CN115107960B - Bionic machine penguin - Google Patents
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- CN115107960B CN115107960B CN202210916041.XA CN202210916041A CN115107960B CN 115107960 B CN115107960 B CN 115107960B CN 202210916041 A CN202210916041 A CN 202210916041A CN 115107960 B CN115107960 B CN 115107960B
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- 230000005484 gravity Effects 0.000 claims abstract description 42
- 230000009182 swimming Effects 0.000 claims abstract description 19
- 210000001015 abdomen Anatomy 0.000 claims description 37
- 230000003592 biomimetic effect Effects 0.000 claims description 23
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- 238000011065 in-situ storage Methods 0.000 claims description 3
- 230000000737 periodic effect Effects 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 2
- 241000287486 Spheniscidae Species 0.000 description 118
- 210000003414 extremity Anatomy 0.000 description 28
- 230000009189 diving Effects 0.000 description 8
- 210000000006 pectoral fin Anatomy 0.000 description 8
- 238000007667 floating Methods 0.000 description 6
- 239000012530 fluid Substances 0.000 description 5
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Classifications
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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
-
- 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
-
- 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
-
- 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
-
- 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)
- Toys (AREA)
Abstract
The invention discloses a penguin of a bionic machine, which has the bionic characteristics of penguin and comprises a body, two fin limbs and a tail wing. The body is internally provided with a closed cavity, 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 performs 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 do forward, turning and backward movements; the tail fin is connected with the body, and can rotate in a symmetrical plane of the body so as to assist the penguin of the bionic machine to advance forwards; the electronic device module is used for respectively controlling the gravity center adjusting mechanism, the two fin limbs and the tail wing to run. The bionic machine penguin can simulate the stable, flexible and efficient swimming of a real penguin, and has wide application prospect.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a penguin of a bionic robot.
Background
The penguin has a graceful streamline wheel with a body length of about 80-120 cm and a maximum cross section of about 30cm x 25cm. The penguin has a unique flapping fin propelling mode, and the speed can reach 25-30 km per hour. The swimming mobility of the penguin is high, the maximum underwater instantaneous burst speed is 27.35km/h, and the penguin can jump out of the water surface by 2m; the turning is flexible and quick, and the movement can be realized in a narrow space; the penguin is good at diving, the fin limbs and the trunk cooperate to realize floating and diving, the diving only needs 1.5 minutes for 100m, and the deepest diving reaches 565m depth. The streamline body of penguin can make it move in water with high efficiency. It was calculated that an equivalent amount of energy of 1 liter of gasoline could support the penguin swimming 1500km in antarctic.
The machine penguin can be used for sea defense combat in military, and has the characteristics of high maneuverability and large body size, and can conveniently carry ammunition to carry out assault combat. The machine penguin can be used for underwater exploration, pipeline maintenance, small logistics transportation and the like, and can be used for development of university fluid mechanics teaching aids, intelligent toys, tools in service industry and the like. Therefore, the machine penguin has wide application prospect and huge potential value in the civil field and the marine military, no machine penguin model machine with mature technology exists today, and the machine penguin has no control function for enabling the gesture to be automatically stable.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a bionic mechanical penguin which can simulate the stable, flexible and efficient swimming of a real penguin.
The penguin of the bionic machine provided by the embodiment of the invention has the characteristics of penguin bionics and comprises the following steps:
The body is internally provided with a closed cavity, the closed cavity is internally provided with a gravity center adjusting mechanism and an electronic device module, and the gravity center adjusting mechanism is used for changing the gravity center position of the bionic machine penguin so as to enable the bionic machine penguin to do 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 do forward, turning and backward movements;
the tail fin is connected with the body and can rotate in a symmetrical plane of the body so as to assist the penguin of the bionic machine to advance;
The electronic device module is used for respectively controlling the gravity center adjusting mechanism, the two fin limbs and the tail wing to run.
According to the bionic machine penguin provided by the embodiment of the invention, the electronic device module controls the operation of the gravity center adjusting mechanism to change the gravity center position of the bionic machine penguin, so that the bionic machine penguin can flexibly and efficiently float up and dive, and the electronic device module controls the operation of the two fin limbs and the tail wing, so that the bionic machine penguin can simulate the real penguin swimming mode and flexibly and efficiently advance, retreat and turn. That is, the bionic machine penguin of the embodiment of the invention can realize various movement modes such as forward movement, backward movement, turning, ascending, diving and the like, can stably and repeatedly swim, has wide application prospect and huge potential value in the marine military aspect and the civil field, for example, the bionic machine penguin of the embodiment of the invention can be used for marine defense combat, and can conveniently carry ammunition for assault combat; the bionic machine penguin provided by the embodiment of the invention can be used for underwater exploration, pipeline overhaul, small logistics transportation and the like, and can be used for development of fluid mechanics teaching aids in universities, intelligent toys, tools in service industry and the like. In a word, the penguin of the bionic machine provided by the embodiment of the invention moves stably, flexibly and efficiently, and has a wide application prospect.
