CN115107962B - Jellyfish robot based on bionic design - Google Patents
Jellyfish robot based on bionic design Download PDFInfo
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- CN115107962B CN115107962B CN202210953371.6A CN202210953371A CN115107962B CN 115107962 B CN115107962 B CN 115107962B CN 202210953371 A CN202210953371 A CN 202210953371A CN 115107962 B CN115107962 B CN 115107962B
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H23/06—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing for transmitting drive from a single propulsion power unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The invention provides a jellyfish robot based on bionic design, which relates to the technical field of bionic machinery and comprises an outer main body, a plurality of tentacles, a frame unit, a linkage unit, a tensioning unit and a power control unit, wherein the frame unit is arranged on the outer main body; the outer main body is provided with a top head cover capable of rotating relatively, the first mounting frame is provided with a cover plate used for being mounted on the top head cover, and the cover plate is axially matched with the first mounting frame in a rotating way, so that the frame unit can be controlled by external force to do axial rotation; the gear motor transmits power to the driving plate through the transmission assembly to form a propulsion system for the jellyfish robot; and the first steering engine is configured on one side of the top head cover, the second steering engine is configured at the hinged end between the two hinged frames of the steering support group, and the third steering engine is configured at the hinged end between the other two hinged frames of the steering support group so as to cooperatively cooperate together to form a steering system for the jellyfish robot.
Description
Technical Field
The invention relates to the technical field of bionic machinery, in particular to an jellyfish robot based on bionic design.
Background
In recent decades, the trend of deep blue becomes national consensus, and the great development of ocean has important significance for developing economy and guaranteeing safety. The large development of the ocean is not separated from the development of various ocean equipment, in particular deep sea ocean equipment. The industry of the bionic underwater robots is also gradually heated, and the body and shadow of the bionic underwater robots with various purposes are actively in the forefront line of ocean development.
Since the first cableless underwater robot "spur" mainly used for hydrologic investigation was built by the university of washington in the last 50 s of the 20 th century, people have generated a great deal of interest in the cableless underwater robot, but the development of the intelligent underwater robot technology has been long-lasting due to the technical limitations of various matched systems. With the urgent demands of new technologies such as materials, electronics, computers and the like in the fields of marine research, development and military, intelligent underwater robots are attracting attention again in the field of marine development and in the military of various countries.
After the 90 th century, various technologies of the intelligent bionic underwater robot begin to mature gradually, and as the intelligent underwater robot has far application prospects in ocean research and ocean development and wide application in future underwater information acquisition, deep water resource development, accurate striking and 'asymmetric intelligence fight resistance', the bionic underwater bionic robot technology is an important field which is worthy of active research and development all over the world.
The underwater robot is widely applied to various fields including ocean engineering, port construction, offshore oil, maritime law enforcement evidence collection, scientific research, naval defense and the like, and is used for completing various works such as underwater search and rescue, detection and salvage, deep sea resource investigation, submarine line pipe laying and inspection maintenance, underwater archaeology, power station and dam detection and the like.
At present, the demands of the market for underwater robots are divided into two types, namely an observation detection type and an operation type. The observation type is equipped with underwater television and photographic equipment, and is periodically observed and inspected for underwater specific targets. The operation type underwater operation device can be used for carrying out simple underwater operation by further providing equipment such as front view sonar, side scan sonar, seabed drawing, seabed profile and the like, various manipulators and the like according to different requirements.
It should be mentioned that the ocean, which occupies 71% of the earth's surface area, is a rich and far undeveloped resource treasury, and is also a army field seen by army. In the 21 st century, human beings face three contradictory challenges of population expansion and living space, land resource exhaustion and social production growth, ecological environment deterioration and human development, and ocean resources must be fully utilized to maintain survival, reproduction and development of the human beings, which is an unavoidable choice. For China with lack of resources per capita, ocean development has special significance. The Chinese operators are wide, the coastline is long, and the territory of the territory is large. However, due to the defects of the prior art, the tools used by fishermen in China are crude, the marine protection consciousness is poor, and the marine ecological environment is damaged to different degrees.
Thus, marine ranch construction and marine ecological restoration are the key directions for developing marine fishery in coastal countries in the world. The ecological environment of the marine pasture determines the necessity of water quality monitoring, the hydrologic monitoring in China is in the stage of changing from the traditional mode to the modern mode at present, the traditional detection method can only detect the surface of water quality, is trapped in the underwater environment, can only further detect the water quality, and causes a certain error in the detection result. Further developments in underwater robotics have well addressed this problem.
