CN115071933A - Multi-mode driving turtle-like robot - Google Patents
Multi-mode driving turtle-like robot Download PDFInfo
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- CN115071933A CN115071933A CN202210849107.8A CN202210849107A CN115071933A CN 115071933 A CN115071933 A CN 115071933A CN 202210849107 A CN202210849107 A CN 202210849107A CN 115071933 A CN115071933 A CN 115071933A
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- 230000013575 regulation of buoyancy Effects 0.000 claims description 3
- 239000011664 nicotinic acid Substances 0.000 abstract description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/32—Flaps, pistons, or the like, reciprocating in propulsive direction
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention provides a turtle-like robot which comprises a trunk, a pair of forelimb mechanisms and a pair of hind limb mechanisms, wherein the pair of forelimb mechanisms and the pair of hind limb mechanisms are used for bionic fin propulsion, the trunk comprises a buoyancy adjusting cabin and a gravity center adjusting cabin, the forelimb mechanisms are variable-rigidity bionic fin propulsion mechanisms, and the hind limb mechanisms are flexible bionic fin propulsion mechanisms. The buoyancy regulating cabin of the turtle-like robot increases or reduces the buoyancy of the robot by compressing or stretching the corrugated pipe, so that the buoyancy of the robot can be automatically regulated; the gravity center adjusting cabins of the turtle-like robot are respectively positioned at two sides of the buoyancy adjusting cabin, and the heavy blocks in the gravity center adjusting cabins are pushed forwards or moved backwards simultaneously, so that the gravity center of the robot can be shifted; if the weights are in tandem, the robot can tilt leftwards and rightwards and forwards, so that the robot can realize turning during gliding propulsion.
Description
Technical Field
The application relates to the field of underwater robots, in particular to a multi-mode driving turtle-like robot.
Background
As ocean development activities become more frequent and deeper, the demand for ocean exploration techniques and equipment also becomes higher. In the severe underwater environment beyond the limit of human diving, underwater robots carrying sensors, instruments and equipment naturally become one of the main tools for human beings to extend their own perception. The underwater robot is not less important than a space rocket in exploring space as a high-technology means in the field of ocean development and utilization, and has huge potential and development space in surveying submarine mineral resources and discovering new species.
AUV (autonomous underwater vehicle) is a typical representative of underwater robots, and a great deal of research has been conducted by various national research institutes. The AUV generally takes a torpedo-like shape and is driven by a propeller. However, the propeller driving mode has large turning radius, is not flexible enough, has the problems of high noise, difficult realization of miniaturization, easy formation of turbulence and the like, not only increases energy consumption, but also influences the surrounding aquatic environment to a great extent.
Disclosure of Invention
Therefore, an object of the present application is to provide a turtle-like robot, which applies the body structure and motion mechanism of a turtle to the mechanism design and motion control of the robot, so as to improve the navigation time, operation coverage and propulsion efficiency of an underwater robot.
For this reason, the application provides an imitative tortoise robot, including the truck to and be used for bionical fin propulsive a pair of forelimb mechanism and a pair of hind limb mechanism, the truck includes buoyancy regulation cabin and focus regulation cabin, forelimb mechanism is the bionical fin propulsion mechanism of variable rigidity, hind limb mechanism is flexible bionical fin propulsion mechanism.
Furthermore, the buoyancy regulating cabin comprises a buoyancy regulating cabin shell and a water absorption/drainage volume regulating mechanism arranged in the buoyancy regulating cabin shell, wherein the water absorption/drainage volume regulating mechanism comprises a telescopic pipe and a telescopic driving part, and the telescopic driving part is used for being compressed or stretched in the axial direction of the telescopic pipe to realize that the water in the buoyancy regulating cabin is discharged or absorbed.
Furthermore, the two gravity center adjusting cabins are symmetrically arranged on two sides of the trunk.
Further, the center of gravity adjusting cabin comprises a center of gravity adjusting cabin shell and a weight position adjusting mechanism arranged in the center of gravity adjusting cabin shell; the weight position adjusting mechanism comprises a heavy block and a position driving part, wherein the position driving part is used for adjusting the position of the heavy block in parallel with a symmetry axis of the trunk, and the gravity center position of the turtle-like robot is adjusted.