In some embodiments, the body includes a head, a chest, an abdomen, and a tail that are sealingly connected in sequence from front to back, and the front end of the chest and the rear end of the abdomen are both closed such that the interior of the chest and the interior of the abdomen together form the closed cavity.
In some embodiments, each of the flipper includes an inboard steering mechanism, an outboard steering mechanism, and a flipper airfoil; the inner steering mechanism is arranged at the chest and is used for driving the outer steering mechanism to rotate in a vertical symmetrical plane of the body; and the outer steering engine mechanism drives the fin wing surface to flap.
In some embodiments, the inboard steering mechanism comprises an inboard disc, an inboard steering gear and a bearing, the inboard disc being fixed to the chest, the inboard steering gear being mounted on the inboard disc, a turntable of the inboard steering gear being 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, wherein 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 turntable 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 wing surface; the two fin limbs realize the forward, backward, turning and pitching actions of the penguin of the bionic machine through the motions of different actions and different phase differences.
In some embodiments, the tail wing comprises a pitching steering mechanism and a tail wing surface, wherein the pitching steering mechanism is arranged between the rear end of the tail part and the front end of the tail wing surface and is used for driving the tail wing surface to swing in the vertical symmetrical plane of the body so as to assist the penguin of the bionic machine to push forwards.
In some embodiments, the pitch steering mechanism includes a pitch steering mechanism fixing frame, a pitch steering mechanism and a pitch steering mechanism connecting frame, the pitch steering mechanism fixing frame is fixed on the rear end of the tail part, the pitch steering mechanism is fixed on the pitch steering mechanism fixing frame, one end of the pitch steering mechanism connecting frame is connected with the pitch steering mechanism, and the other end of the pitch steering mechanism connecting frame is fixed with the front end of the tail wing.
In some embodiments, the electronics module includes an Arduino UNO microprocessor and a bluetooth module; the Arduino UNO microprocessor is used for controlling the operation of two inner steering engines, two outer steering engines, pitching steering engines, a gravity center adjusting mechanism and the Bluetooth module.
In some embodiments, the Arduino UNO microprocessor has a CPG control function.
In some embodiments, the CPG control function is controlled using a system of HOPF oscillator equations:
Wherein, the θ i1、θi2 signal represents the output value of the ith oscillator; omega i is the frequency of the ith oscillator; μ determines the amplitude of the oscillator, θ i1、θi2 is a periodic signal, and the amplitude is set as a; μ determines the amplitude a of the oscillator, Α is used to control the speed at which the oscillator converges to a limit cycle; let T 1 be the time for a certain steering engine to move from an initial position to a designated position under a certain action state, T 2,t1+t2 = T be the time for a certain steering engine to return to the initial position from the designated position, define/>Λ determines the rate of change of Ω between ω t and ω w, and given the value of ω t or ω w, the period of the output signal θ i1、θi2 can be adjusted; beta is a loading factor, 0< beta <1, and adjusting beta can control the proportion of T 1 in a period T.
In some embodiments, the chain connection method between the HOPF oscillation equation sets employs the following formula:
Where i=1, 2, 3, represents one of the three oscillators, a ij is a constant that adjusts the degree of coupling between oscillator i and oscillator j, Representing the phase difference between oscillator i and oscillator j, T i represents all neighbor sets that can affect oscillator i; and transmitting the current angle values of the outer steering engine, the inner 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 foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a front view of a biomimetic robotic penguin in an embodiment of the present disclosure.
Fig. 2 is a cross-sectional view at A-A in fig. 1.
Fig. 3 is a schematic structural diagram of a chest-abdomen connector in a penguin of a bionic machine according to an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a ventral tail connector in a penguin of a bionic machine according to an embodiment of the invention.
Fig. 5 is a schematic structural diagram of a fin in a penguin of a bionic machine according to an embodiment of the invention.
Fig. 6 is a schematic structural view of a tail wing in a penguin of a bionic machine according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a CPG control mode in a penguin of the bionic machine according to an embodiment of the present invention.
