CN115674969A

CN115674969A - Amphibious bionic squid robot

Info

Publication number: CN115674969A
Application number: CN202211403893.5A
Authority: CN
Inventors: 黄文恒; 陈元电; 刘亚行
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2022-11-10
Filing date: 2022-11-10
Publication date: 2023-02-03

Abstract

The invention discloses an amphibious bionic squid robot, which adopts a fin-aligning propulsion mode in a bionic fish, a mechanical structure steering engine-gear-connecting rod integrated mechanical connection mode and a steering engine swing rod-fluctuation fin transmission mode to realize the motions of different swings and different frequencies of the fluctuation fin. The robot is based on a flexible fluctuation fin pushing unit mechanism, develops a special control circuit, can control the action of a plurality of paths of fin units so as to realize various different swimming actions, can adapt to changeable terrains of land and offshore mudflats, can adapt to amphibious environment of complex underwater environment, can execute a plurality of fighting tasks and detection tasks of offshore areas which can not be finished by human beings, and has good concealment, stability and terrain adaptability.

Description

Amphibious bionic squid robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an amphibious bionic squid robot.

Background

With the increasing development of marine resources in China, the surrounding military safety status is continuously improved, the operation and task requirements become more complex, and robots capable of completing tasks in cross-medium and complex environments are needed. The amphibious robot can adapt to the variable terrain on land and offshore beaches, can adapt to the amphibious environment of a complex underwater environment, and can execute various fighting tasks and detection tasks in the offshore area which cannot be finished by human beings.

Traditional underwater robots, such as cable remote control underwater robots, have the problem that propellers of the robots are easily wound by fishing nets and sea weeds, and are not beneficial to normal operation of the robots; meanwhile, the propeller rotates to generate cavitation bubbles, so that the machine body vibrates, and large cavitation noise is generated, and the propeller is not suitable for executing a reconnaissance task with strong concealment; when submarine resource detection is performed, the propeller is easy to stir up silt, so that the sight line is fuzzy, and the specific situation is not easy to observe. For example, a water-jet underwater robot has a complex mechanical transmission mechanism, is bulky, and has lower propulsion efficiency even than a propeller under low-speed conditions. In the field of bionic fish robots, the bionic fish robots are divided into a body tail fin swing propulsion mode and a mid-fin/fin-to-fin propulsion mode, however, the bionic robot adopting the bionic body tail fin swing propulsion mode is difficult to realize functions which are often used in practice, such as in-situ rotation, backward swimming, land action and the like.

In order to solve the problems, a good solution is to adopt a novel bionic robot with a fin propulsion mode. The undulation fin driven by the steering engine is used as a propeller, so that the overall motion mode is diversified, various basic motions and compound motions can be completed in water, and the vehicle can also run on land. The outer shell of the utility model is streamline. Each section of fin surface is driven by a plurality of steering engines, and the fin surface is approximately fitted with sine wave fluctuation through the up-and-down swing of the fin rays when in water, so that the whole body is pushed to move forwards or backwards; when the fin is laid down on land, the fin can also move forward or backward by fitting a sine wave and making snake-like winding motion. When the swing speeds of the fin rays at the two ends are different, sine waves with different speeds are generated, so that the driving forces at the two ends are different, and the turning motion is realized. When the fin-shaped air-jet aircraft is in water, the fin-shaped air-jet aircraft can also float upwards or sink downwards through synchronous swinging of the fin-shaped air-jet aircraft, has strong maneuvering capability and stability, can freely shuttle in a complex underwater environment, basically does not change the posture of the fin-shaped air-jet aircraft, is very suitable for an aircraft needing to keep a platform stable, has the propelling efficiency reaching 90 percent, and has four main characteristics of concealment, stability, terrain adaptability and high efficiency.

Disclosure of Invention

The invention aims to provide an amphibious bionic squid robot which is strong in amphibious adaptability, good in underwater detection stability and high in propulsion efficiency.