Furthermore, the forelimb mechanism comprises a forelimb driving joint and a variable-rigidity flexible forelimb hydrofoil, wherein the forelimb driving joint is a three-degree-of-freedom joint and is used for driving swing, position and flapping motions of the forelimb hydrofoil; the far end of the forelimb hydrofoil is a multi-joint hydrofoil, and the near end of the forelimb hydrofoil is a rigidity adjusting mechanism.
Furthermore, the rigidity adjusting mechanism comprises a rigidity adjuster, a spring traction rope, a spring and a multi-joint hydrofoil traction rope which are sequentially connected, and the far end of the multi-joint hydrofoil traction rope is connected with the multi-joint hydrofoil.
Furthermore, the hind limb mechanism comprises a hind limb driving joint and a flexible hind limb hydrofoil, wherein the hind limb driving joint is a three-degree-of-freedom joint and is used for driving the swing, position and flapping motions of the hind limb hydrofoil; the far end of the hind limb mechanism is a flexible main body, the near end of the hind limb mechanism is a hind limb hydrofoil connecting piece, and the hardness of the hind limb hydrofoil connecting piece is higher than that of the flexible main body.
Furthermore, the trunk is wrapped by a turtle-shaped streamline trunk shell, and the trunk shell comprises a dorsal conch covering the upper part of the trunk and a ventral conch wrapping the lower part of the trunk.
Further, the turtle-like robot further comprises a head part, the head part is connected to the front end of the trunk, and an optical sensor for target recognition is arranged on the head part.
Further, the turtle-like robot further comprises an electric control cabin and a driving control cabin; the central controller is sealed in the electric control cabin and is powered by a control electric circuit; and the drive controller of the sealed motor in the drive control cabin is powered by a power electric circuit.
This application technical scheme has following advantage:
1. the front limb mechanism and the rear limb mechanism of the turtle-like robot are designed in three degrees of freedom, so that the motion modes of gliding propulsion, flapping-wing paddling propulsion, crawling and the like can be integrated, and compared with a conventional underwater vehicle, the turtle-like robot has higher stealth performance, maneuverability and propulsion efficiency; the gliding mode can realize wide-area long-endurance gliding, the flapping-wing water-skiing mode improves the stealth performance, maneuverability and propulsion efficiency of the robot, and the robot can freely crawl in seabed, wave breaking zones, beaches and other zones.
2. The utility model provides an imitative sea turtle robot's buoyancy regulation cabin increases robot buoyancy through compression bellows, makes the robot produce positive buoyancy and come-up to and tensile bellows, lead to the under-deck air to be compressed, reduce robot buoyancy, make the robot produce negative buoyancy and sink.
3. The center-of-gravity adjusting cabin of the turtle-like robot is respectively positioned on two sides of the buoyancy adjusting cabin, the battery is used as a weight block for changing the center of gravity, and the weight block in the center-of-gravity adjusting cabin is pushed forwards or moved backwards at the same time, so that the center of gravity position of the robot is changed; if the weights are arranged in front of each other, the robot can tilt leftwards and rightwards, so that the robot can turn when in gliding propulsion.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic overall structure diagram of a turtle-like robot in an embodiment of the present invention;
FIG. 2 is a schematic view of the internal structure of the buoyancy regulating cabin in the embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a center of gravity adjustment cabin in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a front limb mechanism in an embodiment of the invention;
fig. 5 is a schematic structural diagram of a hind limb mechanism in an embodiment of the invention.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. 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 application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are 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 construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; 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 meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
The application provides an imitative sea turtle robot, including the truck 1 to and be used for bionical fin propulsive a pair of forelimb mechanism 2 and a pair of hind limb mechanism 3. Wherein the trunk 1 comprises a buoyancy adjusting compartment 4 and a center of gravity adjusting compartment 5. The front limb mechanism 2 is connected to the front end of the trunk 1, and the rear limb mechanism 3 is connected to the rear end of the trunk 1. The forelimb mechanism 2 is a variable-rigidity bionic fin type propulsion mechanism, and the hindlimb mechanism 3 is a flexible bionic fin type propulsion mechanism.