Reference numerals:
bionic mechanical penguin 1000
Body 1 encloses cavity 101, head 102, abdomen 103, tail 105, chest-abdomen connector 106, abdomen-tail connector 107
Fin limb 2 inner steering gear mechanism 201 inner disk 2011 inner steering gear 2012 outer steering gear mechanism 202 outer disk 2021 outer steering gear fixing frame 2022 outer steering gear 2023 outer steering gear connecting frame 2024 fin limb airfoil 203
Tail wing 3 pitch steering engine mechanism 301 pitch steering engine fixing frame 3011 pitch steering engine 3012 pitch steering engine connecting frame 3013 tail wing surface 302 flipper 303
Gravity center adjusting mechanism 4 supporting frame 401 lead screw 402 weight 403 motor 404
Electronic device module 5 Arduino UNO microprocessor 501 battery module 6
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
A biomimetic robotic penguin 1000 according to an embodiment of the present invention is described below in connection with fig. 1-7.
As shown in fig. 1 and 2, the bionic machine penguin 1000 according to the embodiment of the invention has a penguin bionics property. Here, the bionics characteristics of penguin refer to characteristics obtained by modeling a detailed observation of penguin, and bionically designing the bionically machine penguin 1000 in accordance with the body type and skeletal characteristics of penguin by using the bionical principle. The bionic mechanical penguin 1000 has a streamline shape, can reduce swimming resistance, and is beneficial to swimming in water with high efficiency.
As shown in fig. 1 and 2, a bionic mechanical penguin 1000 according to an embodiment of the present invention structurally includes a body 1, two limbs 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 plays a role in accommodating and installing the gravity center adjusting mechanism 4 and the electronic device module 5 and playing a role in waterproof protection, and likewise, the closed cavity 101 can also play a role in accommodating a battery module 6 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 performs pitching motion. It can be understood that the dislocation of the gravity center position and the floating center position generates a pitching moment for raising or lowering the head of the bionic penguin, and when the gravity center position is backward compared with the floating center position, the floating of the bionic penguin 1000 of the bionic machine is facilitated; when the center of gravity position is forward compared to the center of gravity position, the biomimetic machine penguin 1000 is facilitated to submerge, whereby the floating and submerging movements of the biomimetic machine penguin 1000 can be achieved.
The two fins 2 are symmetrically disposed on the left and right sides of the body 1 (as shown in fig. 1), and in particular, may be disposed on the left and right sides of the chest 103 of the body 1, and both fins 2 have two degrees of freedom motion, so that the bionic robot penguin 1000 can perform forward, turning (including in-situ steering) and backward motions. It can be understood that, in order to simulate the swimming motion of the penguin, the swimming of the bionic robot penguin 1000 in the embodiment of the invention mainly relies on two fin limbs 2 with two degrees of freedom to move as main power to advance, and the swimming is performed by adopting a flapping-fin propulsion mode, and the thrust source of the flapping-fin propulsion can be composed of three parts: firstly, when the fin 2 periodically swings in fluid, the resistance of the fluid against the fin 2 is applied to prevent the motion of the fin, and the component of the resistance in the advancing direction of the bionic machine penguin 1000 is thrust; secondly, the attitude of the fin limb 2 is continuously changed in the process of up and down swing to form a certain attack angle with incoming flow, fluid is divided into an upper stream and a lower stream when flowing through the front edge of the fin limb 2, flows along the upper surface and the lower surface of the fin limb 2 respectively, and is recombined to flow downstream at the rear edge of the fin limb 2, and according to the continuity theorem and Bernoulli theorem, when the flow rates of the upper surface and the lower surface of the fin limb 2 are different, a pressure difference is formed, the pressure difference between the upper surface and the lower surface is the lifting force born by the fin limb 2, and the component of the lifting force in the advancing direction forms a part of thrust; and the vortexes falling off from the rear edge of the fin 2 are arranged in pairs and orderly at the tail 105, belong to anti-karman vortex streets, have thrust characteristics, and are another important part of the flapping wing motion thrust source. 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 the 8-shaped swing motion of the bionic hydrofoil by utilizing the motion of double degrees of freedom, and the tip track of the fin limb 2 is an 8-shaped curve and accords with the track characteristics of the motion of the biological hydrofoil.
The tail fin 3 is connected with the body 1, the tail fin 3 can rotate in the symmetrical plane of the body 1, namely, the tail fin 3 can swing in the symmetrical plane of the body 1, and the auxiliary thrust is pushed forward for the penguin 1000 of the bionic machine. The flapping of the fin 2 and the swinging of the tail 3 of the penguin 1000 of the bionic machine can realize cooperative movement 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 robot penguin 1000 can controllably complete the swimming modes of posture adjustment, floating, diving, advancing, retreating, turning and the like. 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 performs pitching motion, and the floating and submerging motions of the bionic machine penguin 1000 are realized; the electronic device module 5 respectively and independently controls the operation of the two fin limbs 2 and the operation of the tail wing 3, so that the motion of the two fin limbs 2 and the motion of the tail wing 3 are matched in a coordinated manner, and the bionic machine penguin 1000 moves forwards, backwards or turns and the like.