Meanwhile, in order to develop the marine fish farming industry, more advanced equipment and detection means are needed, and according to the hydrological water quality statistical data of rivers and channels and the sewage outlet quantity statistical data. Based on the concept of ecological system management, the resource utilization mode of marine agriculture and animal husbandry for improving habitat and breeding fishes is established through measures of restoring ecological systems such as artificial fish reef, algae farm construction, proliferation and release and the like. The underwater robot is more difficult in mechanism design than the land robot because of the special environment in which the underwater robot is located. The design of various aspects such as underwater depth control, deep water pressure, line insulation treatment, leakage prevention, driving principle, surrounding fuzzy environment identification and the like needs to be considered. Such as an interventional underwater robot Defender, which uses a torpedo-like profile, driven by a turbine, with a rigid housing to resist water pressure. The problems of large volume, heavy weight, low efficiency, high noise, poor maneuverability and the like of the traditional control and propulsion device always limit the development of the microminiature unmanned underwater detector and the autonomous underwater robot. Therefore, the propulsion mode of the submarine animals has become an object for people to develop novel flexible diving equipment with high speed, low noise and flexible maneuvering.
Disclosure of Invention
Accordingly, an object of the present invention is to provide an jellyfish robot based on a bionic design, so as to solve the above-mentioned problems.
The invention adopts the following scheme:
the application provides a jellyfish robot based on bionic design, which comprises an outer main body and a plurality of tentacles arranged on the periphery side of the outer main body, wherein the whole formed by the outer main body and the tentacles is jellyfish-shaped in appearance; the device also comprises a frame unit, a linkage unit, a tensioning unit and a power control unit, wherein the frame unit is in butt joint with the outer main body, and the linkage unit, the tensioning unit and the power control unit are arranged in the frame unit; the frame unit has: the steering device comprises a first mounting frame positioned at the front end, a second mounting frame arranged at the rear end in an opposite manner, and a steering bracket group connected between the two mounting frames; the steering bracket group and each mounting frame are mutually jointed through a plurality of guide posts, and the steering bracket group comprises a plurality of hinged frames for providing free rotation of the steering bracket group along a plurality of degrees of freedom; the linkage unit comprises a driving plate and a driven plate which are arranged on the guide post in a sliding manner, and a hinge bracket group which is butted between the driving plate and the driven plate; the driving plate and the driven plate are respectively arranged at different sides of the steering bracket group, and the hinge bracket group can transmit power provided by the driving plate and the driven plate in the sliding process in a linkage manner to supply the tentacle to swing freely; the tensioning unit comprises an upper tensioning wheel arranged on the first mounting frame, a lower tensioning wheel arranged on the second mounting frame and a steel wire rope wound between the two tensioning wheels, one end of the steel wire rope is fixedly arranged on the driving plate, and the other end of the steel wire rope extends from the upper tensioning wheel to the lower tensioning wheel until the steel wire rope is fixedly arranged on the driven plate; the power control unit comprises a first steering engine, a speed reduction motor, a second steering engine and a third steering engine; the outer main body is provided with a top head cover capable of rotating relatively, the first mounting frame is provided with a cover plate used for being mounted on the top head cover, and the cover plate is axially matched with the first mounting frame in a rotating way, so that the frame unit can be controlled by external force to do axial rotation; the gear motor transmits power to the driving plate through the transmission assembly to form a propulsion system for the jellyfish robot; and the first steering engine is configured on one side of the top head cover, the second steering engine is configured at the hinged end between the two hinged frames of the steering support group, and the third steering engine is configured at the hinged end between the other two hinged frames of the steering support group so as to cooperatively cooperate together to form a steering system for the jellyfish robot.
As a further improvement, the steering bracket group is provided with at least three of the hinge frames; wherein, a plurality of guide posts are regularly docked along length direction between a articulated frame and the first mounting bracket that are located the front end, a plurality of guide posts are regularly docked along length direction between an articulated frame and the second mounting bracket that are located the rear end, and the articulated frame that is located the centre articulates rather than two adjacent articulated frame looks axes respectively.