The trunk 1 of the turtle-like robot is wrapped by a turtle-shaped streamline trunk shell. Fig. 1 is a schematic partial exploded view of a torso shell comprising two parts, a dorsal shell 11 and a ventral shell 12. Specifically, the upper part of the body 1 of the turtle-like robot is covered by a vest 11, the lower part is wrapped by a binder 12, and the vest 11 and the binder 12 are fixedly connected to a fixing frame of the body 1.
The turtle-like robot further comprises a head part 6, and the head part 6 is connected to the front end of the trunk 1. Meanwhile, the head part 6 can be further provided with an optical sensor 61, such as a binocular camera, which can meet the control and task requirements of the robot, such as motion planning, environment acquisition, target recognition and the like. The trunk 1 of the turtle-like robot is also provided with an electric control cabin 7 and a driving control cabin 8. Wherein, the electric control cabin 7 is fixedly connected with the buoyancy regulating cabin 4; the driving control cabin 8 is sleeved outside the gravity center adjusting cabin 5 through a driving control cabin fixing part 9. The central controller is sealed in the electric control cabin 7 and is powered by a control electric circuit so as to meet the functions of robot communication, data processing and analysis; a motor driving controller is sealed in the driving control cabin 8 and is powered by a power electric circuit so as to meet the motor driving function of the robot. Here, the control power and the power are separated, and the reliability of the whole robot is improved.
In one embodiment, the buoyancy regulating cabin 4 of the turtle-like robot is used for regulating the buoyancy borne by the robot. As shown in fig. 1, the buoyancy regulating compartment 4 is generally cylindrical (e.g., cylindrical), and its axial direction is arranged along the axis of symmetry of the trunk 1. Of course, in other embodiments, the buoyancy regulating compartment 4 may also be formed in other cylindrical structures, and is not limited herein. The gravity center position of the turtle-like robot is arranged in the volume range of the buoyancy adjusting cabin 4, so that the turtle-like robot can control floating and submerging motions more stably.
The buoyancy regulating cabin 4 of the turtle-like robot comprises a buoyancy regulating cabin shell and a water absorption/drainage volume regulating mechanism arranged in the buoyancy regulating cabin shell. Fig. 2 is a schematic partial exploded view of the water suction/displacement volume adjusting mechanism of the buoyancy adjusting chamber 4, and specifically, the water suction/displacement volume adjusting mechanism includes a telescopic tube 401 and a telescopic driving member. Wherein, the extension tube 401 can change length in the axial direction, such as a bellows; the telescopic driving part is used for compressing or stretching the telescopic pipe 401 along the axial direction of the telescopic pipe 401, so that the volume of the telescopic pipe 401 is reduced or increased, the effects of draining and absorbing water by utilizing the telescopic pipe 401 are achieved, and the buoyancy of the turtle-like robot is automatically adjusted.
In this embodiment, the telescopic driving means comprises a first motor 402, a first gear set, a lead screw assembly. As shown in fig. 2, an output shaft of a first motor 402 (e.g., a stepper motor) is coupled to a first gear set. Specifically, the first gear set includes a first gear plate 403, a second gear plate 404, and a third gear plate 405; the first gear plate 403 is fixedly connected to an output shaft of the first motor 402, and the second gear plate 404 and the third gear plate 405 are respectively in tooth engagement with the first gear plate 403. Thus, the second gear plate 404 and the third gear plate 405 are rotated by the first gear plate 403 under the rotation of the first motor 402.
As shown in fig. 2, the screw assembly of the telescopic driving member includes a first screw 408, a moving plate 411, a first screw fixing bottom plate 406, a second screw fixing bottom plate 410, and a guide rod 413. Two ends of the first lead screw 408 are rotatably connected to the first lead screw fixing bottom plate 406 and the second lead screw fixing bottom plate 410, respectively. A threaded hole is formed in the moving plate 411 and is used for being in threaded connection with the first lead screw 408; the moving plate 411 is provided with a through hole for slidably connecting with the guide rod 413. Two ends of the guide rod 413 are respectively and fixedly connected to the first lead screw fixing bottom plate 406 and the second lead screw fixing bottom plate 410, and the middle section of the guide rod 413 is slidably connected with the moving plate 411. Thus, the moving plate 411 is driven to move in the axial direction of the first lead screw 408 and the guide rod 413 by the rotation of the first lead screw 408. In this embodiment, the two ends of the extension tube 401 are respectively connected to the moving plate 411 and one of the lead screw fixing bottom plates (e.g., the second lead screw fixing bottom plate 410). Moreover, one end of the extension tube 401 is closed, and the other end is provided with a water outlet, as shown in fig. 2, the extension tube 401 is provided with a water outlet at one end connected with the second lead screw fixing base plate 410, and correspondingly, the second lead screw fixing base plate 410 is also provided with a corresponding opening or a water outlet pipe 417. Of course, the water outlet may also be disposed at one end of the connection moving plate 411, or disposed on another lead screw fixing bottom plate according to the connection relationship between the extension tube 401 and another lead screw fixing bottom plate, which is not limited herein. Therefore, under the rotation of the first lead screw 408, the moving plate 411 can compress or stretch the telescopic pipe 401 along the axial direction of the telescopic pipe 401, so as to adjust the buoyancy of the turtle-like robot.