According to the bionic machine penguin 1000 provided by the embodiment of the invention, the electronic device module 5 controls the operation of the gravity center adjusting mechanism 4 to change the gravity center position of the bionic machine penguin 1000, so that the bionic machine penguin 1000 can flexibly and efficiently float upwards and dive, and the electronic device module 5 controls the operation of the two fin limbs 2 and the tail wing 3, so that the bionic machine penguin 1000 can simulate a real penguin swimming mode and flexibly and efficiently advance, retreat and turn. That is, the bionic machine penguin 1000 of the embodiment of the invention can realize various movement modes such as forward movement, backward movement, turning, ascending, diving and the like, can stably and repeatedly swim, has wide application prospect and huge potential value in the marine military aspect and the civil field, for example, the bionic machine penguin 1000 of the embodiment of the invention can be used for marine defense battle and can conveniently carry ammunition for assault battle; the bionic machine penguin 1000 of the embodiment of the invention can be used for underwater exploration, pipeline maintenance, small logistics transportation and the like, and can be used for college fluid mechanics teaching aids, intelligent toy development, service industry tools and the like.
In some embodiments, as shown in fig. 2, the body 1 includes a head 102, a chest 103, an abdomen 104, and a tail 105 that are hermetically connected in this order from front to back, with the front end of the chest 103 and the rear end of the abdomen 104 both being closed, such that the interior of the chest 103 and the interior of the abdomen 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 streamline shells. The rear end of the head 102 is in sealing connection with the front end of the chest 103, and the front end of the chest 103 adopts a closed structure to realize the sealing waterproof function. Optionally, the mode of sealing connection between the rear end of the head 102 and the front end of the chest 103 can be achieved by sleeving a soft rubber sleeve between the head 102 and the chest 103, winding waterproof electrician glue around the joint, and finally sealing with waterproof glue mud, 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 fixedly connected 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 device is installed, the rear end of the chest 103 and the front end of the chest and abdomen connecting piece 106 are buckled at first, then the gravity center adjusting mechanism 4 is installed at the fixed position of the bottom end of the abdomen 104 through bolt fixing, 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 to be fixed, 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 and the rear end of the chest and abdomen connecting piece 106 are buckled together, and are fixed by bolts, so that the installation mode is simple, quick and stable; optionally, waterproof adhesive tape and waterproof adhesive cement are used for plugging the bolts at the joint between the chest 103 and the abdomen 104, so as to achieve better waterproof effect. As can be seen from fig. 2, the chest 103 and the abdomen 104 form a large internal space of the shell, and the electronic device module 5 and the gravity center adjusting mechanism 4 are placed in the chest 103 and the abdomen 104, so that the balance of the bionic robot penguin 1000 is maintained and the gravity center is changed to change the motion state. The rear end of the web 104 is sealingly connected to the front end of the tail 105. The rear end of the belly 104 and the front end of the tail 105 are fixed through a belly-tail connecting piece 107 (see fig. 2 and 4), the front end of the belly-tail connecting piece 107 and the rear end of the belly 104 have the same shape, the rear end of the belly-tail connecting piece 107 and the front end of the tail 105 have the same shape, when the belly-tail connecting piece is installed, the rear end of the belly 104 is buckled with the front end of the belly-tail connecting piece 107 firstly, then the belly-tail connecting piece 107 is fixed through bolts, and a closed structure is adopted in the middle of the belly-tail connecting piece 107, so that the rear end of the belly 104 can be closed; optionally, waterproof adhesive tape and waterproof adhesive cement are used for plugging the bolts at the joint between the abdomen 104 and the tail 105, so as to achieve better waterproof effect. After the connecting piece of the compound tail 105 is installed, the chest 103, the chest and abdomen connecting piece 106, the abdomen 104 and the abdomen and 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. A counterweight with a specific weight is installed in the head 102 at a specific position, and the counterweight is calculated after the whole installation of the bionic machine penguin 1000 is completed, so as to ensure the horizontal degree of the underwater posture of the bionic machine penguin 1000.
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, where the motor 404 and the support frame 401 are disposed opposite to each other in a front-to-back spaced manner, 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 positively and negatively, the screw 402 is driven to rotate synchronously, so as to drive the weight 403 to move forward and backward along the screw 402. It will be appreciated that as weight 403 moves forward, the center of gravity of biomimetic machine penguin 1000 moves forward, facilitating the diving of the penguin; when the weight 403 moves backward, the center of gravity of the biomimetic machine penguin 1000 moves backward, facilitating the floating of the penguin.
