CN115107960A - Bionic machine penguin - Google Patents
Bionic machine penguin Download PDFInfo
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- CN115107960A CN115107960A CN202210916041.XA CN202210916041A CN115107960A CN 115107960 A CN115107960 A CN 115107960A CN 202210916041 A CN202210916041 A CN 202210916041A CN 115107960 A CN115107960 A CN 115107960A
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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
- 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
- B63G8/18—Control of attitude or depth by hydrofoils
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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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- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a bionic robotic penguin with penguin bionics characteristics, which comprises a body, two fin limbs and a tail wing. A closed cavity is arranged in the body, a gravity center adjusting mechanism and an electronic device module are arranged in the closed cavity, and the gravity center adjusting mechanism is used for changing the gravity center position of the bionic machine penguin so that the bionic machine penguin does pitching motion; the two fin limbs are symmetrically arranged on the left side and the right side of the body, and have two degrees of freedom, so that the bionic machine penguin can move forwards, turn and move backwards; the tail wing is connected with the body and can rotate in a symmetrical plane of the body so as to assist the forward propulsion of the bionic machine penguin; the electronic device module is used for respectively controlling the operation of the gravity center adjusting mechanism, the two fin limbs and the tail wing. The bionic machine penguin can simulate a real penguin to stably, flexibly and efficiently move, and has a wide application prospect.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a bionic machine penguin.
Background
The penguin has an elegant streamline wheel , the body length is about 80-120 cm, and the maximum cross section is about 30cm multiplied by 25 cm. The penguin has a unique flapping type propulsion mode, and the speed can reach 25-30 km per hour at most. The penguin has high mobility, the maximum underwater instantaneous explosion speed is 27.35km/h, and the penguin can jump out of the water surface by 2 m; the turning is flexible and quick, and the movement can be realized in a narrow space; the penguin is good at diving, the finns are matched with the trunk to realize floating and diving, the diving time is only 1.5 minutes for 100m, and the deepest diving time reaches 565 m. The streamlined body of the penguin enables it to swim efficiently in water. It was calculated that an equivalent amount of energy of 1 liter of gasoline could support penguins traveling 1500km in antarctica.
In military, the machine penguin can be used for ocean defense combat, and the characteristics of high maneuverability and large size of the machine penguin can be used for carrying ammunition conveniently to carry out assault combat. For civil use, the machine penguin can be used for underwater exploration, pipeline maintenance, small logistics transportation and the like, and can be used for hydrodynamic teaching aids in colleges and universities, development of intelligent toys, tools in service industry and the like. Therefore, the machine penguin has wide application prospect and great potential value in the civil field and the marine military field, and no machine penguin model machine with mature technology and control function of enabling the posture to be automatically stable exists at present.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a bionic penguin which can simulate a real penguin to stably, flexibly and efficiently move.
The bionic machine penguin provided by the embodiment of the invention has the characteristics of penguin bionics, and comprises the following components:
the bionic machine penguin comprises a body, wherein a closed cavity is arranged in the body, a gravity center adjusting mechanism and an electronic device module are arranged in the closed cavity, and the gravity center adjusting mechanism is used for changing the gravity center position of the bionic machine penguin so that the bionic machine penguin does pitching motion;
the two fin limbs are symmetrically arranged on the left side and the right side of the body and have double degrees of freedom, so that the bionic machine penguin can move forwards, turn and move backwards;
a tail coupled to the body, the tail rotatable within a plane of symmetry of the body to assist forward propulsion of the biomimetic robotic penguin;
the electronic device module is used for respectively controlling the operation of the gravity center adjusting mechanism, the two fin limbs and the tail wing.
According to the bionic machine penguin provided by the embodiment of the invention, the gravity center position of the bionic machine penguin is changed by controlling the operation of the gravity center adjusting mechanism through the electronic device module, so that the bionic machine penguin can float and dive flexibly and efficiently, the operation of the two fin limbs and the tail wing is controlled through the electronic device module, the bionic machine penguin can simulate the swimming mode of a real penguin, and the bionic machine penguin can advance, retreat and turn flexibly and efficiently. That is to say, the bionic machine penguin provided by the embodiment of the invention can realize various motion modes such as forward movement, backward movement, turning, ascending, descending and the like, can stably and repeatedly swim, has wide application prospects and huge potential values in the aspects of ocean military and civil fields, for example, in military, the bionic machine penguin provided by the embodiment of the invention can be used for ocean defense combat, and can conveniently carry ammunition to carry out assault type combat; for civil use, the bionic machine penguin provided by the embodiment of the invention can be used for underwater exploration, pipeline maintenance, small logistics transportation and the like, and can be used for hydrodynamics teaching aids in colleges and universities, development of intelligent toys, tools in service industry and the like. In a word, the bionic machine penguin provided by the embodiment of the invention stably, flexibly and efficiently swims, and has a wide application prospect.
In some embodiments, the body comprises a head, a chest, an abdomen and a tail which are connected in a sealing manner from front to back, and the front end of the chest and the rear end of the abdomen are closed, so that the interior of the chest and the interior of the abdomen jointly form the closed cavity.