As a further improvement, the two hinged frames at the front end side are hinged and matched along the first direction, and the second steering engine is used for controlling the two hinged frames to rotate along the first direction; the two hinged frames at the rear end side are hinged and matched along a second direction, and the third steering engine is used for controlling the two hinged frames to rotate along the second direction; wherein the first direction and the second direction are perpendicular to each other.
As a further improvement, the driven plate is controlled by the tensioning unit to move along the driving plate in the same direction, the upper tensioning wheel and the lower tensioning wheel are correspondingly arranged on the outer sides of the guide posts, and the steel wire rope penetrates through one guide post and the other guide post along the upper tensioning wheel until winding the lower tensioning wheel.
As a further improvement, the guide posts are respectively arranged along the corners of the periphery, and the guide posts on different sides along the length direction are mutually aligned, so that the frame unit is in a strip rectangular frame structure; wherein relatively independent tensioning units are respectively arranged at two opposite angles.
As a further improvement, the hinge bracket group comprises at least four groups of hinge bracket components symmetrically arranged on the outer side of the frame unit, and the hinge bracket components comprise a first movable rod, a second movable rod and a third movable rod which are connected with each other in a hinge manner; one end of the first movable rod is in butt joint with the driving plate in a fisheye bearing mode, one end of the second movable rod is in butt joint with the driven plate in a fisheye bearing mode, one end of the third movable rod is in joint with the tentacle in a hinged mode, and the end parts of the three movable rods are jointly and movably hinged with the transfer disc.
As a further improvement, the gear motor is arranged above the driving plate, the transmission assembly comprises a pinion arranged on an output shaft of the gear motor, a large gear meshed with the pinion and a four-bar mechanism connected between the large gear and the driving plate in a transmission mode, and power output by the gear motor is transmitted to the driving plate in a quick return mode through the four-bar mechanism to perform reciprocating motion, so that the tentacle is driven to relax outwards or tighten inwards through the hinge frame assembly to simulate the abdominal contraction or relaxation of jellyfish.
As a further improvement, the four-bar linkage mechanism comprises a first connecting rod which is in butt joint and coaxially rotates with the large gear, a second connecting rod which is hinged with the first connecting rod and eccentrically rotates relative to the large gear, and a third connecting rod which is hinged between the second connecting rod and the driving plate; the first connecting rod is configured into a short rod structure and is overlapped between the large gear and the second connecting rod, the second connecting rod and the third connecting rod are of long rod structures, the middle part of the second connecting rod is hinged with the first connecting rod, and a guide groove matched with a guide wheel arranged on the outer end side of the large gear in a sliding contact manner is formed in one end side of the second connecting rod, far away from the third connecting rod.
As a further improvement, the frame unit and the linkage unit are made of carbon fiber, and the tentacle is made of plastic.
As a further improvement, the driving plate is exposed outside the outer main body, and the outer side of the steering bracket group is coated with a waterproof rubber sleeve.
By adopting the technical scheme, the invention can obtain the following technical effects:
1. the jellyfish robot is capable of maintaining the ecological stability of the seabed, simultaneously performing long-term seabed detection and ecological system maintenance, and is simple in mechanical structure, low in cost, high in durability and convenient to maintain. The jellyfish robot can be fully submerged or operated by being attached with water, so that the tasks of observing the internal environment of the ocean pasture and the growth conditions of animals such as fish, crabs and shrimps can be conveniently completed, a long-term, three-dimensional and real-time detection network can be established, the ocean pasture visualization is realized, the original observation cost can be reduced, the economic and ecological benefits of the ocean pasture construction can be improved, and the ocean economic development can be assisted.
2. In the invention, the tentacle of the jellyfish robot in bionic design contracts or expands to provide the power for the movement of the robot, and a propulsion system is formed by driving the gear motor and the transmission assembly on the driving plate, so that the stability of the jellyfish robot is improved by controlling the contraction speed of the jellyfish robot. And moreover, the driving plate and the driven plate are matched together by the linkage unit and the tensioning unit, so that the power of the driving plate and the driven plate is linked to the free swing of the supply tentacle, the jellyfish robot can swing freely in water, and the movement process of a real jellyfish is simulated. In addition, the design of a plurality of steering engines achieves the multi-degree-of-freedom motion of controlling the drainage direction to achieve the jellyfish robot, and the jellyfish robot can do rotary motion in water by matching with the swinging of tentacles and the relative rotation of the frame units to form a propeller advancing state. Particularly, the driving plate and the driven plate which are synchronously linked through the linkage unit and the tensioning unit can be enabled to move in a combined mode, and the bionic effect on the jellyfish movement form is achieved.