In some embodiments, as shown in fig. 5, each fin 2 includes an inboard steering mechanism 201, an outboard steering mechanism 202, and a fin airfoil 203; the inner steering mechanism 201 is arranged at the chest 103, and the inner steering mechanism 201 is used for driving the outer steering mechanism 202 to rotate in the vertical symmetry plane of the body 1; the outboard steering mechanism 202 drives the flipper wing 203 to flap. Therefore, the 8-shaped curve motion of the fin 2 wingtips with double degrees of freedom can be realized, and main power is provided for the motion of the bionic machine penguin 1000.
In some embodiments, inboard steering engine mechanism 201 includes an inboard disc 2011, an inboard steering engine 2012, and a bearing, inboard disc 2011 is fixed on chest 103, inboard steering engine 2012 is mounted on inboard disc 2011, a turntable of inboard steering engine 2012 is mounted on the bearing, and outboard steering engine mechanism 202 is mounted on the bearing. Thus, inboard steering engine 2012 may drive outboard steering engine mechanism 202 to rotate within the vertical plane of symmetry of body 1.
In some embodiments, the outboard steering engine mechanism 202 includes an outboard disc 2021, an outboard steering engine 2023 mount 2022, an outboard steering engine 2023, and an outboard steering engine connection 2024, the outboard disc 2021 is outboard of the inboard disc 2011 and mounted on the chest 103, bearings are provided on the outboard disc 2021, the outboard steering engine 2023 mount 2022 is fixed to the bearings, the outboard steering engine 2023 is fixed to the mount, a turntable of the outboard steering engine 2023 is fixed to the outboard steering engine connection 2024, and the outboard steering engine connection 2024 is fixed to the fin airfoil 203. Thus, the outboard steering engine 2023 may drive the flipper surface 203 to rotate in a plane perpendicular to the outer disk 2021, i.e., drive the flipper surface 203 to flap.
In some embodiments, the two limbs 2 move with different motions and different phase differences to achieve the forward, backward, turning and pitching motions of the biomimetic machine penguin 1000. Specifically, a discrete control method is adopted for controlling the bionic machine penguin 1000. The outer steering engine 2023 continuously changes its writing angle by 1 °/time during each oscillation period of the fin airfoil 203, and adjusts the movement frequency by changing the movement period by changing the extension time after every writing by 1 °. When the flapping frequency is small, the swimming speed of the bionic machine penguin 1000 increases along with the increase of the frequency, and when the flapping frequency is too high, the outside steering engine 2023 cannot reach the designated swing angle and cannot provide enough power; the two sides of the penguin 1000 of the bionic machine do differential motion when turning. The two fin limbs 2 of the bionic machine penguin 1000 have four degrees of freedom, and reverse differential motion can be realized by controlling the two fin limbs 2, so that a rotation moment is obtained, the turning radius approaches 0, and in-situ turning is realized; when the phase difference between the fin limbs 2 at the two sides of the penguin 1000 of the bionic machine is 0, the advancing can be realized; in the backward movement mode, the fin 2 is reversed relative to the forward movement mode, the fin 2 beats water forward to obtain backward propelling force, and the tail wing 3 stops moving, so that backward movement can be realized.
In some embodiments, according to the bionics principle and optimization calculation, the fin limb airfoil 20323 adopts the NACA0012 airfoil, has a bionical advantage, has a higher thrust-weight ratio under water, has higher propulsion efficiency, has a simpler appearance, and is easy to design and install.
In some embodiments, as shown in fig. 6, tail 3 includes a pitch steering mechanism 301 and a tail surface 302, pitch steering mechanism 301 being disposed between the rear end of tail 105 and the front end of tail surface 302 for driving tail surface 302 to swing within the vertical plane of symmetry of body 1 to assist in the forward propulsion of biomimetic robotic penguin 1000.
Specifically, pitch steering engine mechanism 301 includes pitch steering engine mount 3011, pitch steering engine 3012 and pitch steering engine link 3013, pitch steering engine mount 3011 is fixed on the rear end of afterbody 105, pitch steering engine 3012 is fixed on pitch steering engine mount 3011, pitch steering engine link 3013's one end links to each other with pitch steering engine 3012 and the other end is fixed with the front end of fin airfoil 302, fin airfoil 302 adopts imitative emperor penguin afterbody 105 feather external form design, is hollow structure. Pitch steering engine link 3013 may transmit motion of pitch steering engine 3012, causing tail wing airfoil 302 to rotate within the plane of symmetry of body 1, providing forward power for biomimetic machine penguin 1000.