In this embodiment, the second gear plate 404 and the third gear plate 405 of the first gear set are rotatably connected to one side of the first lead screw fixing base plate 406, and are fixedly connected to the lead screw 408 on the other side of the first lead screw fixing base plate 406, so that the first lead screw 408 is driven by the first motor 402 to rotate under the driving of the first gear set. It is understood that two screw rods of the telescopic driving component in the present embodiment may be provided in symmetrical positions, and are respectively connected to the second gear plate 404 and the third gear plate 405, of course, in other embodiments, the number of screw rods may be fewer or more, and correspondingly, the number of gears correspondingly connected to the screw rods should also be corresponding.
In this embodiment, the first lead screw fixing base plate 406 and the second lead screw fixing base plate 410 are provided with a first guide rod fixing member 414 and a second guide rod fixing member 415 in pairs for fixedly connecting the guide rods 413. The first lead screw fixing bottom plate 406 and the second lead screw fixing bottom plate 410 are further provided with a first lead screw fixing member 407 and a second lead screw fixing member 409 in pairs, and are used for fixedly connecting a lead screw 408, wherein the first lead screw fixing member 407 is further fixedly connected with the second gear disc 404 and/or the third gear disc 405 of the first gear set. A third guide rod fixing piece 416 with a through hole is arranged on the moving plate 411, and the through hole on the third guide rod fixing piece 416 is used for being connected with the guide rod 413 in a sliding manner; the moving plate 411 is further provided with a first lead screw sliding disc 412 for forming a threaded hole matched with the lead screw 408 on the moving plate 411. Of course, in other embodiments, the first guide bar fixing member 414, the second guide bar fixing member 415, the third guide bar fixing member 416 and the guide bar 413 may be arranged in multiple sets, and as shown in fig. 2, the two sets are arranged in opposite positions in this embodiment.
Of course, in at least one embodiment, the second screw fixing member 409, the first guide bar fixing member 414, the second guide bar fixing member 415, the third guide bar fixing member 416, the first screw sliding plate 412 and the plate to which the connecting plate is fixed may be made as a single component.
In one embodiment, the center of gravity adjusting cabin 5 of the turtle-like robot is used for adjusting the center of gravity position of the robot. As shown in fig. 1, the center-of-gravity adjustment compartment 5 is generally cylindrical (e.g., cylindrical) and may be provided in two. The two gravity center adjusting cabins 5 are axially parallel to the symmetric axis of the trunk 1 and are respectively arranged at two sides of the trunk 1. Of course, in other embodiments, the center of gravity adjusting compartment 5 may also be formed in other cylindrical structures, and is not limited herein. Through setting up two focus regulation cabins 5 respectively in imitative tortoise robot's both sides, can be convenient for imitative tortoise robot's the motion of verting.
The center-of-gravity adjusting cabin 5 of the turtle-like robot comprises a center-of-gravity adjusting cabin shell and a weight position adjusting mechanism arranged in the center-of-gravity adjusting cabin shell. Fig. 3 is a schematic structural diagram of the center of gravity adjusting compartment 5 in a perspective view of a center of gravity adjusting compartment housing, and specifically, the weight position adjusting mechanism includes a weight 503 and a position driving member. Wherein, pouring weight 503 can be replaced by the lithium cell group to each device of the imitative sea turtle robot of make full use of, thereby reduce imitative sea turtle robot whole volume. The weight position adjusting mechanism is used for adjusting the position of the weight 503 parallel to the symmetry axis of the trunk 1 of the turtle-like robot, so that the gravity center position of the turtle-like robot can be automatically adjusted.