3. The whole appearance adopts 3D to print and completes the integrated manufacturing of spare part, and its modularization equipment, its low cost and compromise lightweight, and need waterproof electronic module independent design, easily realize stable waterproof to waterproof material's change is easy operation more.
4. The power is transmitted to the driving plate and the driven plate through the quick return motion of the gear motor and the transmission assembly, so that the propelling power of the robot is unique, the design is simple and ingenious, the mechanical design mode is fully developed, and the driving force of propelling movement of the robot can be controlled by driving of one gear motor only during linear motion.
5. And the power control unit realizes the rotary advancing and the sharp turning motion in the motion direction of the jellyfish robot through a plurality of steering engines, so that the hydrodynamic design is combined with the mechanical design, and the functional implementation is perfect and the cost is low. The bionic mechanism is ingenious in design, the motion of the whole mechanism is realized by mutually matching a plurality of powers, the power conversion efficiency of the motion in water is high, and the bionic design concept is well embodied. The steering engine control device comprises a steering engine control top head cover, a steering engine control steering support group, a steering engine control device and a steering engine control device, wherein the steering engine control top head cover is used for controlling the steering engine control steering support group, so that the direction of thrust is controlled through the movement of the steering engine, the design is very ingenious, and the innovation of mechanical design is fully embodied.
Drawings
Fig. 1 is a schematic structural diagram of an jellyfish robot based on a bionic design according to an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;
FIG. 3 is a schematic view of the structure of FIG. 1 at other viewing angles;
fig. 4 is a schematic structural diagram of the jellyfish robot based on the bionic design according to the embodiment of the invention after hiding the outer body and tentacles;
FIG. 5 is a schematic view of the structure of FIG. 4 at a first viewing angle;
FIG. 6 is a schematic view of the structure of FIG. 4 at a second viewing angle;
FIG. 7 is a schematic view of the structure of FIG. 4 at a third view angle;
FIG. 8 is a schematic view of the structure of FIG. 4 at other viewing angles;
fig. 9 is a schematic view of the structure of fig. 4 at another view angle.
Icon: 1-an outer body; 2-tentacles; 3-frame units; 4-a first mounting frame; 5-a second mounting frame; 6-steering rack set; 7-a guide post; 8-hinging a frame; 9-an active plate; 10-a driven plate; 11-a hinge bracket set; 12-upper tensioning wheel; 13-lower tensioning wheel; 14-a first steering engine; 15-a speed reducing motor; 16-a second steering engine; 17-a third steering engine; 18-a top head cover; 19-cover plate; 20-a first movable bar; 21-a second movable bar; 22-a third movable bar; 23-a transfer plate; 24-pinion; 25-large gear; 26-a first link; 27-a second link; 28-a third link; 29-a guide wheel; 30-guide groove.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
Examples
Referring to fig. 1 to 9, the present embodiment provides a jellyfish robot based on a bionic design, which includes an outer body 1, and a plurality of tentacles 2 disposed on the peripheral side of the outer body 1, and an integral body formed by the two is in jellyfish shape as viewed from the appearance. The jellyfish robot further comprises a frame unit 3 which is in butt joint with the outer main body 1, and a linkage unit, a tensioning unit and a power control unit which are arranged in the frame unit 3.
The frame unit 3 has a first mounting bracket 4 at the front end, a second mounting bracket 5 opposite the rear end, and a steering bracket set 6 connected between the two mounting brackets. The steering bracket set 6 and each mounting frame are mutually jointed through a plurality of guide posts 7, and the steering bracket set 6 comprises a plurality of hinged frames 8 for providing the steering bracket set 6 with free rotation along a plurality of degrees of freedom.
Wherein the linkage unit comprises a driving plate 9 and a driven plate 10 which are arranged on the guide post 7 in a sliding way, and a hinge bracket group 11 which is butted between the driving plate 9 and the driven plate 10. The driving plate 9 and the driven plate 10 are respectively arranged on different sides of the steering bracket set 6, and the hinge bracket set 11 can freely swing the power linkage transmission supply tentacle 2 provided by the driving plate 9 and the driven plate 10 in the sliding process.
