CN114954857A

CN114954857A - Underwater automatic robot with bionic structure

Info

Publication number: CN114954857A
Application number: CN202210719706.8A
Authority: CN
Inventors: 万泉; 俞昊天; 修艳琪; 琚子晗; 季龙华; 邹佳雄; 谢启泰; 张志强
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2022-06-23
Filing date: 2022-06-23
Publication date: 2022-08-30

Abstract

The invention discloses an underwater automatic robot with a bionic structure. The bionic fishtail cabin comprises a sealed cabin body module, a power sleeving module and a bionic fishtail module. The sealed cabin body is subjected to waterproof treatment, is internally provided with a circuit control unit, and has the functions of controlling a motor, visually identifying, monitoring and displaying information. The power suit is fixedly connected with the sealed cabin, and power is provided for the whole robot to move forward. The bionic fishtail is fixedly connected with the sealed cabin to control the motion direction of the robot. The robot has small size and flexible movement, and can autonomously operate underwater. Meanwhile, the robot has low processing cost and can be widely applied to the fields of underwater monitoring, exploration, production, participation in underwater rescue and the like.

Description

Underwater automatic robot with bionic structure

Technical Field

The invention relates to the field of robots, in particular to an underwater automatic robot with a bionic structure.

Background

With the deep integration of new technologies such as communication technology, new materials, artificial intelligence, big data and the like and the traditional industry, the underwater industry has unprecedented development opportunities in the aspects of new technologies, new products, new models, new modes and the like. Aiming at the problems of weak cruising ability, low operation efficiency, large environmental disturbance, poor maneuvering performance and the like of the existing underwater robot, the underwater automatic robot with the bionic structure, which is suitable for complex underwater exploration, is researched and developed by combining a fish propulsion mechanism and a robot technology. Because the traditional underwater robot has the problems of low efficiency, high noise and the like, in recent years, the research on bionics is more and more emphasized, and the bionic research on underwater organisms is an important branch of bionics and receives more and more attention. Through the research on bionics, a plurality of biological principles are applied to engineering practice, so that the bionic robot technology is developed quickly. By researching the motion mechanism and characteristics of underwater organisms, the underwater robot is applied to the underwater robot to solve the problems of low motion speed, low efficiency and the like of the underwater robot, so that the underwater robot becomes more flexible and has higher propulsion efficiency. For underwater robots, people expect that the underwater robot has the advantages of high efficiency, high speed and the like, and the underwater robot can achieve the aim by researching the kinematics theory and the bionics technology of fish.

The direction control of the traditional underwater robot during traveling depends on the installation directions of a plurality of motors and the forward and reverse rotation control of the motors, and the mode can cause larger forward power loss. The fish control the advancing direction by utilizing the swinging tail fin, so that the advancing efficiency is greatly improved. The underwater robot carries out bionic design on the fish tail, and improves the motion efficiency and the cruising ability. The sealed cabin module realizes sealing and water proofing, and the underwater robot material is subjected to water proofing treatment and cannot damage the internal circuit structure when running underwater. This design solves one of several core challenges facing the field: the method aims at long endurance and low disturbance underwater tour, and solves the design problems of bionic materials and bionic structures.

The vision recognition technology provides the possibility of automatic operation for the underwater robot, and people can accurately realize positioning through the feedback of pictures recorded by the lens. The modularized management can reduce the assembly cost, realize the convenience of replacing parts, and simultaneously can add new functions according to the requirements of people. The design solves two of the core challenges faced in the field: the underwater remote control system aims at underwater exploration with high accuracy and high maneuverability, can accurately position and solve the problem of underwater remote control signal control.

Disclosure of Invention

The invention aims to provide an underwater automatic robot with a bionic structure, which can autonomously operate underwater. The device can automatically inspect pipelines and monitor the surface fouling condition, and can also be used for patrol, monitoring and the like participating in underwater rescue.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention relates to an underwater automatic robot with a bionic structure, which comprises a sealed cabin module, a power sleeving module and a bionic fishtail module.

