shaft angular velocity.
According to the property of the similar triangle and the trigonometric function transformation, a function model of the amplitude is finally obtained.
Thereafter, we associate X2 with X1, i.e. X2= k X1, given:
it can be seen that H is actually related to X3, k (i.e. X3, k is a factor determining the amplitude), and considering the snap-back characteristic of the planar four-bar mechanism (the mechanism is a deformation of the planar four-bar mechanism), the inertial load of the mechanism may damage the mechanism, and considering that the size of H may affect the displacement of a single swing (approximately equal to the product of the integral of the swing function and the projection length of H on the X axis), in the same case, the smaller the displacement, the smaller the speed of the swing. Therefore, the length design of X3 and k (two elements) is particularly important.
Using this principle, k is assigned 2, 3, 4, 5, 6 (taking X3 to be 10cm at the same time), and the operation is performed in MATLAB, with the amplitude being smaller when k is larger. According to the characteristics, the amplitude of the fin-like structure can be changed by changing the wheel base of the inner support rod and the driving rod, so that the wave form of the fin-like structure is changed, the advancing speed of the underwater navigation device is changed, and energy is saved.
The invention changes the waveform by changing the distance between the two support rods by adopting a wave type advancing mode of the bionic sea flatworm, thereby changing the advancing speed. The vortex perpendicular to the propelling direction and generated by the propeller is avoided, the fluid performance is better, the energy utilization rate is high, and the energy can be saved; the motor has good maneuvering performance in narrow terrain space, the turning radius is greatly reduced, and the stability is good.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. Bionic underwater navigation device based on sea flatworm motion mode, which is characterized by comprising:
the fin-like device comprises two supporting rods, two driving rods and a plurality of swinging rods, wherein the swinging rods are sleeved on the supporting rods and are rotatably connected with the supporting rods, the driving rods are provided with eccentric mechanisms, the driving rods are slidably connected with the end parts of the swinging rods through the eccentric mechanisms, the swinging rods are driven to rotate along the supporting rods through the eccentric mechanisms, and power is generated through the vertical circulating swinging of the swinging rods; a U-shaped plate is fixed at one end of the swinging rod connected with the driving rod, an opening of the U-shaped plate is clamped on the eccentric mechanism, a through hole is formed in one end, close to the swinging rod, of the U-shaped plate, and the U-shaped plate is sleeved on the supporting rod through the through hole;
the driving device comprises a driving motor, and the driving rods are respectively connected with the driving motor and are used for driving the driving rods to rotate;
the distance adjusting device comprises a steering engine and a slide rail, an output shaft of the steering engine is connected with a rotating rod, two ends of the rotating rod are respectively hinged with an adjusting rod, one end of the adjusting rod is hinged with the rotating rod, the other end of the adjusting rod is hinged with a support rod, and the end part of the support rod is arranged in the slide rail and can slide in the slide rail.
2. The bionic underwater navigation device based on the sea flatworm motion mode as claimed in claim 1, further comprising a control device, wherein the steering engine is connected with the control device, and the rotation of the steering engine is controlled through the control device.
3. The bionic underwater navigation device based on the sea flatworm movement mode as claimed in claim 2, wherein the driving motor is connected with the control device, and the rotation of the driving motor is controlled by the control device.
4. The bionic underwater navigation device based on the sea flatworm movement mode according to claim 1, further comprising a fixing device, wherein the fixing device comprises a machine shell, the supporting rod and the driving rod are arranged in the machine shell, the sliding rails are arranged at two ends of the machine shell, and the driving motor and the steering engine are fixed on the machine shell.
5. The bionic underwater navigation device based on the sea flatworm movement mode of claim 1, wherein the two support rods are respectively positioned at the outer sides of the two driving rods.
6. The bionic underwater navigation device based on the sea flatworm movement mode according to claim 1, wherein the eccentric mechanisms are arranged on the driving rod at equal intervals, and the eccentric mechanisms are sequentially arranged at equal angles along the circumferential direction of the driving rod.
7. The bionic underwater navigation device based on the sea flatworm movement mode of claim 1, wherein the number of the driving motors is two, and the driving rods are respectively connected with the corresponding driving motors.
8. The bionic underwater navigation device based on the sea flatworm movement mode as claimed in claim 1, wherein the swinging rods are carbon fiber tubes, and silica gel sheets are connected between the swinging rods.
9. The method for controlling a bionic underwater navigation device based on the sea flatworm motion mode according to any one of claims 1 to 8, characterized by comprising the following steps:
when the advancing speed of the underwater navigation device needs to be changed, the steering engine rotates to drive the rotating rod to rotate, and the adjusting rods at the two ends of the rotating rod drive the two supporting rods to move outwards or inwards in the sliding rail, so that the change of the wheelbase is realized; when the axle distance variation reaches the requirement, the steering engine stops rotating and keeps still, the rotating rod and the supporting rod stop and keep at fixed positions, and new waveforms can be formed after the axle distance movement is stable.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202499268U (en) * | 2012-03-09 | 2012-10-24 | 台州职业技术学院 | Bionic ray |
| CN106005323A (en) * | 2016-06-30 | 2016-10-12 | 深圳乐智机器人有限公司 | Bionic underwater glider and propelling method thereof |
| CN108974287A (en) * | 2017-06-05 | 2018-12-11 | 周泽才 | A kind of fluctuation wing combination drive underwater glider |
| CN109131807A (en) * | 2018-10-24 | 2019-01-04 | 上海海洋大学 | A kind of bionical Bluepoint ray underwater propeller |
| CN209410310U (en) * | 2018-10-24 | 2019-09-20 | 上海海洋大学 | A kind of bionical Bluepoint ray underwater propeller realized based on movement |
| CN111422334A (en) * | 2020-03-31 | 2020-07-17 | 西安交通大学 | Underwater multipurpose robot propelled by bionic fin undulation |
| CN112406431B (en) * | 2020-11-30 | 2022-02-15 | 哈尔滨工程大学 | Flexible fin fluctuation propulsion type amphibious bionic robot |
| CN113232805B (en) * | 2021-04-19 | 2022-09-09 | 合肥工业大学 | Novel bionic robotic fish propelled by fins through fluctuation |
| CN113428329A (en) * | 2021-07-09 | 2021-09-24 | 哈尔滨工程大学 | Underwater robot imitating batfish propulsion mode |
| CN113696685B (en) * | 2021-08-27 | 2023-08-15 | 西安交通大学 | Bionic wave fin amphibious propulsion device without fin |
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