The tensioning unit comprises an upper tensioning wheel 12 arranged on the first mounting frame 4, a lower tensioning wheel 13 arranged on the second mounting frame 5 and a steel wire rope wound between the two tensioning wheels, one end of the steel wire rope is fixedly arranged on the driving plate 9, and the other end of the steel wire rope extends from the upper tensioning wheel 12 to the lower tensioning wheel 13 until being fixedly arranged on the driven plate 10.
The power control unit comprises a first steering engine 14, a speed reduction motor 15, a second steering engine 16 and a third steering engine 17 (shown in fig. 5). In particular, the outer body 1 is provided with a relatively rotatable top cover 18, the first mounting frame 4 is provided with a cover plate 19 for mounting on the top cover 18, and the cover plate 19 is axially rotatably fitted with the first mounting frame 4, in particular by bearing abutment in this embodiment, so that the frame unit 3 can be axially rotated under the influence of an external force. The gear motor 15 transmits its power to the driving plate 9 through a transmission assembly to form a propulsion system for the jellyfish robot. And the first steering engine 14 is arranged on one side of the top head cover 18, the second steering engine 16 is arranged at the hinged end between the two hinged frames 8 of the steering bracket set 6, and the third steering engine 17 is arranged at the hinged end between the other two hinged frames 8 of the steering bracket set 6 to form a steering system for the jellyfish robot in a co-cooperation mode.
In the above, the tentacle 2 of the jellyfish robot with bionic design contracts or expands to provide the power of the robot motion, and the driving of the gear motor 15 and the transmission assembly on the driving plate 9 further forms a propulsion system, so that the stability of the jellyfish robot is improved by controlling the contraction speed of the jellyfish robot. Moreover, the driving plate 9 and the driven plate 10 are matched with each other under the joint action of the linkage unit and the tensioning unit, so that the power of the driving plate 9 and the driven plate 10 is linked to the free swing of the feeding tentacle 2, the jellyfish robot can swing freely in water, and the movement process of a real jellyfish is simulated. In addition, the design of a plurality of steering engines achieves the multi-degree-of-freedom motion of controlling the drainage direction to achieve the jellyfish robot, and the jellyfish robot can do rotary motion in water by matching with the swinging of the tentacles 2 and the relative rotation of the frame units 3 to form a propeller advancing state. Particularly, the driving plate 9 and the driven plate 10 which are synchronously linked through the linkage unit and the tensioning unit can be well combined to move, so that the bionic of jellyfish movement is realized.
It should be understood that the frame unit 3 can be controlled by external force to perform axial rotation motion, specifically, during the travelling process of the jellyfish robot, the axial moment is formed by cutting water by setting an angle, so that the whole can rotate and advance along the axial direction, and the frame unit 3 can more flexibly complete steering operation during steering motion. Obviously, the axial moment of the robot can be realized by further acting the fluid on the robot, and the axial moment is not repeated here.
As shown in fig. 3 to 5, in the present embodiment, the steering bracket group 6 is provided with at least three hinge frames 8. Wherein, a plurality of guide posts 7 are regularly abutted between a hinged frame 8 at the front end and the first installation frame 4 along the length direction, a plurality of guide posts 7 are regularly abutted between a hinged frame 8 at the rear end and the second installation frame 5 along the length direction, and the hinged frame 8 in the middle is hinged with the phase axes of two adjacent hinged frames 8 respectively. Further, the two hinge frames 8 at the front end side are hinged in the first direction, and the second steering engine 16 is used for controlling the two hinge frames 8 to rotate in the first direction. The two hinged frames 8 at the rear end side are hinged and matched along the second direction, and the third steering engine 17 is used for controlling the two hinged frames 8 to rotate along the second direction. Wherein the first direction and the second direction are perpendicular to each other. Thus, the steering bracket group 6 for providing turning swing is formed along the plurality of hinge frames 8 located in the middle of the frame unit 3 to be butted with each other, so that the frame unit 3 is more flexible and its operability is better.