In some embodiments, each of the fin limbs comprises an inner steering engine mechanism, an outer steering engine mechanism, and a fin limb airfoil surface; the inner side steering engine mechanism is arranged at the chest and is used for driving the outer side steering engine mechanism to rotate in a vertical symmetrical plane of the body; the outer side steering engine mechanism drives the fin limb wing surface to flap.
In some embodiments, the inner steering engine mechanism comprises an inner disc, an inner steering engine and a bearing, the inner disc is fixed on the chest, the inner steering engine is mounted on the inner disc, and a rotating disc of the inner steering engine is mounted on the bearing; the outer side steering engine mechanism comprises an outer disc, an outer side steering engine fixing frame, an outer side steering engine and an outer side steering engine connecting frame, the outer disc is located on the outer side of the inner disc and is mounted on the chest, the bearing is arranged on the outer disc, the outer side steering engine fixing frame is fixed with the bearing, the outer side steering engine is fixed on the fixing frame, a rotary disc of the outer side steering engine is fixed with the outer side steering engine connecting frame, and the outer side steering engine connecting frame is fixed with the fin limb wing surface; the two fin limbs realize the forward movement, the backward movement, the turning and the pitching movement of the bionic machine penguin through the movements with different actions and different phase differences.
In some embodiments, the tail comprises a pitch actuator mechanism and a tail surface, the pitch actuator mechanism being disposed between the rear end of the tail portion and the front end of the tail surface for driving the tail surface to swing within a vertical plane of symmetry of the body to assist the biomimetic robotic penguin in advancing.
In some embodiments, the pitching steering engine mechanism comprises a pitching steering engine fixing frame, a pitching steering engine and a pitching steering engine connecting frame, the pitching steering engine fixing frame is fixed on the rear end of the tail part, the pitching steering engine is fixed on the pitching steering engine fixing frame, one end of the pitching steering engine connecting frame is connected with the pitching steering engine, and the other end of the pitching steering engine connecting frame is fixed on the front end of the tail wing surface.
In some embodiments, the electronics module includes an Arduino UNO microprocessor and a bluetooth module; arduino UNO microprocessor is used for controlling two inboard steering wheel, two outside steering wheel every single move steering wheel focus adjustment mechanism and bluetooth module's operation.
In some embodiments, the Arduino UNO microprocessor has CPG control functionality.
In some embodiments, the CPG control function is controlled using a HOPF oscillator equation set of:
wherein, theta i1 、θ i2 The signal represents the output value of the ith oscillator; omega i Is the frequency of the ith oscillator; mu determines the amplitude of the oscillator, theta i1 、θ i2 All are periodic signals, and the amplitude of the periodic signals is set to be A; μ determines the amplitude a of the oscillator,
α is used to control the speed at which the oscillator converges to the limit cycle; let t be the time for a certain steering engine to move from an initial position to a specified position in a certain action state 1 The time from the specified position back to the initial position is t 2 ，t 1 +t 2 Is defined as T
Lambda determines omega at omega t And ω w Given the speed of change between, given ω t Or ω w A value of (a), i.e. the output signal theta is adjustable i1 、θ i2 A period of (a); beta is a load factor, 0<β<1, adjusting beta can control t 1 In one weekThe proportion occupied in the period T.
In some embodiments, the chain connection method between the HOPF oscillation equations set employs the following formula:
where i is 1, 2, 3, denotes one of the three oscillators, a ij To adjust the constant of the coupling between oscillator i and oscillator j,
representing the phase difference, T, between oscillator i and oscillator j i Representing a set of all neighbors that can have an effect on the oscillator i; and transmitting the current angle values of the outer side steering engine, the inner side steering engine and the pitching steering engine to the Arduino UNO microprocessor.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a front view of a biomimetic robotic penguin according to an embodiment of the present invention.
Fig. 2 is a cross-sectional view taken at a-a in fig. 1.
Fig. 3 is a schematic structural diagram of a thoracoabdominal connection piece in a bionic machine penguin according to an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a ventral-caudal junction in a biomimetic robotic penguin according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a fin limb in a biomimetic robotic penguin according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of a tail wing in a bionic machine penguin according to an embodiment of the invention.
Fig. 7 is a schematic diagram of a CPG control mode in a bionic machine penguin according to an embodiment of the present invention.
Reference numerals are as follows:
Fin 2 inside steering engine mechanism 201 inner disc 2011 inside steering engine 2012 outside steering engine mechanism 202 outer disc 2021 outside steering engine fixing frame 2022 outside steering engine connecting frame 2024 fin wing surface 203
Center of gravity adjusting mechanism 4 support frame 401 lead screw 402 heavy object 403 motor 404
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A biomimetic robotic penguin 1000 according to an embodiment of the present invention is described below with reference to fig. 1-7.