The technical scheme of the invention is as follows:

designing a bionic squid robot, which comprises a robot main body and a flexible fluctuation fin propulsion unit, wherein the main body comprises a sealing main body, the bionic fluctuation fin propulsion unit is symmetrically distributed on two sides of the sealing main body, and a row of steering engine mounting ports are respectively reserved on two sides of the sealing main body; the left side and the right side of the bionic wave fin propulsion unit have the same structure; the flexible wave propulsion unit comprises a bionic flexible wave fin surface and a wave fin power source; the power source of the wave fin adopts a plurality of SG5010 steering engines to swing in series, and the steering engines are arranged at each steering engine mounting opening on the two sides of the main body through steering engine mounting plates; the flexible wave fin surface is arranged on two sides of the main body, and the flexible wave fin surface on each side is connected with the output end of each steering engine on the side through a connecting rod mechanism; the main body is also internally provided with a head cabin and a body cabin, the body cabin is filled with EVA foaming buoyancy materials, the head cabin is internally provided with measuring equipment, and an underwater camera is arranged in the head cabin; the sensor, the sonar and the 32-bit Arduino chip are arranged in the head cabin and used as a main control chip to control the swinging frequency, the swinging wavelength and the swinging amplitude of the steering engine, so that the flexible fluctuation fins swing to fit sine wave motion to generate forces in different directions, the robot can hover, advance, retreat and turn underwater, and the floating or sinking of the robot can be realized through synchronous swinging of the fin strips. When the robot is on land, the fin rays swing downwards, and the robot can also move forwards or backwards by fitting sine waves and making snake-like winding motion, and when the swinging speeds of the fin rays at two ends are different, sine waves with different swinging frequencies are generated, so that the driving forces at two ends are different, and the turning motion is realized.

The link mechanism of the robot adopts a steering engine-gear-connecting rod integrated mechanical structure, the steering engine is connected with torque generated by a gear, and a gear pair transmits power to a 3D printing connecting rod; the 3D printing connecting rod is internally meshed with the gear, and the output end of the gear steering engine is connected; the flexible fluctuation fin and the threaded 3D printing rod are fixed at equal intervals through bolts, and the threaded 3D printing rod and the flexible fluctuation fin are adjustable in fixed position and rotatable. The flexible wave fin bionic source is formed by combining a squid horizontal fin and a ray wave fin, and the connection mode and the wave of the flexible wave fins on the two sides of the main body are symmetrical; the flexible fluctuation fin surface is a high-elastic silica gel bionic fin surface with uniform thickness, and a 3-dimensional dynamic positioning swing shaft system is adopted.

The invention has the beneficial effects that:

the invention adopts a fin propelling mode, and develops a special control circuit based on a flexible fluctuation fin pushing unit mechanism. The control circuit consists of a radio receiving module, a processor module and a driving module, can control the action of the multi-path fin units so as to realize various different swimming actions, can adapt to variable terrains on land and offshore beaches, can adapt to amphibious environment of complex underwater environment, and can execute various fighting tasks and detection tasks in offshore areas which can not be finished by many human beings. The main body part is manufactured by adopting a 3D printing technology, has high forming degree, good water tightness, light weight structure and good mechanism strength, and has elasticity so as to facilitate buffering; the main body is made of imitation squid, so that the secrecy is good, and the water resistance is small; the flexible wave fin pushing unit mechanism part combines biological characteristics, has high stability, and is not beneficial to observing ocean equipment because a propeller of a traditional propeller-propelled remote control unmanned submersible vehicle (ROV) can stir up a large amount of silt; the bionic fish has high efficiency, and cannot realize functions frequently used in practice such as in-situ rotation, backward swimming and the like as the bionic fish in a body tail fin swinging and propelling mode; compared with the traditional propeller, the propeller has quieter propelling mode of the fluctuating fin and no huge cavitation noise generated by similar propeller propelling, thereby being capable of being used for executing military tasks such as underwater latent reconnaissance and the like, and having good environmental adaptability and practicability.

Drawings

Fig. 1 is an outline view of an amphibious bionic squid robot.

Fig. 2 is an oblique view of the internal structure of an amphibious bionic squid robot.

Fig. 3 is a top view of the internal structure of an amphibious bionic squid robot.

Fig. 4 is a partially enlarged view of a flexible wave fin propulsion unit of the amphibious bionic squid robot.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Example 1

The invention aims to design an amphibious bionic squid robot, wherein two groups of flexible fluctuation fins driven by steering engines 6 are used as propellers, a steering engine-gear-connecting rod integrated mechanical structure 10 is adopted to simulate the muscle structure of squid parallel fins, and high-elastic silica gel bionic squid parallel fins with uniform thickness are arranged on fin surfaces 7, so that the overall motion mode is diversified, various basic motions and compound motions can be completed in water, and the robot can also run on land.