In this embodiment, the driven plate 10 is controlled by the tensioning unit to move along the driving plate 9 in the same direction, the upper tensioning wheel 12 and the lower tensioning wheel 13 are correspondingly disposed at the outer sides of the guide posts 7, and the steel wire rope passes through one of the guide posts 7 and the other guide post 7 along the upper tensioning wheel 12 until winding around the lower tensioning wheel 13. Specifically, the upper tensioning wheel 12 and the lower tensioning wheel 13 are extended and configured on the outer end surfaces of the respective mounting frames along the length direction so as to cooperate to perform tensioning operation on the steel wire rope, so that the driving plate 9 and the driven plate 10 are configured in a linkage way towards the same direction, and the two plates synchronously slide downwards or synchronously move upwards to transmit power to the hinge bracket group 11, and further drive the tentacles 2 to move relatively.
In the preferred embodiment, the guide posts 7 are respectively arranged along the corners of the periphery, and the guide posts 7 on different sides along the length direction are mutually aligned, so that the frame unit 3 has a strip rectangular frame structure. Wherein, relatively independent tensioning units are respectively arranged at two opposite angles, so that the symmetrical movement of the two plates relative to the plane between the two plates is completed in a smoother linkage manner. Further, the long rectangular frame structure has one end thereof butted into the top head cover 18 of the outer body 1 through the cover plate 19, and the other end thereof is disposed extending in the length direction outside the outer body 1 so that a part of the frame unit 3 is exposed to the outside.
As shown in fig. 6 to 9, in one embodiment, the hinge bracket set 11 includes at least four sets of hinge bracket assemblies symmetrically disposed outside the frame unit 3. The hinge bracket assembly comprises a first movable bar 20, a second movable bar 21 and a third movable bar 22 which are hinged to each other. One end of the first movable rod 20 is butted on the driving plate 9 in a fisheye bearing manner, one end of the second movable rod 21 is butted on the driven plate 10 in a fisheye bearing manner, one end of the third movable rod 22 is jointed on the tentacle 2 in a hinged manner, and the end parts of the three movable rods are jointly hinged on a conversion disc 23. In this embodiment, four hinge bracket groups 11 are regularly arranged on the outer peripheral side of the rectangular frame, and four movable rods 22 of each hinge bracket group 11 are arranged on one of the tentacles 2 in a butt joint manner, so that after the driving plate 9 is controlled by the power transmission of the gear motor 15, the tentacles 2 are driven to swing outwards or shrink inwards through linkage cooperation among the movable rods.
The gear motor 15 is disposed above the driving plate 9, and specifically, the gear motor 15 and its transmission assembly are disposed in an installation space formed by the first mounting bracket 4 and the driving plate 9. The transmission assembly comprises a pinion 24 arranged on the output shaft of the gear motor 15, a large gear 25 meshed with the pinion 24, and a four-bar mechanism in transmission connection between the large gear 25 and the driving plate 9, wherein the power output by the gear motor 15 is transmitted to the driving plate 9 in a form of quick return motion through the four-bar mechanism to implement reciprocating motion, so that the tentacle 2 is driven by the hinge frame assembly to relax outwards or tighten inwards to simulate the abdominal contraction or relaxation of jellyfish. Obviously, in the four-bar mechanism, when the crank rotates at a constant speed for the driving part, the reciprocating swing stroke and the reciprocating speed of the rocker of the driven part are often different, and the return stroke is faster than the forward stroke, and the motion characteristic is called as quick return characteristic. The characteristic of the quick return motion is widely applied to production practice, and the quick return motion can lead the average speed of the working stroke to be small, so that the working stroke is stable, the speed of the non-working stroke is accelerated, the non-working time is shortened, and the aim of improving the working efficiency is fulfilled.
The four-bar linkage comprises a first link 26 (one crank in the above) which is abutted to rotate coaxially with the large gear 25, a second link 27 (rocker in the above) which is provided to be hinged to the first link 26 and rotates eccentrically with respect to the large gear 25, and a third link 28 (the other crank in the above) which is hinged between the second link 27 and the driving plate 9. The first connecting rod 26 is configured into a short rod structure and is superposed between the large gear 25 and the second connecting rod 27, the second connecting rod 27 and the third connecting rod 28 are of a long rod structure, the middle part of the second connecting rod 27 is hinged with the first connecting rod 26, and a guide groove 30 matched with a guide wheel 29 arranged on the outer end side of the large gear 25 in a sliding contact manner is arranged on one end side of the second connecting rod 27 far away from the third connecting rod 28, so that the second connecting rod 27 can more stably swing along the plane where the second connecting rod 27 is located. Therefore, the three connecting rods are overlapped layer by layer and are mutually hinged to form a connecting rod structure, so that the purposes of quick linkage and feedback are realized.