As shown in fig. 1 and 2, a biomimetic robotic penguin 1000 according to an embodiment of the present invention has penguin-bionics properties. Here, the penguin bionics characteristic refers to a characteristic obtained by establishing a model through careful observation of the dipenguin and performing bionics design on the bionic machinery penguin 1000 according to the body type and the skeletal characteristics of the dipenguin by using a bionics principle. The bionic penguin 1000 has a streamline shape, so that the swimming resistance can be reduced, and the penguin can efficiently swim in water.
As shown in fig. 1 and 2, the biomimetic robotic penguin 1000 according to an embodiment of the present invention structurally includes a body 1, two fins 2, and a tail 3.
The body 1 is internally provided with a closed cavity 101, the closed cavity 101 is internally provided with a gravity center adjusting mechanism 4 and an electronic device module 5, the closed cavity 101 is used for accommodating and installing the gravity center adjusting mechanism 4 and the electronic device module 5 and playing a role in waterproof protection, and similarly, the closed cavity 101 can also be used for accommodating a battery module 6 used for supplying power to the electronic device module 5 and playing a role in waterproof protection for the battery module 6. The gravity center adjusting mechanism 4 is used for changing the gravity center position of the bionic machine penguin 1000 so that the bionic machine penguin 1000 does pitching motion. It can be understood that the dislocation of the gravity center position and the floating center position generates a pitching moment which enables the bionic penguin to raise or lower, and when the gravity center position is behind the floating center position, the bionic penguin 1000 can float upwards; when the position of the center of gravity is forward compared with the position of the floating center, the bionic machine penguin 1000 is facilitated to dive, and therefore the floating and diving motions of the bionic machine penguin 1000 can be achieved.
The two fin limbs 2 are symmetrically arranged on the left and right sides of the body 1 (as shown in fig. 1), and specifically, can be located on the left and right sides of the chest 103 of the body 1, and both the two fin limbs 2 have two degrees of freedom of movement, so that the bionic machine penguin 1000 can make forward, turning (including pivot steering) and backward movements. It can be understood that, in order to simulate the swimming action of the empire penguin, the swimming of the bionic machine penguin 1000 of the embodiment of the invention mainly depends on two fin limbs 2 with two-degree-of-freedom motion as main power to advance, and the bionic machine swims by adopting a flapping fin type propelling mode, wherein a thrust source of the flapping fin propelling can be composed of three parts: firstly, when the fin limb 2 periodically swings in the fluid, the fin limb 2 is resisted by the resistance of the fluid to resist the movement of the fin limb 2, and the component of the resistance in the advancing direction of the bionic machine penguin 1000 is thrust; secondly, the posture of the fin limb 2 is continuously changed in the up-and-down swing process to form a certain attack angle with the incoming flow, the fluid is divided into an upper part and a lower part when flowing through the front edge of the fin limb 2, the upper part and the lower part of the fluid respectively flow along the upper surface and the lower surface of the fin limb 2 and flow downstream after being converged at the rear edge of the fin limb 2, according to the continuity theorem and the Bernoulli theorem, pressure difference can be formed when the flow velocity of the upper surface and the flow velocity of the lower surface of the fin limb 2 are different, the pressure difference of the upper surface and the lower surface is the lifting force applied to the fin limb 2, and the component of the lifting force in the advancing direction forms a part of the thrust force; thirdly, the vortexes dropped off from the rear edge of the fin limb 2 are orderly arranged in pairs at the tail part 105, belong to the anti-Karman vortex street, have the thrust characteristic and are another important part of the thrust source of the flapping wing movement. Thus, flapping-fin propulsion is a coupled propulsion mode of lift mode propulsion and drag mode propulsion. The fin limb 2 of the bionic machine penguin 1000 realizes 8-shaped flapping motion of the bionic hydrofoil by utilizing two-degree-of-freedom motion, and the wing tip track of the fin limb 2 is an 8-shaped curve and is consistent with the track characteristics of the motion of the biological hydrofoil.
The empennage 3 is connected with the body 1, the empennage 3 can rotate in the symmetrical plane of the body 1, namely the empennage 3 can swing in the symmetrical plane of the body 1, and the auxiliary thrust is the forward propelling auxiliary thrust of the bionic machine penguin 1000. Flapping of the fin limb 2 and swinging of the empennage 3 of the bionic machine penguin 1000 can realize cooperative motion under independent control.
The electronic device module 5 is used for respectively controlling the operation of the gravity center adjusting mechanism 4, the two fin limbs 2 and the tail wing 3, so that the bionic machine penguin 1000 can controllably complete swimming modes such as posture adjustment, floating, submerging, advancing, retreating and turning. If the electronic device module 5 controls the operation of the gravity center adjusting mechanism 4, the gravity center position of the bionic machine penguin 1000 is changed, so that the bionic machine penguin 1000 makes pitching motion, and the floating and diving motion of the bionic machine penguin 1000 is realized; the electronic device module 5 respectively and independently controls the operation of the two fin limbs 2 and the operation of the tail 3, so that the motion of the two fin limbs 2 and the motion of the tail 3 are cooperatively matched, and the bionic machine penguin 1000 moves forwards, backwards or turns.