Optionally, the tail 3 further comprises two flippers 303, the flippers 303 being mounted to the tail surface 302 via holes in the tail surface 302. The fin 303 can increase the water facing area of the tail wing 3, thereby providing higher power for the progress of the biomimetic machine penguin 1000, so that it can be advanced more rapidly.
In some embodiments, the biomimetic machine penguin 1000 ensures that the biomimetic machine penguin 1000 has a stable motion posture in water through a counterweight manner. Specifically, in order to ensure that the bionic machine penguin 1000 has a stable motion posture in water, a reasonable counterweight is required to be performed on the bionic machine penguin 1000. The segments such as the head 102, the chest 103, the abdomen 104, the tail 105, the tail wing 3 and the like of the penguin 1000 of the bionic machine are weighed, the volumes of the segments are calculated by using Solidworks, and the weight of the balance weight which can lead the gravity and the buoyancy of the segments to be equal is calculated, so that the penguin 1000 of the bionic machine can just suspend in water and can reach balance in the front-back and left-right directions; meanwhile, in order to ensure the stability of the bionic machine penguin 1000 in the swimming process, a counterweight is required to be added to the lower part of the bionic machine penguin 1000 as much as possible so as to reduce the gravity center of the bionic machine penguin 1000.
In some embodiments, biomimetic machine penguin 1000 uses lead and balancing weights for the balancing. The lead strip has larger mass and can be used for adjusting the balance weight in a large range; the balancing weight is smaller, and the balancing weight can be placed in a sealing bag to flexibly change the quality and the external shape of the penguin 1000 of the bionic machine for fine adjustment in a small range. Most of the balance weight is arranged in the bionic machine penguin 1000, so that the streamline shape of the bionic machine penguin 1000 is ensured, and a small part of the balance weight is reset outside the bionic machine penguin 1000, so that the fine adjustment of the gravity center position in the later stage is facilitated.
In some embodiments, the head 102, chest 103, belly 104, tail 105, fin airfoil 203, tail airfoil 302 are fabricated from a photosensitive resin. This is because the body 1, the fin wing surface 203, the tail wing surface 302, etc. are subjected to a large stress during the movement of the bionic machine penguin 1000, and the photosensitive resin has high strength and toughness, so that the strength and the propulsion efficiency of the bionic machine penguin 1000 can be improved.
In some embodiments, as shown in fig. 7, electronics module 5 includes an Arduino UNO microprocessor 501 and a bluetooth module; the Arduino UNO microprocessor 501 is used to control the operation of the inboard steering engine 2012, the outboard steering engine 2023, the pitch steering engine 3012, the center of gravity adjustment 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 pitch steering engine 3012 of the bionic machine penguin 1000 through the bread board as a power supply board, and controls the rotation angles of the outer steering engine 2023, the inner steering engine 2012 and the pitch steering engine 3012 respectively; the Arduino UNO microprocessor 501 is connected to the center of gravity adjustment mechanism 4 via a bread board as a power board for controlling the position of the weight 403. The Arduino UNO microprocessor 501 is also connected with a bluetooth module, and controls the operation of the bluetooth module.
It should be noted that, the Arduino UNO microprocessor 501 outputs PWM signals to realize control of steering engines (two inner steering engines 2012, two outer steering engines 2023 and one pitch steering engine 3012), the Arduino UNO microprocessor 501 has six PWM output pins, the six PWM output pins directly output PWM signals by hardware, in fact, any digital IO interface can output PWM signals by a software method, the Arduino UNO microprocessor 501 has six digital IO interfaces, so that the Arduino UNO microprocessor 501 can simultaneously control 12 steering engines at most. The Vin interface input 8.4V voltage of Arduino UNO microprocessor 501 powers Arduino UNO microprocessor 501. The Arduino UNO microprocessor 501 is connected with a USB patch cord, and an external computer can be utilized to write and burn programs for the Arduino UNO microprocessor 501; the core of the control program used by the Arduino UNO microprocessor 501 of the invention, which invokes the functions of the steering engine function library < servo.h > and the math.h > is a button reading function and a steering engine PWM value writing function servo_pwm. In addition, the Arduino UNO microprocessor 501 is further connected with a bluetooth module, and the bluetooth module is used for receiving signals from the external handle for controlling the penguin 1000 of the bionic machine. The Arduino UNO microprocessor 501 continuously receives signals from the mobile phone application program of the bionic machine penguin 1000 and performs corresponding operation processing, obtains the PWM values of each steering engine, and writes the PWM values into each steering engine.