In the present embodiment, as shown in fig. 3, the weight position adjustment mechanism includes a second motor 501 and a second lead screw 502. An output shaft of the second motor 501 (e.g., a stepping motor) is fixedly connected to the second lead screw 502. The weight 503 is disposed on the second lead screw 502 in a penetrating manner, and a threaded hole is disposed on the weight 503 and is in threaded connection with the second lead screw 502. In a preferred embodiment, the threaded hole of the weight 503 is formed by a second lead screw slide plate 508 secured to the weight 503. Slide rails (not shown) are arranged on the inner wall of the gravity center adjusting cabin shell 507, a weight shell 504 is arranged outside the weight 503, and slide grooves matched with the slide rails are arranged on the weight shell 504. Therefore, when the second motor 501 drives the second lead screw 502 to rotate, the weight 503 can be pushed to slide along the center of gravity adjusting cabin housing 507. It will be appreciated that when the weight 503 is a lithium battery pack, the weight housing 504 is a lithium battery pack housing, although in other cases, such as where the weight 503 and the weight housing 504 are provided as the same material and are formed as a single component, for ease of integral manufacture.
In other embodiments, the section of the center of gravity adjusting compartment housing 507 may be configured to be non-circular, and the section of the weight 503 or the weight housing 504 may be configured to be a shape corresponding to the section of the center of gravity adjusting compartment housing 507, so that when the second motor 501 drives the second lead screw 502 to rotate, the non-circular housing may interfere with the rotation of the weight 503, and thus, the weight 503 can slide along the center of gravity adjusting compartment housing 507 without providing a sliding groove or a sliding rail.
As shown in fig. 3, the center of gravity adjusting cabin shell includes a front cabin cover 504 and a rear cabin cover 506 in addition to the center of gravity adjusting cabin shell 507, and the center of gravity adjusting cabin shell 507, the front cabin cover 504 and the rear cabin cover 506 together form a closed cabin to ensure the electrical safety inside. Further, the second motor 501 is fixedly installed on the rear hatch 506, and the extended end of the second lead screw 502 extends to the front hatch 504, thereby making greater use of the in-hatch position adjustment space.
In this embodiment, the fixing frame of the trunk 1 may be a single component, or may be divided into a plurality of components for connecting various trunk components, such as the trunk shell, the buoyancy adjusting compartment 4 and the center of gravity adjusting compartment 5, and other functional components, such as the forelimb mechanism 2, the hindlimb mechanism 3 and the head part 6. It will be appreciated that the various components of the brace may be directly connected or may be indirectly connected via the torso assembly. As shown in fig. 1, the holder includes a first holder 13 and a second holder 14. Moreover, the first fixing frame 13 and the second fixing frame 14 are both integrally plate-shaped, so that the processing and the installation are convenient. Wherein, the first fixing frame 13 is located at the front end of the trunk 1, and the second fixing frame 14 is located at the rear end of the trunk 1 and is respectively connected to the two ends of the buoyancy adjusting cabin 4 and the gravity center adjusting cabin 5. The dorsal and ventral shells 11 and 12 are also fixedly connected to the first and second holders 13 and 14.