According to the bionic machine penguin 1000 provided by the embodiment of the invention, the gravity center position of the bionic machine penguin 1000 is changed by controlling the operation of the gravity center adjusting mechanism 4 through the electronic device module 5, so that the bionic machine penguin 1000 can float and dive flexibly and efficiently, and the operation of the two fin limbs 2 and the tail wing 3 is controlled through the electronic device module 5, so that the bionic machine penguin 1000 can simulate the real penguin swimming mode and can advance, retreat and turn flexibly and efficiently. That is to say, the bionic machine penguin 1000 of the embodiment of the invention can realize various motion modes such as forward movement, backward movement, turning, ascending, diving and the like, can stably and repeatedly swim, has wide application prospects and huge potential values in the aspects of marine military and civil fields, for example, in military, the bionic machine penguin 1000 of the embodiment of the invention can be used for marine defense battles and can conveniently carry ammunition to carry out assault-type battles; for civil use, the bionic machine penguin 1000 provided by the embodiment of the invention can be used for underwater exploration, pipeline maintenance, small logistics transportation and the like, and can be used for hydrodynamics teaching aids in colleges and universities, development of intelligent toys, tools in service industry and the like.
In some embodiments, as shown in fig. 2, the body 1 comprises a head part 102, a chest part 103, an abdomen part 104 and a tail part 105 which are hermetically connected from front to back, and the front end of the chest part 103 and the back end of the abdomen part 104 are both closed, so that the interior of the chest part 103 and the interior of the abdomen part 104 together form a closed cavity 101.
Specifically, the body 1 includes a head 102, a chest 103, an abdomen 104, and a tail 105, and the head 102, the chest 103, the abdomen 104, and the tail 105 are separately processed streamlined shells. The rear end of the head part 102 is hermetically connected with the front end of the chest part 103, and the front end of the chest part 103 adopts a closed structure, so that the sealing and waterproof functions are realized. Optionally, the rear end of the head 102 and the front end of the chest 103 are hermetically connected, a soft rubber sleeve is sleeved between the head 102 and the chest 103, waterproof electrician glue is wound at the joint, and finally waterproof cement is used for filling joints, so that a better waterproof effect can be achieved. The rear end of the chest 103 is sealingly connected to the front end of the abdomen 104. The chest 103 and the abdomen 104 are connected and fixed through the chest and abdomen connecting piece 106 (see fig. 2 and 3), the front end of the chest and abdomen connecting piece 106 and the rear end of the chest 103 have the same shape, the rear end of the chest and abdomen connecting piece 106 and the front end of the abdomen 104 have the same shape, when the battery module is installed, the rear end of the chest 103 is firstly buckled with the front end of the chest and abdomen connecting piece 106, then the battery module is fixed at the fixed position at the bottom end of the abdomen 104 through the bolt, the gravity center adjusting mechanism 4 is installed at the fixed position at the bottom end of the abdomen 104, and then the battery module 6 and the electronic device module 5 are assembled together and then are placed into the cavity of the abdomen 104 for fixing, so that the problems of narrow installation space and difficult installation in the abdomen 104 are avoided. Then, the front end of the abdomen 104 is buckled with the rear end of the chest-abdomen connecting piece 106, and the fixing is carried out by using bolts, so that the installation mode is simple, quick and stable; optionally, the bolts at the joints between the chest 103 and the abdomen 104 are plugged with waterproof tapes and waterproof mastics to achieve a better waterproof effect. As can be seen from fig. 2, the inner space of the shell formed by the combination of the chest part 103 and the abdomen part 104 is large, and the electronic device module 5 and the gravity center adjusting mechanism 4 are placed in the chest part 103 and the abdomen part 104, so that the balance of the bionic machine penguin 1000 is kept, and the gravity center is changed to change the motion state. The rear end of the belly 104 and the front end of the tail 105 are sealingly connected. The rear end of the abdomen 104 and the front end of the tail 105 are fixed by an abdomen-tail connecting piece 107 (see fig. 2 and 4), the front end of the abdomen-tail connecting piece 107 and the rear end of the abdomen 104 have the same shape, the rear end of the abdomen-tail connecting piece 107 and the front end of the tail 105 have the same shape, when the abdomen-tail connecting piece is installed, the rear end of the abdomen 104 and the front end of the abdomen-tail connecting piece 107 are buckled at first and then are fixed by bolts, the middle of the abdomen-tail connecting piece 107 adopts a closed structure, and the rear end of the abdomen 104 can be closed; optionally, waterproof adhesive tapes and waterproof mastics are used for plugging bolts at the joints between the abdomen 104 and the tail 105, so as to achieve a better waterproof effect. After the double-tail 105 connecting piece is installed, the chest 103, the chest-abdomen connecting piece 106, the abdomen 104 and the abdomen tail connecting piece 107 together form the closed cavity 101, and the closed cavity 101 can realize a local waterproof function, so that the safety of functional components in the closed cavity 101, such as the gravity center adjusting mechanism 4, the electronic device module 5 and the battery module 6, is ensured. The balance weight which is in a specific position and has a specific weight is installed in the head 102, and the balance weight is obtained through calculation after the whole installation of the bionic machine penguin 1000 is completed, so that the horizontal degree of the posture of the bionic machine penguin 1000 in water is guaranteed.