The sealed capsule module comprises: the device comprises a spherical end cover, a balance fin clamping ring, a balance fin, a power sleeve clamping ring, a plane end cover, a waterproof joint, an insulating isolation column, an insulating isolation plate, a display screen, a single chip microcomputer, a central plate, a battery, an upper computer and a camera. The spherical end cover is made of transparent acrylic materials, and underwater pictures can be clearly captured by a camera in the sealed cabin. The balance fin clamping ring clamps three same balance fins through bolts, and the stable posture of the robot under water is assisted. Two the same power cover clamping rings pass through bolt and mounting panel fixed connection, form virtual restraint, improve the atress condition, prevent that the mounting panel from buckling and damaging. The surface of the plane end cover is provided with a plurality of waterproof joints which are mainly used for passing through a lead; a charging port for leading out the battery in the sealed cabin; a burning inlet of the single chip microcomputer in the sealed cabin is led out. And the waterproof glue is used for sealing the gap between the lead and the waterproof joint, so that the water cannot enter the sealed cabin. The display screen, the single chip microcomputer, the central plate, the battery, the upper computer, the camera and other circuit control units are respectively arranged on different insulating isolation plates, and the different insulating isolation plates are fixedly connected through insulating isolation columns. All circuit control units are integrated on the same column, the integration level is high, and the structure is simple and clear.

The power suit module includes: mounting panel, underwater propulsor. The total number of the four underwater propellers is divided into two same positive-propeller underwater propellers and two same negative-propeller underwater propellers. The four underwater propellers are fixedly arranged on the two same mounting plates in parallel according to the same mounting direction. Each mounting plate is provided with a positive-propeller underwater propeller and a negative-propeller underwater propeller, and the positive-propeller underwater propeller is closer to the sealed cabin module.

The bionic fish tail module comprises: the fishing line comprises a first section of fishtail, a waterproof steering engine A, a waterproof steering engine B, a waterproof steering engine C, a connecting rod B, a fourth section of fishtail, a tail fin, a third section of fishtail, a connecting rod C, a second section of fishtail, a line-passing hole and a connecting rod A. The first section of fishtail is connected with the plane end cover of the sealed cabin body module through a bolt. Sufficient space is left for the installation of water joint in first section fish tail inside, and opens on the surface and has walked the line hole, makes things convenient for the connection and the arranging of wire. The first section fishtail surface is grooved, and a waterproof steering engine A and a waterproof steering engine B are fixedly arranged. The waterproof steering engine A is connected with the connecting rod A through a shaft to control the movement of the connecting rod A. Because connecting rod A passes through the hub connection with the second section fish tail and the second section fish tail can rotate first section fish tail relatively, steering wheel A can control the position of second section fish tail first section fish tail relatively promptly. In a similar way, the waterproof steering engine B is connected with the connecting rod B through a shaft to control the movement of the waterproof steering engine B. Because the connecting rod B is connected with the fourth section of fishtail through a shaft and the fourth section of fishtail can rotate relative to the third section of fishtail, the steering engine B can control the position of the fourth section of fishtail relative to the third section of fishtail. The surface of the second section of the fishtail is grooved, and a waterproof steering engine C is fixedly arranged. In a similar way, the waterproof steering engine C is connected with the connecting rod C through a shaft to control the movement of the waterproof steering engine C. Because the connecting rod C is connected with the third section of the fishtail through the shaft and the third section of the fishtail can rotate relative to the second section of the fishtail, the steering engine C can control the position of the third section of the fishtail relative to the second section of the fishtail. In conclusion, the three waterproof steering engines can adjust the posture of the bionic fishtail within a certain angle range.

The modular design of the invention has two advantages: first, the tooling assembly costs are reduced. And secondly, the damaged parts are replaced more quickly, conveniently and environmentally.

The design of the sealed cabin body adopted by the invention has three advantages: first, the integration level is high, realizes the installation of whole circuit control unit in less space. Secondly, it is comparatively convenient to overhaul, takes off the bolt of sealed lid department after, can pull out whole circuit control unit, and the layering is overhauld. And thirdly, the water inlet damage of the internal circuit control unit caused by frequent disassembly and assembly is prevented.

The bionic fishtail module has three design advantages: the structure is simple, and the assembly and the maintenance are convenient. And secondly, the motion direction of the robot is controlled more efficiently. And thirdly, the fish tail is hollow, so that certain buoyancy is provided for the whole device.

The design advantages of the invention adopting the power sleeving module are two: the structure is simple, and the processing and the assembly are convenient. And secondly, the motors are arranged in parallel, so that the loss of forward power is reduced.