In the present embodiment, the forelimb mechanism 2 of the turtle-like robot is a pair of variable-stiffness bionic fin-type propulsion mechanisms. As shown in fig. 4, the front limb mechanism 2 comprises a front limb drive joint and a variable stiffness flexible front limb hydrofoil 201. The forelimb driving joint is used for driving the swinging, rotating and flapping motions of the flexible forelimb hydrofoil, and the flexible forelimb hydrofoil 201 with variable rigidity is used for forming the upstream surface propelled by the bionic fin type. Specifically, the forelimb driving joint corresponds to swing, position and flapping motions of the flexible forelimb hydrofoil, and comprises a forelimb swing joint, a forelimb position swing joint and a forelimb flapping swing joint. Wherein, the forelimb swing joint is a rotary joint of the forelimb hydrofoil in the horizontal direction; the front limb rotary joint is a rotary joint of the front limb hydrofoil in the axial direction; the fore-limb flapping-rotating joint is a rotating joint of the fore-limb hydrofoil in the vertical direction. In this embodiment, the distal end of the forelimb hydrofoil 201 is a multi-joint hydrofoil 205 for forming the upstream surface, and the proximal end is a stiffness adjustment mechanism 206; the stiffness adjusting mechanism 206 comprises a stiffness adjuster 207, a spring traction rope 208, a spring 209 and a multi-joint hydrofoil traction rope 210 which are connected in sequence, and the far end of the multi-joint hydrofoil traction rope 210 is connected with a multi-joint hydrofoil 205. Through the design, the two ends of the elastic traction rope formed by the spring traction rope 208, the spring 209 and the multi-joint hydrofoil traction rope 210 are respectively connected with the rigidity regulator 207 and the multi-joint hydrofoil 205, so that the flexible characteristic of the multi-joint hydrofoil 205 can be formed; also, the stiffness adjuster 207 may actively stretch the spring 209, thereby changing the joint stiffness of the elastically pulled multi-jointed hydrofoil 205. The stiffness adjuster 207 may be a steering engine, the output shaft of which is connected to a spring pull-cord 208 via a steering wheel 220.
More specifically, the front limb mechanism 2 further comprises a front limb connecting member 211 and a front limb joint housing 214 (see a perspective part in fig. 4), wherein the front limb connecting member 211 forms a rotation pair with the front limb joint housing 214, and the front limb connecting member 211 is fixedly connected to the first fixing frame 13 of the trunk 1. The forelimb swing joint is driven by a forelimb swing steering engine 202, the forelimb swing steering engine 202 is assembled in a forelimb connecting piece 211, and an output shaft of the forelimb swing steering engine 202 transmits swing motion to a forelimb joint shell 214 through a forelimb swing steering engine steering wheel 212 and a forelimb swing driving rope 213 thereof.
Further, the joint housing 214 forms a two degree of freedom revolute pair with the front limb hydrofoil 201. The forelimb position rotary joint is driven by a forelimb position rotary actuator 203, the forelimb position rotary actuator 203 is assembled in a forelimb joint shell 214, the output shaft of the forelimb position rotary actuator 203 transmits position rotary motion to a gear set formed by a first bevel gear 216 and a second bevel gear 217 through a forelimb position rotary actuator steering wheel 215 and a forelimb position rotary driving rope thereof, the first bevel gear 216 is meshed with the second bevel gear 217, and the second bevel gear 217 is fixedly connected with the forelimb hydrofoil 201, so that the forelimb hydrofoil 201 can be controlled to rotate by the forelimb position rotary actuator 203. The forelimb flapping rotary joint is driven by a forelimb flapping rotary steering engine 204, the forelimb flapping rotary steering engine 204 is assembled in a forelimb joint shell 214, the output shaft of the forelimb flapping rotary steering engine 204 transmits flapping rotary motion to a forelimb roller connecting piece 219 through a forelimb flapping rotary steering engine steering wheel disc 218 and a forelimb flapping rotary driving rope thereof, and the forelimb hydrofoil 201 is connected to the forelimb roller connecting piece 219, so that the forelimb flapping rotary steering engine 204 can be used for controlling the forelimb hydrofoil 201 to perform pivoting flapping rotary motion. The front limb roller connecting piece 219 is a T-shaped component, the cross rod on the upper side of the front limb roller connecting piece 219 is hollow, and the hollow part is connected with a rotating shaft for flapping and rotating; the first bevel gear 216 is rotatably connected to one end of the upper cross bar of the front limb roller link 219, the second bevel gear 217 is rotatably connected to the end of the middle vertical bar of the front limb roller link 219, and the front limb hydrofoil 201 is fixedly connected to the second bevel gear 217.