In some embodiments, as shown in fig. 2, the gravity center adjusting mechanism 4 includes a motor 404, a support frame 401, a screw 402, and a weight 403, wherein the motor 404 and the support frame 401 are disposed opposite to each other at a distance from each other in a front-rear direction, a front end of the screw 402 is connected to the motor 404, a rear end of the screw 402 is rotatably supported on the support frame 401, and the weight 403 is disposed on the screw 402, and when the motor 404 rotates in the front-back direction, the screw 402 is driven to rotate in the front-back direction synchronously, so that the weight 403 is driven to move back and forth along the screw 402. It can be understood that when the weight 403 moves forward, the center of gravity of the biomimetic robotic penguin 1000 moves forward, facilitating the penguin's submergence; when the weight 403 moves backward, the center of gravity of the biomimetic robotic penguin 1000 moves backward, facilitating the floating up of the penguin.
In some embodiments, as shown in fig. 5, each fin limb 2 comprises an inner steering engine mechanism 201, an outer steering engine mechanism 202 and a fin limb airfoil 203; the inner side steering engine mechanism 201 is arranged at the chest 103, and the inner side steering engine mechanism 201 is used for driving the outer side steering engine mechanism 202 to rotate in a vertical symmetrical plane of the body 1; the outboard steering engine mechanism 202 drives the finlimb airfoil surface 203 to flap. Therefore, 8-shaped curvilinear motion of the wing tips of the two-degree-of-freedom fin limbs 2 can be achieved, and main power is provided for motion of the bionic machine penguin 1000.
In some embodiments, the inner steering engine mechanism 201 includes an inner disk 2011, an inner steering engine 2012 and a bearing, the inner disk 2011 is fixed on the chest 103, the inner steering engine 2012 is mounted on the inner disk 2011, the turntable of the inner steering engine 2012 is mounted on the bearing, and the outer steering engine mechanism 202 is mounted on the bearing. Thus, the inner steering gear 2012 can drive the outer steering gear mechanism 202 to rotate in the vertical symmetry plane of the body 1.
In some embodiments, the outer steering engine mechanism 202 includes an outer disc 2021, an outer steering engine 2023 fixing frame 2022, an outer steering engine 2023, and an outer steering engine connecting frame 2024, the outer disc 2021 is located outside the inner disc 2011 and is mounted on the chest 103, a bearing is disposed on the outer disc 2021, the outer steering engine 2023 fixing frame 2022 is fixed with the bearing, the outer steering engine 2023 is fixed on the fixing frame, a rotating disc of the outer steering engine 2023 is fixed with the outer steering engine connecting frame 2024, and the outer steering engine connecting frame 2024 is fixed with the fin limb airfoil surface 203. Thus, the outer steering engine 2023 can drive the fin airfoil surface 203 to rotate in a plane perpendicular to the outer disk 2021, i.e., the fin airfoil surface 203 is driven to flap.
In some embodiments, the two fins 2 effect the forward, backward, turning and pitching movements of the biomimetic robotic penguin 1000 by different motions and motions with different phase differences. Specifically, a discrete control method is adopted for the control of the bionic robotic penguin 1000. In each swing period of the fin-limb airfoil surface 203, the outer steering engine 2023 continuously changes the writing angle of the fin-limb airfoil surface 1 degree/time, changes the motion period by changing the prolonged time after 1 degree is written, and adjusts the motion frequency. When the flapping frequency is low, the swimming speed of the bionic machine penguin 1000 is increased along with the increase of the frequency, and when the flapping frequency is too high, the outer steering engine 2023 cannot reach a specified swing angle and cannot provide enough power; the bionic machine penguin 1000 makes differential motion of the two side fin limbs 2 when turning. The two fin limbs 2 of the bionic machine penguin 1000 have four degrees of freedom in total, reverse differential motion can be realized by controlling the two fin limbs 2, further, the rotation torque is obtained, the turning radius approaches to 0, and in-situ turning is realized; when the phase difference of the two side fin limbs 2 of the bionic machine penguin 1000 is 0, the forward movement can be realized; in the retreating movement mode, the fin limbs 2 are reversely rotated relative to the advancing mode, the fin limbs 2 beat water forwards to obtain backward propulsive force, and the tail wing 3 stops moving, so that retreating can be realized.
In some embodiments, according to the bionics principle and optimization calculation, the finlimb airfoil surface 20323 adopts a NACA0012 airfoil shape, which has the bionic advantage, a higher thrust-weight ratio under water, higher propulsion efficiency, a simpler shape, and easiness in design and installation.