In this embodiment, preferably, the frame unit 3 and the linkage unit are made of carbon fiber, and the tentacle 2 is made of plastic. In this embodiment, the support and the frame body formed by the carbon fiber material are more favorable for lightweight design and have higher strength. The total length of the jellyfish robot is 600mm-700mm, the tentacle 2 is completely unfolded and stretched to have the radius of 650mm-750mm, the total assembly weight is as low as 1000g, the jellyfish robot can be widely used for underwater detection, rescue search and ecological detection, and the problems of heavy size, high energy consumption and the like of a common underwater detector are solved. In addition, for the design of the tentacle 2, through cutting out a thin plastic plate, designing a proper shape under hydrodynamic simulation, and through simulation of a jellyfish robot movement mode, strengthening treatment is carried out on each part of the thin plastic plate, and a specific embodiment is to utilize high-hardness plastic plate interlayers to longitudinally stack and carbon fiber tubule collocation skeleton design, so that the finished tentacle 2 can effectively obtain propelling force in the movement of a quick return mechanism by controlling the movement of water flow in an abdominal cavity.
In this embodiment, the driving plate 9 is exposed outside the outer body 1, and the outer side of the steering bracket set 6 is covered with a waterproof rubber sleeve (not shown). Further, in the waterproof design of the jellyfish robot, the main electronic equipment shell is adopted to add silica gel envelope waterproof treatment, a cylinder and a waterproof rubber sleeve can be adopted to assemble a concentrated place of head movement equipment, a soft silica gel envelope is adopted to a power output part, the power output part is connected with a sealing shell, each controller in a frame unit 3 is sealed through the waterproof rubber sleeve envelope, and a 3D printing shell and a pressing ring are added to a non-movement part to form integral waterproof. For the waterproof of the electronic equipment, a waterproof rubber ring is added to the bearing and the hinge shaft, and the fasteners such as screws and the like adopt chrome plating or 304 stainless steel screws.
It should be mentioned that, for the steering engine assembly of jellyfish robot, its dynamic stability control under water adopts gyroscope plus programmable control program to realize, can adopt the density controller that comprises the water pump system who sets up in one side of the skull to the rising and descending of jellyfish robot in water to the jellyfish robot can dive entirely, also can the head expose the face of attaching water vertical operation, in order to conveniently accomplish the task of observing the interior environment of ocean pasture and animal growth conditions such as fish, crab shrimp. All the devices have open source programs and systems, parts can be purchased and replaced on the market, and convenience is provided for later maintenance. And, for the motion set of all units and its mechanism, adopt the open source model controller to receive integrated signal, manual remote control and then control jellyfish robot's corresponding mechanism motion, this is prior art, does not do the restriction here.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention.
Claims (7)
1. A jellyfish robot based on bionic design comprises an outer main body and a plurality of tentacles arranged on the periphery side of the outer main body, wherein the whole formed by the outer main body and the tentacles is jellyfish-shaped in appearance;
it is characterized in that the method comprises the steps of,
the frame unit is butted with the outer main body;
the frame unit has: the steering device comprises a first mounting frame positioned at the front end, a second mounting frame arranged at the rear end in an opposite manner, and a steering bracket group connected between the two mounting frames; the steering bracket group and each mounting frame are mutually jointed through a plurality of guide posts, and the steering bracket group comprises a plurality of hinged frames for providing free rotation of the steering bracket group along a plurality of degrees of freedom;
the method comprises the steps of,
the linkage unit comprises a driving plate and a driven plate which are arranged on the guide post in a sliding manner, and a hinge bracket group which is butted between the driving plate and the driven plate; the driving plate and the driven plate are respectively arranged at different sides of the steering bracket group, and the hinge bracket group can transmit power provided by the driving plate and the driven plate in the sliding process in a linkage manner to supply the tentacle to swing freely;
the tensioning unit comprises an upper tensioning wheel arranged on the first mounting frame, a lower tensioning wheel arranged on the second mounting frame and a steel wire rope wound between the two tensioning wheels, one end of the steel wire rope is fixedly arranged on the driving plate, and the other end of the steel wire rope extends from the upper tensioning wheel to the lower tensioning wheel until the steel wire rope is fixedly arranged on the driven plate;
the power control unit comprises a first steering engine, a speed reduction motor, a second steering engine and a third steering engine;
wherein,,