Drawings

Fig. 1 is an overall schematic view of an underwater automated robot having a biomimetic structure;

FIG. 2 is a schematic view of a sealed cabin module;

FIG. 3 is a schematic diagram of an integrated circuit control unit in the capsule;

FIG. 4 is a schematic diagram of a power pack module;

FIG. 5 is a schematic view of a bionic fishtail module;

FIG. 6 is a schematic view of a bionic fishtail module when the robot turns in the direction 1;

FIG. 7 is a schematic view of a bionic fishtail module when the robot turns in the direction 2;

FIG. 8 is a schematic hollow design of the bionic fish tail module;

in the figure: 1-sealed cabin body module, 2-power package module, 3-bionic fishtail module, 4-spherical end cover, 5-balance fin clamping ring, 6-balance fin, 7-power package clamping ring, 8-plane end cover, 9-waterproof joint, 10-insulating isolation column, 11-insulating isolation plate, 12-display screen, 13-single chip microcomputer, 14-central plate, 15-battery, 16-upper computer, 17-camera, 18-mounting plate, 19-underwater propeller, 20-first section fishtail, 21-waterproof steering engine A, 22-waterproof steering engine B, 23-waterproof steering engine C, 24-connecting rod B, 25-fourth section fishtail, 26-tail fin, 27-third section fishtail, 28-connecting rod C, 29-the second section of the fish tail, 30-the wiring hole and 31-the connecting rod A.

Detailed Description

The use of the invention is explained in further detail below with reference to the drawings.

The user can first start up the circuit control unit and power on, check the leakproofness of waterproof interface. And after the detection is correct, the robot is stably put into water. The counter weight can be automatically added according to the actual situation, and the robot is kept suspended in the water.

After the burnt program is started, the robot can transmit underwater pictures captured by the camera into an upper computer for analysis and calculation. The upper computer sends corresponding signal instructions to the single chip microcomputer, so that the single chip microcomputer controls the underwater propeller and the waterproof steering engine.

The circuit control units are installed on different insulating isolation plates in a layered mode, and the weight of each layer is different. The gravity center position of the sealed cabin module can be controlled by changing the length of the insulating isolation column between certain two layers according to actual requirements. When the maintenance is needed, the planar end cover can be taken down from the sealed cabin body module, and the whole integrated circuit control unit is taken out from the sealed cabin body. The maintenance is very convenient, and the arrangement is clear.

And (3) realizing the advancing motion of the robot: the two positive-propeller underwater propellers rotate positively, and the two negative-propeller underwater propellers rotate negatively.

The robot moves backwards: the two positive-propeller underwater propellers rotate reversely, and the two negative-propeller underwater propellers rotate positively.

Implementation of forward steering (direction 1) motion of the robot: the connecting rod is controlled by the steering engine to move to a corresponding position, as shown in figure 6, the two forward-propeller underwater propellers rotate forwards, and the two reverse-propeller underwater propellers rotate backwards.

Implementation of forward steering (direction 2) motion of the robot: the connecting rod is controlled by the steering engine to move to a corresponding position, as shown in figure 7, the two forward-propeller underwater propellers rotate forwards, and the two reverse-propeller underwater propellers rotate backwards.

The robot moves backwards and turns (direction 1): the connecting rod is controlled to move to a corresponding position through the steering engine, as shown in figure 6, the two forward-propeller underwater propellers rotate reversely, and the two reverse-propeller underwater propellers rotate positively.

The robot moves backwards and turns (direction 2): the connecting rod is controlled by the steering engine to move to a corresponding position, as shown in figure 7, the two positive-propeller underwater propellers rotate reversely, and the two negative-propeller underwater propellers rotate positively.

When the power of the robot propeller is insufficient, the robot can be pushed to move forwards in an auxiliary mode through the back-and-forth periodic swing of the simulation fish tail module.

The hollow design of the fish tail bionic fish tail module is shown in fig. 8, so that the manufacturing cost is saved, and meanwhile, certain buoyancy is provided for the tail of the robot.