In some embodiments, as shown in fig. 6, the tail 3 comprises a pitch actuator mechanism 301 and a tail surface 302, the pitch actuator mechanism 301 being disposed between the rear end of the tail 105 and the front end of the tail surface 302 for driving the tail surface 302 to oscillate within a vertically symmetrical plane of the body 1 to assist the forward propulsion of the biomimetic robotic penguin 1000.
Specifically, every single move steering wheel mechanism 301 includes every single move steering wheel mount 3011, every single move steering wheel 3012 and every single move steering wheel link 3013, and every single move steering wheel mount 3011 fixes on the rear end of afterbody 105, and every single move steering wheel 3012 fixes on every single move steering wheel mount 3011, and every single move steering wheel link 3013's one end links to each other with every single move steering wheel 3012 and the other end is fixed with the front end of fin airfoil 302, and fin airfoil 302 adopts imitating the design of the outer form of emperor penguin afterbody 105 feather, is hollow structure. The pitching steering engine connecting frame 3013 can transmit the movement of the pitching steering engine 3012, so that the empennage surface 302 rotates in the symmetrical plane of the body 1, and forward power is provided for the bionic machine penguin 1000.
Optionally, the tail 3 further comprises two flippers 303, the two flippers 303 being mounted to the tail surface 302 via holes in the tail surface 302. The flipper 303 can increase the water-facing area of the tail fin 3, thereby providing higher power for the forward movement of the bionic machine penguin 1000, so that the bionic machine penguin can be propelled forward more quickly.
In some embodiments, the robotic penguin 1000 may be weighted to ensure that the robotic penguin 1000 has a stable motion profile in water. In particular, in order to ensure that the biomimetic machine penguin 1000 has a stable motion posture in water, the biomimetic machine penguin 1000 needs to be reasonably weighted. The head 102, the chest 103, the abdomen 104, the tail 105, the tail 3 and other sections of the bionic machine penguin 1000 are weighed, the volume of each section is calculated by Solidworks, and the counterweight mass which can enable the gravity and the buoyancy of each section to be equal is calculated, so that the bionic machine penguin 1000 can be rightly suspended in water and can be balanced front, back, left and right; meanwhile, in order to ensure the stability of the bionic machine penguin 1000 in the swimming process, a weight needs to be added to the lower part of the bionic machine penguin 1000 as much as possible to reduce the center of gravity of the bionic machine penguin 1000.
In some embodiments, the biomimetic robotic penguin 1000 is weighted using a lead and a weight block. The lead bar has larger mass and can be used for adjusting the balance weight in a large range; the balancing weight is small, can be arranged in a sealing bag to flexibly change the mass and the external shape of the bionic machine penguin 1000, and is used for fine adjustment in a small range. Most of the balance weights are arranged inside the bionic machine penguin 1000, so that the streamline appearance of the bionic machine penguin 1000 is guaranteed, and a small number of balance weights are arranged outside the bionic machine penguin 1000, so that fine adjustment of the gravity center position in the later period is facilitated.
In some embodiments, the head 102, chest 103, abdomen 104, tail 105, fin limb surfaces 203, and tail surface 302 are fabricated using a photosensitive resin. This is because the body 1, the fin-limb surfaces 203, the tail wing surfaces 302, etc. are subjected to large stress during the movement of the bio-robot penguin 1000, and the photosensitive resin has high strength and toughness, so that the strength and propulsion efficiency of the bio-robot penguin 1000 can be improved.
In some embodiments, as shown in fig. 7, the electronics module 5 includes an Arduino UNO microprocessor 501 and a bluetooth module; the Arduino UNO microprocessor 501 is used for controlling the operations of the inner steering engine 2012, the outer steering engine 2023, the pitching steering engine 3012, the gravity center adjusting mechanism 4 and the bluetooth module. That is, the Arduino UNO microprocessor 501 is connected with the outer steering engine 2023, the inner steering engine 2012 and the pitching steering engine 3012 of the bionic machine penguin 1000 through a bread board as a power supply board, and respectively controls the rotation angles of the outer steering engine 2023, the inner steering engine 2012 and the pitching steering engine 3012; the Arduino UNO microprocessor 501 is connected to the center of gravity adjusting mechanism 4 through a bread board as a power supply board for controlling the position of the weight 403. The Arduino UNO microprocessor 501 is also connected with a bluetooth module to control the operation of the bluetooth module.
It should be noted that the Arduino UNO microprocessor 501 outputs a PWM signal to control the steering engines (two inner side steering engines 2012, two outer side steering engines 2023, and one pitch steering engine 3012), the Arduino UNO microprocessor 501 has six paths of PWM output pins, the six paths of PWM output pins directly output the PWM signal by a hardware method, practically any digital IO interface can output the PWM signal by a software method, the Arduino UNO microprocessor 501 has six digital IO interfaces, and thus the Arduino UNO microprocessor 501 can control 12 steering engines at most. The Vin interface of the Arduino UNO microprocessor 501 inputs 8.4V to power the Arduino UNO microprocessor 501. The Arduino UNO microprocessor 501 is connected with a USB patch cord, and an external computer can be used for writing and burning programs for the Arduino UNO microprocessor 501; the core of the functions of the steering engine function library < servo.h > and the mathematic library < math.h > is a button reading function and a steering engine PWM value writing function servo _ PWM which are called by the control program used by the Arduino UNO microprocessor 501. In addition, the Arduino UNO microprocessor 501 is further connected with a bluetooth module for receiving signals from the outside for controlling the handle of the bio-robot penguin 1000. The Arduino UNO microprocessor 501 continuously receives signals from a mobile phone application program of the external control bionic machine penguin 1000 and performs corresponding operation processing to obtain PWM values of each steering engine and writes the PWM values into each steering engine.