In this embodiment, the hind limb mechanism 3 of the turtle-like robot is a pair of flexible bionic fin propulsion mechanisms. As shown in fig. 5, the hind limb mechanism 3 comprises a hind limb drive joint and a flexible hind limb hydrofoil 301. The hind limb driving joint is used for driving the flexible hind limb hydrofoil to swing, position and flap, and the flexible hind limb hydrofoil 301 is used for forming the upstream surface propelled by the bionic fin. Specifically, the hind limb driving joint corresponds to the swinging, positioning and flapping motions of the flexible hind limb hydrofoil, and comprises a hind limb swinging joint, a hind limb positioning and flapping joint. Wherein, the hind limb swing joint is a rotary joint of the hind limb hydrofoil in the horizontal direction; the hind limb position rotary joint is a rotary joint of the hind limb hydrofoil in the axial direction; the hind limb flapping-rotating joint is a rotating joint of the hind limb hydrofoil in the vertical direction. Specifically, the hind limb mechanism 3 further includes a hind limb connector 302 and a hind limb joint housing 303 (see a perspective part in fig. 5), the hind limb connector 302 and the hind limb joint housing 303 form a revolute pair, and the hind limb connector 302 is fixedly connected to the second fixing frame 14 of the trunk 1. The hind limb swing joint is driven by a hind limb swing steering engine 304, the hind limb swing steering engine 304 is assembled in the hind limb connecting piece 302, and an output shaft of the hind limb swing steering engine 304 transmits swing motion to the hind limb joint shell 303 through a hind limb swing steering engine steering wheel disc 305 and a hind limb swing driving rope 306.
Further, the hind limb joint shell 303 forms a two degree of freedom revolute pair with the hind limb hydrofoil 301. The hind limb position rotary joint is driven by a hind limb position rotary actuator 307, the hind limb position rotary actuator 307 is assembled in the hind limb joint shell 303, an output shaft of the hind limb position rotary actuator 307 transmits position rotary motion to a gear set formed by a third bevel gear 309 and a fourth bevel gear 310 through a hind limb position rotary actuator steering wheel 308 and a hind limb position rotary driving rope, the third bevel gear 309 is meshed with the fourth bevel gear 310, the fourth bevel gear 310 is fixedly connected with the hind limb hydrofoil 301, and therefore the position rotary motion of the hind limb hydrofoil 301 can be controlled through the hind limb position rotary actuator 307. The hind limb flapping rotary joint is driven by a hind limb flapping rotary steering engine 311, the hind limb flapping rotary steering engine 311 is assembled in the hind limb joint shell 303, an output shaft of the hind limb flapping rotary steering engine 311 transmits flapping rotary motion to a hind limb roller connecting piece 313 through a hind limb flapping rotary steering engine rudder disc 312 and a hind limb flapping rotary driving rope, and a hind limb hydrofoil 401 is connected to the hind limb roller connecting piece 313, so that the hind limb flapping rotary steering engine 311 can be used for controlling the hind limb hydrofoil 301 to perform flapping rotary motion around a shaft. Furthermore, the hind limb hydrofoil 301 comprises a flexible body for forming a water-facing surface for biomimetic fin propulsion; and a hind limb hydrofoil connector 314, the hind limb hydrofoil connector 314 being of a higher stiffness than the flexible body to facilitate a secure connection with the components of the hind limb drive joint. The hind limb roller connecting piece 313 is also constructed in a T shape, the cross rod on the upper side of the hind limb roller connecting piece 313 is hollow, and the hollow part is connected with a rotating shaft for flapping and rotating; the third bevel gear 309 is rotatably connected to one end of the upper cross bar of the rear limb roller connector 313, the fourth bevel gear 310 is rotatably connected to the end of the middle vertical bar of the rear limb roller connector 313, and the rear limb hydrofoil 301 is fixedly connected with the fourth bevel gear 310.
The application discloses imitative sea turtle robot passes through the buoyancy adjustment mechanism and passes through the compression bellows, increases robot buoyancy, makes the robot produce positive buoyancy and come-up to and tensile bellows, lead to the under-deck air to be compressed, reduce robot buoyancy, make the robot produce negative buoyancy and sink. The gravity center adjusting cabin of the robot is respectively positioned at two sides of the buoyancy adjusting cabin, the battery is used as a heavy block for changing the gravity center, and the heavy blocks in the gravity center adjusting cabin are simultaneously pushed forwards or moved backwards, so that the gravity center position of the robot is changed; if the weights are in tandem, the robot can tilt leftwards and rightwards and forwards, so that the robot can realize turning during gliding propulsion. In addition, the four limbs of the turtle-like robot have three degrees of freedom, the seabed and the beach zone can be crawled, the advantages of short-distance observation are great, and meanwhile, the gliding propulsion and the flapping propulsion of the robot can be realized through the swinging, positioning and flapping motions of the fore limb hydrofoil and the hind limb hydrofoil; the turtle-like robot is flat in body, has a large lift-drag ratio and a large glide ratio, and can realize the propulsion of flapping wings in the sea by using the flexible variable-stiffness hydrofoil, so that the energy utilization rate is improved.