In some embodiments, arduino UNO microprocessor 501 has a CPG control function, i.e., a hub pattern generator control function, in addition to an external manual control function; that is, the biomimetic machine penguin 1000 can generate stable output signals under the condition of no rhythm signal input and lack of high-level control commands besides manual control; a generally stable motion mode can be generated by phase lag and phase locking; automatic direction control signals and smooth switching between motion postures can be generated when interference signals are input, so that the bionic machine penguin 1000 is in a more diversified and more stable swimming form.
Specifically, the CPG control mode adopts an HOPF oscillator equation set for control, and the HOPF oscillator equation set is:
Wherein, the θ i1、θi2 signal represents the output value of the ith oscillator; omega i is the frequency of the ith oscillator; μ determines the amplitude of the oscillator, θ i1、θi2 is a periodic signal, and the amplitude is set as a; mu determines the amplitude A of the oscillator, off The alpha is used for controlling the speed of the oscillator converging to the limit cycle, and the larger the alpha value is, the faster the convergence speed is, the quicker the attitude of the bionic machine penguin 1000 is switched; let a certain steering engine (such as the inner steering engine 2012, the outer steering engine 2023 or the pitch steering engine 3012) move from an initial position to a designated position in a certain action state for a time T 1, and return from the designated position to the initial position for a time T 2,t1+t2 =t, which is defined asΛ determines the rate of change of Ω between ω t and ω w, and the period of the output signal can be adjusted given the value of ω t or ω w; beta is a load factor (0 < beta < 1), and the proportion of T 1 occupied in a period T can be controlled by adjusting beta; the output values of the oscillators in different swimming modes can be obtained by modifying parameters such as mu, alpha, lambda, beta, omega w and the like, the output values are used as angles of a single steering engine to be written in, so that the swimming modes of the fin limbs 2 in the different swimming modes can be obtained, and meanwhile, due to the continuity of an equation set of the HOPF oscillator, continuous change of the output values can be realized when the modes are switched. After the setting of the oscillators of the single controller is completed, the coupling between different oscillators, namely the matching motion of the inner steering engine 2012, the outer steering engine 2023 and the pitching steering engine 3012 among different driving units of the penguin 1000 of the bionic machine, needs to be considered. A CPG control network is therefore required to achieve coordinated movement of the joints. CPGs can be divided into chain connection and network connection according to different connection modes, and the CPGs connected can realize cooperative movement of a plurality of limbs and maintain correlation in a time domain.
In some embodiments, the chain connection method between the HOPF equations sets uses the following formula:
According to the chain connection method between HOPF equation sets, the current angle values of the outer steering engine 2023, the inner steering engine 2012 and the pitching steering engine 3012 of the bionic machine penguin 1000 are transmitted into the Arduino UNO microprocessor 501. i=1, 2, 3, respectively represent one of the three oscillators, the coupling between angles is performed by adopting the formula of the chain connection method, the operation is performed in the Arduino UNO microprocessor 501 to obtain a new angle value, and then the new angle value is transmitted to each steering engine in real time. Then, the motion coupling between the five steering engines (namely, the two inner steering engines 2012, the two outer steering engines 2023 and the one pitching steering engine 3012) can be realized, so that the motion gesture of the bionic machine penguin 1000 can be continuously switched, and the CPG control effect is achieved.
As shown in fig. 7, in the SIMULINK environment, the formulas of the above chained connection method are graphically programmed, and the left three subsystems are the CPG control units of the left fin 2, the tail 105 and the right fin 2 from top to bottom, each subsystem is mathematically modeled according to the formula of the above HOPF oscillator equation set, and the subsystems are coupled according to the formula of the above chained method. For the fin-limb 2 subsystem, its θ 11、θ21 output represents the outboard steering engine 2023 angle write, and its θ 12、θ22 output represents the inboard steering engine 2012 angle write; for the tail 3 subsystem, the angle input representing the tail 105 steering engine is written in by the θ 31 output. The five steering engines on the right side of fig. 7 are a left side outer steering engine 2023, a left side inner steering engine 2012, a pitching steering engine 3012, a right side outer steering engine 2023 and a right side inner steering engine 2012 from top to bottom in sequence. And then, through a Simulink support package for Arduino hardware supporting library in a SIMULNK additional function manager, the graphically edited program can be burnt on the Arduino Uno singlechip to complete CPG control of the bionic penguin.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means 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, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A biomimetic mechanical penguin, characterized by having penguin biomimetic properties, comprising:
The body is internally provided with a closed cavity, the closed cavity is internally provided with a gravity center adjusting mechanism and an electronic device module, and the gravity center adjusting mechanism is used for changing the gravity center position of the bionic machine penguin so as to enable the bionic machine penguin to do 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 do forward, turning and backward movements;