In some embodiments, the Arduino UNO microprocessor 501 has a CPG control function, i.e., a central pattern generator control function, in addition to an external manual control function; that is, the bionic machine penguin 1000 can generate a stable output signal under the conditions of no rhythm signal input and lack of high-level control commands besides manual control; a generally stable motion mode can be generated through phase lag and phase lock; an automatic direction control signal and smooth switching between motion postures can be generated when an interference signal is input, so that a more diverse and more stable swimming form of the bionic machine penguin 1000 is realized.
Specifically, the CPG control mode adopts a HOPF oscillator equation set for control, and the HOPF oscillator equation is:
wherein, theta i1 、θ i2 The signal represents the output value of the ith oscillator; omega i Is the frequency of the ith oscillator; mu determines the amplitude of the oscillator, theta i1 、θ i2 All are periodic signals, and the amplitude of the periodic signals is set to be A; mu determines the amplitude A, off of the oscillator
Alpha is used for controlling the speed of the oscillator converging to the limit ring, the larger the alpha value is, the faster the convergence speed is, and the quicker the posture switching of the bionic machine penguin 1000 is; let t be the time for a certain steering engine (such as the inside steering engine 2012, the outside steering engine 2023, or the pitch steering engine 3012) to move from the initial position to the designated position in a certain motion state 1 From the specified position backTime to initial position is t 2 ，t 1 +t 2 Is defined as T
Lambda determines omega at omega t And ω w Given the speed of change between, given ω t Or ω w The value of (a), i.e., the period of the output signal can be adjusted; beta is a load factor (0)<β<1) Adjusting beta can control t 1 The proportion occupied in one period T; by aiming at mu, alpha, lambda, beta, omega w And the output values of the oscillators in different swimming modes can be obtained by modifying the parameters, the output values are written as the angle of a single steering engine, the swimming modes of the fin limb 2 in different swimming modes can be obtained, and meanwhile, due to the continuity of the HOPF oscillator equation set, the continuous change of the output values can be realized when switching is carried out among different modes. After the setting of the oscillators of the single controller is completed, the coupling among different oscillators needs to be considered, namely the matching motion among different driving units of the bionic machine penguin 1000, namely the inner steering engine 2012, the outer steering engine 2023 and the pitching steering engine 3012, needs to be considered. Therefore, a CPG control network is needed to realize the joint movement in coordination. The CPG can be divided into chain connection and network connection according to different connection modes, and the connected CPG can realize the coordinated movement of a plurality of limbs and keep the correlation in the time domain.
In some embodiments, the chain connection method between the HOPF equation sets employs the following formula:
according to a chain connection method among HOPF equations, current angle values of an outer steering engine 2023, an inner steering engine 2012 and a pitching steering engine 3012 of the bionic penguin 1000 are transmitted into the Arduino UNO microprocessor 501. The i is 1, 2, and 3, each of which represents one of the three oscillators, the angles are coupled by using a formula such as an uplink connection method, and the calculation is performed in the Arduino UNO microprocessor 501 to obtain a new angle value, and then the new angle value is transmitted to each rudder machine in real time. Then, the coupling of motion between five steering engines (namely two inner side steering engines 2012, two outer side steering engines 2023 and one pitching steering engine 3012) can be realized, so that the motion postures of the bionic machine penguin 1000 can be switched continuously, and the effect of CPG control is achieved.
As shown in fig. 7, in a SIMULINK environment, the above formula of the chain connection method is graphically programmed, the three subsystems on the left side are the CPG control units of the fin limb 2 on the left side, the tail 105 and the fin limb 2 on the right side in sequence from top to bottom, each subsystem is mathematically modeled according to the above formula of the HOPF oscillator equation set, and the subsystems are coupled according to the above formula of the chain connection method. For the Fin-limb 2 subsystem, θ 11 、θ 21 The output represents the angle writing theta of the outer steering engine 2023 12 、θ 22 The output represents the angle writing of the inner steering engine 2012; for empennage 3 subsystems, using θ 31 The output represents the angle writing of the tail 105 steering engine. The five steering engines on the right side of fig. 7 are a left outer steering engine 2023, a left inner steering engine 2012, a pitch steering engine 3012, a right outer steering engine 2023 and a right inner steering engine 2012 in sequence from top to bottom. And then, a graphically edited program can be burnt onto the Arduino Uno singlechip through a support library of 'Simulink support package for Arduino hardware' in a SIMULNK additional function manager, so that CPG control of the bionic penguin is completed.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A biomimetic robotic penguin having penguin bionics properties, comprising:
the bionic machine penguin comprises a body, wherein a closed cavity is arranged in the body, a gravity center adjusting mechanism and an electronic device module are arranged in the closed cavity, and the gravity center adjusting mechanism is used for changing the gravity center position of the bionic machine penguin so that the bionic machine penguin does pitching motion;
the two fin limbs are symmetrically arranged on the left side and the right side of the body and have double degrees of freedom, so that the bionic machine penguin can move forwards, turn and move backwards;
a tail coupled to the body, the tail rotatable within a plane of symmetry of the body to assist forward propulsion of the biomimetic robotic penguin;
the electronic device module is used for respectively controlling the operation of the gravity center adjusting mechanism, the two fin limbs and the tail wing.