It should be noted that the above-described embodiments are merely illustrative, and the units described as separate parts may or may not be physically separated. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of this invention are intended to be covered by the scope of the invention as expressed herein.
Claims (10)
1. The utility model provides an imitative sea turtle robot, its characterized in that, imitative sea turtle robot includes truck (1) to and a pair of forelimb mechanism (2) and a pair of hind limb mechanism (3) that are used for bionical fin propulsive, truck (1) is including buoyancy regulation cabin (4) and focus regulation cabin (5), forelimb mechanism (2) are the bionical fin advancing mechanism of variable rigidity, hind limb mechanism (3) are flexible bionical fin advancing mechanism.
2. The turtle-like robot according to claim 1, wherein the buoyancy regulating cabin (4) comprises a buoyancy regulating cabin housing and a water suction/drainage volume regulating mechanism arranged in the buoyancy regulating cabin housing, the water suction/drainage volume regulating mechanism comprises a telescopic pipe (401) and a telescopic driving part, and the telescopic driving part is used for compressing or stretching the telescopic pipe (401) along the axial direction of the telescopic pipe (401) to realize water drainage or water suction in the buoyancy regulating cabin (4).
3. The turtle-like robot according to claim 1, wherein the center of gravity adjusting chambers (5) are two and symmetrically arranged on both sides of the trunk (1).
4. The turtle-like robot according to claim 3, wherein the center of gravity adjustment tank (5) comprises a center of gravity adjustment tank housing, and a weight position adjustment mechanism disposed in the center of gravity adjustment tank housing; the weight position adjusting mechanism comprises a weight (503) and a position driving part, and the position driving part is used for adjusting the position of the weight (503) in parallel to a symmetry axis of the trunk (1) to realize the gravity center position adjustment of the turtle-like robot.
5. The turtle-like robot according to claim 1, wherein the forelimb mechanism (2) comprises forelimb driving joints and a variable-stiffness flexible forelimb hydrofoil (201), and the forelimb driving joints are three-degree-of-freedom joints for driving swing, position and flap motions of the forelimb hydrofoil (201); the far end of the forelimb hydrofoil (201) is a multi-joint hydrofoil (205), and the near end is a rigidity adjusting mechanism (206).
6. The turtle-like robot according to claim 5, wherein the stiffness adjusting mechanism (206) comprises a stiffness adjuster (207), a spring pull rope (208), a spring (209) and a multi-joint hydrofoil pull rope (210) which are connected in sequence, and the distal end of the multi-joint hydrofoil pull rope (210) is connected with the multi-joint hydrofoil (205).
7. The turtle-like robot according to claim 1, wherein the hind limb mechanism (3) comprises a hind limb driving joint and a flexible hind limb hydrofoil (301), the hind limb driving joint is a three-degree-of-freedom joint for driving the swing, position and flap motions of the hind limb hydrofoil (301); the far end of the hind limb mechanism (3) is a flexible main body, the near end is a hind limb hydrofoil connecting piece (314), and the hardness of the hind limb hydrofoil connecting piece (314) is higher than that of the flexible main body.
8. The turtle-like robot according to claim 1, wherein the trunk (1) is wrapped by a turtle-like streamlined trunk shell, which comprises a vest (11) covering the upper part of the trunk (1) and a binder (12) wrapping the lower part of the trunk (1).
9. The turtle-like robot according to claim 1, further comprising a head member (6), wherein the head member (6) is connected to a front end of the trunk (1), and an optical sensor (61) for target recognition is provided on the head member (6).
10. The turtle-like robot according to claim 1, further comprising an electrical control cabin (7) and a drive control cabin (8); the central controller is sealed in the electric control cabin (7) and is powered by a control electric circuit; the drive controller of the sealed motor in the drive control cabin (8) is powered by a power electric circuit.
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| CN202210849107.8A CN115071933A (en) | 2022-07-19 | 2022-07-19 | Multi-mode driving turtle-like robot |
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| CN202210849107.8A CN115071933A (en) | 2022-07-19 | 2022-07-19 | Multi-mode driving turtle-like robot |
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