Claims

1. Automatic machine people under water with bionic structure, its characterized in that: the bionic fishtail power assembly comprises a sealed cabin module (1), a power assembly module (2) and a bionic fishtail module (3). Wherein the sealed cabin module (1) comprises: the device comprises a spherical end cover (4), a balance fin clamping ring (5), a balance fin (6), a power sleeve clamping ring (7), a plane end cover (8), a waterproof joint (9), an insulating isolation column (10), an insulating isolation plate (11), a display screen (12), a single chip microcomputer (13), a central plate (14), a battery (15), an upper computer (16) and a camera (17); the power suit module (2) comprises: a mounting plate (18) and an underwater propeller (19); the bionic fish tail module (3) comprises a first section of fish tail (20), a waterproof steering engine A (21), a waterproof steering engine B (22), a waterproof steering engine C (23), a connecting rod B (24), a fourth section of fish tail (25), tail fins (26), a third section of fish tail (27), a connecting rod C (28), a second section of fish tail (29), a wiring hole (30) and a connecting rod A (31).

2. The capsule body module (1) according to claim 1, characterized in that the spherical end cap (4) design is adopted to reduce the resistance of the robot when moving in water. The balance fin clamping ring (5) is fixedly connected with the spherical end cover (4) through bolts, and meanwhile, the balance fin clamping ring (5) is also fixedly connected with three same balance fins (6) through bolts. Two identical power sleeve clamping rings (7) are fixedly connected with the power sleeve module (2) through bolts, and one of the power sleeve clamping rings (7) is fixedly connected with the plane end cover (8) through bolts. And a plurality of waterproof joints (9) are arranged on the plane end cover (8) and are used for passing through wires of the motor and the steering engine and are provided with charging and program burning interfaces. And (3) sealing and filling the gap of the waterproof joint (9) by using waterproof glue. The sealed cabin module (1) is internally provided with an integrated circuit control unit which comprises a display screen (12), a singlechip (13), a central board (14), a battery (15), an upper computer (16) and a camera (17). The electronic components are connected with an insulating isolation plate (11) through insulating isolation columns (10) and are well insulated from each other.

3. The sealed cabin module (1) according to claim 1, characterized in that the internal integrated circuit control units are mounted on one column. When in maintenance, the whole body can be directly pulled out of the sealed cabin. The maintenance is simple and convenient.

4. The sealed cabin module (1) according to claim 1, characterized in that the internal integrated circuit control units are installed in layers. Individual servicing can be performed for a module. The structure is clear, saves maintenance time.

5. The power pack module (2) according to claim 1, wherein two mounting plates (18) are symmetrically mounted on both sides of the sealed cabin module (1) and fixedly connected with the power pack clamping ring (7) through bolts. The four underwater propellers (19) are arranged in a row in parallel in the same direction and are fixedly arranged on the mounting plate (18) through bolts. Each mounting plate (18) is provided with two underwater propellers (19).

6. The power kit module (2) according to claim 1, the power kit module (2) being a stand-alone module enabling modular installation management. When the quality problem appears in underwater propeller (19) or mounting panel (18), change the part more fast, convenient, environmental protection, the cost of processing assembly and change also can reduce, reduces the material cost.

7. The bionic fish tail module (3) according to claim 1, characterized in that the bionic fish tail module (3) mainly comprises a first section of fish tail (20), a second section of fish tail (29), a third section of fish tail (27) and a fourth section of fish tail (25). The first section of fish tail (20) is connected with the second section of fish tail (29) through a shaft, the second section of fish tail (29) is connected with the third section of fish tail (27) through a shaft, and the third section of fish tail (27) is connected with the fourth section of fish tail (25) through a shaft. Wherein, a waterproof steering engine A (21) and a waterproof steering engine B (22) are fixedly arranged on one section of the fishtail (20). And a waterproof steering engine C (23) is fixedly arranged on the second section of the fishtail (29). The fourth section of fish tail (25) is fixedly connected with the tail fin (26) through bolts. The waterproof steering engine A (21) controls the movement of a connecting rod A (31), and the connecting rod A (31) is connected with the second section of the fishtail (29) through a shaft. The waterproof steering engine B (22) controls the movement of a connecting rod B (24), and the connecting rod B (24) is connected with a fourth section of fishtail (25) through a shaft. The waterproof steering engine C (23) controls the movement of a connecting rod C (28), and the connecting rod C (28) is connected with the third section of fishtail (27) through a shaft. The three steering engines and the three connecting rods can realize the posture change of the bionic fish tail module (3). The wiring hole (30) is designed on the surface of the first section of the fish tail (20) and can pass through the conducting wire.

8. The bionic fish tail module (3) as claimed in claim 1, wherein a hollow design is adopted, so that the weight of the robot is reduced, and buoyancy is provided for the tail of the robot. Saving material and convenient processing.