2. The biomimetic robotic penguin of claim 1, wherein the body comprises a head, a chest, an abdomen and a tail hermetically connected in sequence from front to back, and wherein a front end of the chest and a back end of the abdomen are both closed such that an interior of the chest and an interior of the abdomen together form the closed cavity.
3. The biomimetic robotic penguin of claim 2, wherein each fin-limb comprises an inner steering engine mechanism, an outer steering engine mechanism, and a fin-limb airfoil; the inner side steering engine mechanism is arranged at the chest and is used for driving the outer side steering engine mechanism to rotate in a vertical symmetrical plane of the body; the outer side steering engine mechanism drives the fin limb wing surface to flap.
4. The biomimetic robotic penguin according to claim 3, wherein the inner steering engine mechanism comprises an inner disc, an inner steering engine and a bearing, the inner disc is fixed on the chest, the inner steering engine is mounted on the inner disc, and a turntable of the inner steering engine is mounted on the bearing; the outer steering engine mechanism comprises an outer disc, an outer steering engine fixing frame, an outer steering engine and an outer steering engine connecting frame, the outer disc is positioned on the outer side of the inner disc and is arranged on the chest, the bearing is arranged on the outer disc, the outer steering engine fixing frame is fixed with the bearing, the outer steering engine is fixed on the fixing frame, a rotary disc of the outer steering engine is fixed with the outer steering engine connecting frame, and the outer steering engine connecting frame is fixed with the fin limb wing surface; the two fin limbs realize the forward movement, backward movement, turning and pitching movement of the bionic machine penguin through different movements and movements with different phase differences.
5. The biomimetic machine penguin according to claim 4, wherein the tail includes a pitch steering engine mechanism and a tail surface, the pitch steering engine mechanism being disposed between a rear end of the tail and a front end of the tail surface for driving the tail surface to swing within a vertical plane of symmetry of the body to assist the biomimetic machine penguin in propelling forward.
6. The bionic machine penguin according to claim 5, wherein the pitching steering engine mechanism comprises a pitching steering engine fixing frame, a pitching steering engine and a pitching steering engine connecting frame, the pitching steering engine fixing frame is fixed on the rear end of the tail portion, the pitching steering engine is fixed on the pitching steering engine fixing frame, one end of the pitching steering engine connecting frame is connected with the pitching steering engine, and the other end of the pitching steering engine connecting frame is fixed with the front end of the empennage wing surface.
7. The biomimetic robotic penguin of claim 6, wherein the electronics module includes an Arduino UNO microprocessor and a Bluetooth module; arduino UNO microprocessor is used for controlling two inboard steering wheel, two outside steering wheel every single move steering wheel focus adjustment mechanism and bluetooth module's operation.
8. The biomimetic robotic penguin of claim 7, wherein the Arduino UNO microprocessor has CPG control functionality.
9. The biomimetic robotic penguin of claim 8, wherein the CPG control function is controlled using a HOPF oscillator equation set of:
wherein, theta i1 、θ i2 The signal represents the output value of the ith oscillator; omega i Is the frequency of the ith oscillator; mu determines the amplitude of the oscillator, theta i1 、θ i2 Are all periodic signals, with an amplitude of
α is used to control the speed at which the oscillator converges to the limit cycle; let t be the time for a certain steering engine to move from an initial position to a specified position in a certain action state 1 The time from the specified position back to the initial position is t 2 ，t 1 + 2 Is defined as
Lambda determines omega at omega t And ω w Given the speed of change between, given ω t Or ω w Of the value of (a), i.e. the regulated output signal theta i1 、θ i2 A period of (a); beta is a load factor, 0<β<1, adjusting beta can control t 1 The proportion occupied in one period T.
10. The biomimetic robotic penguin of claim 9, wherein the chain connection method between the HOPF oscillation equations set employs the following formula:
where i is 1, 2, 3, denotes one of the three oscillators, a ij To adjust the constant of the coupling between oscillator i and oscillator j,
representing the phase difference, T, between oscillator i and oscillator j i Representing a set of all neighbors that can have an effect on the oscillator i; and transmitting the current angle values of the outer side steering engine, the inner side steering engine and the pitching steering engine to the Arduino UNO microprocessor.
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