the outer main body is provided with a top head cover capable of rotating relatively, the first mounting frame is provided with a cover plate used for being mounted on the top head cover, and the cover plate is axially matched with the first mounting frame in a rotating way, so that the frame unit can be controlled by external force to do axial rotation;
the gear motor transmits power to the driving plate through the transmission assembly to form a propulsion system for the jellyfish robot; the first steering engine is arranged on one side of the top head cover, the second steering engine is arranged at the hinged end between two hinged frames of the steering bracket set, and the third steering engine is arranged at the hinged end between the other two hinged frames of the steering bracket set so as to cooperatively cooperate with each other to form a steering system for the jellyfish robot;
and, the steering bracket group is provided with at least three hinge frames; a plurality of guide posts are regularly abutted between a hinged frame positioned at the front end and the first mounting frame along the length direction, a plurality of guide posts are regularly abutted between a hinged frame positioned at the rear end and the second mounting frame along the length direction, and the hinged frame positioned in the middle is hinged with the axes of two adjacent hinged frames respectively;
the two hinged frames at the front end side are hinged and matched along a first direction, and the second steering engine is used for controlling the two hinged frames to rotate along the first direction; the two hinged frames at the rear end side are hinged and matched along a second direction, and the third steering engine is used for controlling the two hinged frames to rotate along the second direction; wherein the first direction and the second direction are mutually perpendicular;
the hinge bracket group comprises at least four groups of hinge bracket components symmetrically arranged on the outer side of the frame unit, and the hinge bracket components comprise a first movable rod, a second movable rod and a third movable rod which are connected with each other in a hinge manner; one end of the first movable rod is in butt joint with the driving plate in a fisheye bearing mode, one end of the second movable rod is in butt joint with the driven plate in a fisheye bearing mode, one end of the third movable rod is in joint with the tentacle in a hinged mode, and the end parts of the three movable rods are jointly and movably hinged with the transfer disc.
2. The jellyfish robot based on bionic design according to claim 1, wherein the driven plate is controlled by the tensioning unit to move along the driving plate in the same direction, the upper tensioning wheel and the lower tensioning wheel are correspondingly arranged on the outer sides of the guide posts, and the steel wire rope penetrates through one guide post and the other guide post along the upper tensioning wheel until winding around the lower tensioning wheel.
3. The jellyfish robot based on bionic design according to claim 2, wherein the guiding posts are respectively arranged along the corners of the periphery, and the guiding posts on different sides along the length direction are mutually aligned, so that the frame unit is in a strip rectangular frame structure; wherein relatively independent tensioning units are respectively arranged at two opposite angles.
4. The jellyfish robot based on bionic design according to claim 1, wherein the gear motor is configured above the driving plate, the transmission assembly comprises a pinion arranged on an output shaft of the gear motor, a big gear meshed with the pinion, and a four-bar mechanism connected between the big gear and the driving plate in a transmission manner, and the power output by the gear motor is transmitted to the driving plate in a form of rapid back motion through the four-bar mechanism to implement reciprocating motion, so that the tentacle is driven to relax outwards or tighten inwards through the hinge frame assembly to simulate the abdominal contraction or relaxation of the jellyfish.
5. The biomimetic design-based jellyfish robot of claim 4, wherein the four-bar linkage comprises a first connecting rod which is connected with the big gear in a butt joint and coaxially rotates, a second connecting rod which is hinged with the first connecting rod and eccentrically rotates relative to the big gear, and a third connecting rod which is hinged between the second connecting rod and the driving plate; the first connecting rod is configured into a short rod structure and is overlapped between the large gear and the second connecting rod, the second connecting rod and the third connecting rod are of long rod structures, the middle part of the second connecting rod is hinged with the first connecting rod, and a guide groove matched with a guide wheel arranged on the outer end side of the large gear in a sliding contact manner is formed in one end side of the second connecting rod, far away from the third connecting rod.
6. The jellyfish robot based on bionic design according to claim 1, wherein the frame unit and the linkage unit are made of carbon fiber, the outer main body and the top head cover are made of plastic, and the tentacle is formed by overlapping plastic thin sheets and carbon fiber tubules.
7. The jellyfish robot based on the bionic design of claim 1, wherein the driving plate is exposed outside the outer body, and the outer side of the steering bracket group is coated with a waterproof rubber sleeve.
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