the tail fin is connected with the body and can rotate in a symmetrical plane of the body so as to assist the penguin of the bionic machine to advance;
the electronic device module is used for respectively controlling the gravity center adjusting mechanism, the two fin limbs and the tail wing to run;
The body comprises a head, a chest, an abdomen and a tail which are sequentially and hermetically connected from front to back, and the front end of the chest and the rear end of the abdomen are both closed, so that the interior of the chest and the interior of the abdomen jointly form the closed cavity;
each fin limb comprises an inner steering mechanism, an outer steering mechanism and a fin limb airfoil; the inner steering mechanism is arranged at the chest and is used for driving the outer steering mechanism to rotate in a vertical symmetrical plane of the body; the outer steering engine mechanism drives the fin wing surfaces to flap;
The inner steering engine mechanism comprises an inner disc, an inner steering engine and a bearing, wherein 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, wherein 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 turntable 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 wing surface; the two fin limbs realize the forward, backward, turning and pitching actions of the penguin of the bionic machine through the motions of different actions and different phase differences;
A discrete control method is adopted for controlling the penguin of the bionic machine; in each swing period of the fin wing surface, the external steering engine continuously changes the writing angle of the external steering engine by 1 degree/time, changes the movement period by changing the extension time after each writing by 1 degree, and adjusts the movement frequency; when the flapping frequency is smaller, the swimming speed of the penguin of the bionic machine is increased along with the increase of the frequency, and when the flapping frequency is too high, the outside steering engine cannot reach a designated swing angle and cannot provide enough power; the two fin limbs of the bionic machine penguin do differential motion during turning, the two fin limbs of the bionic machine penguin have four degrees of freedom, reverse differential motion can be realized by controlling the two fin limbs, and further, a rotation moment is obtained, the turning radius approaches to 0, and in-situ turning is realized; when the phase difference of the fin limbs at the two sides of the penguin of the bionic machine is 0, the advancing can be realized; in the backward movement mode, the fin is reversed relative to the forward movement mode, the fin beats water forward to obtain backward propelling force, and the tail wing stops moving, so that backward movement is realized.
2. The biomimetic machine penguin of claim 1, wherein the tail comprises a pitch steering mechanism and a tail airfoil, the pitch steering mechanism being disposed between a rear end of the tail and a front end of the tail airfoil for driving the tail airfoil to swing within a vertical plane of symmetry of the body to assist in forward propulsion of the biomimetic machine penguin.
3. The biomimetic machine penguin of claim 2, wherein the pitch steering mechanism comprises a pitch steering mechanism fixing frame, a pitch steering mechanism and a pitch steering mechanism connecting frame, the pitch steering mechanism fixing frame is fixed on the rear end of the tail part, the pitch steering mechanism is fixed on the pitch steering mechanism fixing frame, one end of the pitch steering mechanism connecting frame is connected with the pitch steering mechanism, and the other end of the pitch steering mechanism connecting frame is fixed with the front end of the tail wing.
4. A biomimetic robotic penguin as in claim 3, wherein said electronics module comprises an Arduino UNO microprocessor and a bluetooth module; the Arduino UNO microprocessor is used for controlling the operation of two inner steering engines, two outer steering engines, pitching steering engines, a gravity center adjusting mechanism and the Bluetooth module.
5. The biomimetic robotic penguin of claim 4, wherein the Arduino UNO microprocessor has CPG control functionality.
6. The biomimetic machine penguin of claim 5, wherein the CPG control function is controlled using a set of HOPF oscillator equations, the set of HOPF oscillator equations being:
Wherein, the θ i1、θi2 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、θi2 is a periodic signal, and the amplitude is set as Α is used to control the speed at which the oscillator converges to a limit cycle; let T 1 be the time for a certain steering engine to move from an initial position to a designated position under a certain action state, T 2,t1+t2 = T be the time for a certain steering engine to return to the initial position from the designated position, define/>Λ determines the rate of change of Ω between ω t and ω w, and given the value of ω t or ω w, the period of the output signal θ i1、θi2 can be adjusted; beta is a loading factor, 0< beta <1, and adjusting beta can control the proportion of T 1 in a period T.
7. The biomimetic machine penguin of claim 6, wherein the chain connection method between the HOPF oscillator equations sets uses the following formula:
Where i=1, 2, 3, represents one of the three oscillators, a ij is a constant that adjusts the degree of coupling between oscillator i and oscillator j, Representing the phase difference between oscillator i and oscillator j, T i represents all neighbor sets that can affect oscillator i; and transmitting the current angle values of the outer steering engine, the inner steering engine and the pitching steering engine to the Arduino UNO microprocessor.
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