An amphibious bionic squid robot comprises a robot main body 1 and a flexible wave fin propulsion unit 2; the robot main body comprises an outer shell 3, a head cabin 4 and a body cabin 5, wherein the head cabin 4 and the body cabin 5 are connected through a connecting piece; the flexible wave fin propulsion unit 2 comprises a bionic flexible wave fin surface 7 and a wave power source 8; the outer shell 3 is a 3D printing bionic shell and is streamline, the head part is conical, resistance in water motion can be reduced, motion efficiency is improved, and internal components can be protected; the buoyancy material filled in the body cabin 5 is EVA foaming buoyancy material; a waterproof navigation socket is arranged in the head cabin 4; a plurality of steering engine mounting openings are reserved on two sides of the body cabin 5 and are symmetrically distributed, and the steering engines 6 are connected with the flexible wave fin unit through a mechanical structure.

An underwater camera is arranged in the head cabin 4 of the robot; the flexible wave fin surface 7 is a high-elastic silica gel bionic squid parallel fin surface with uniform thickness, and a 3-dimensional dynamic positioning swing shaft system is adopted; the wave power source 8 adopts a plurality of SG5010 steering engines 6 to swing in series, a connecting rod mechanism 10 is connected with the steering engines 6 through an internal gear 12, and the movement is controlled by a built-in chip; head cabin 4 built-in waterproof boat socket, leave certain space in the head cabin 4 and carry on measuring equipment such as sensor, sonar.

The flexible wave fin propulsion unit 2 adopts a steering engine-gear-connecting rod integrated mechanical connection mode and adopts a steering engine-oscillating bar-wave fin transmission mode to realize the motions of different amplitudes and different frequencies of the wave fins; the steering engine 6 is fixed at a steering engine mounting opening reserved in the body cabin 4 through a steering engine mounting plate 14 and is an SG5010 steering engine, and has the advantages of large torsion, small volume, small jitter and the like; the connecting rod structure 10 and the flexible wave fin surface 7 are limited in position through bolts 13, and the fixed position connected with the wave fin is adjustable and can rotate; the flexible wave fin propulsion unit 2 is bionic and is derived from a squid horizontal fin and a wave fin of a ray, and the connection mode and the wave of the flexible wave fin propulsion units 2 on two sides of the robot are symmetrical.

The main body 1 is a bionic shell and is streamline, the head part is conical, resistance in water motion can be reduced, motion efficiency is improved, internal components can be protected, the whole body is manufactured by adopting a 3D printing technology, the forming degree is high, the water tightness is good, the mass structure is light, the mechanism strength is good, and elasticity is provided so as to facilitate buffering; the main body 1 is made of imitated squid, and has good secrecy and small water resistance.

The specific working process of the flexible wave fin propulsion unit 2 is as follows: the propelling mechanism of each 3D printing connecting rod 11 is driven to generate rotary motion through inner gearing rotary motion with a gear 12 of a power output shaft of the steering engine 6, further the fin surfaces 7 of the high-elastic silica gel bionic squid parallel fins with uniform thickness are driven to regularly fluctuate up and down, the initial angles of the steering engines on two sides are specially set in the chip control steering engine 6 motion process, the rotation angles of adjacent steering engines always have a fixed difference value, the swing angles of adjacent 3D printing connecting rods 11 have a certain phase difference, further the swing angle of a connecting rod close to the head cabin 4 is advanced in phase relative to the swing angle of a fin strip far away from the head sealing cabin 4, the fin surfaces 7 are driven to form quasi-sine wave-shaped deformation from the head sealing cabin 4 to the tail, acting force opposite to the wave propagation direction is generated under the action of water, and the underwater robot is driven to move forwards.

As shown in fig. 1, the outer shell 3 is made by 3D printing technology, the adopted material is PLA polylactic acid, the head cabin 4 and the body cabin 5 are connected by a connector, and the head cabin 3 is provided with measuring equipment such as sonar and built-in waterproof aerial sockets; the body cabin 4 is filled with EVA foaming buoyancy materials to assist the rising and sinking of the robot; a plurality of steering engine mounting openings are reserved on two sides of the body cabin 4 and are symmetrically distributed, and the steering engines are connected with the flexible wave fins through a mechanical structure 10.

As shown in fig. 2 and 3, in the propulsion device of the present invention, the steering engine 6 is connected to the connecting rod structure 10, the wave fin strip of the connecting rod structure, i.e., the 3D printing connecting rod 11, fixes the fin surface 7 of the flexible wave fin through the bolt 13, the steering engine 6 drives the connecting rod 11 to swing to fit a sine wave, and the fin surface 7 of the flexible wave fin swings with the connecting rod, so that the flexible wave fin propulsion unit 2 makes a quasi-sinusoidal motion.

As shown in fig. 4, in the propelling device, a steering engine 6 and a body cabin 5 are fixedly installed through a steering engine installation plate 14. The link mechanism 10 is formed by fixedly engaging a 3D printing link 11 and a gear 12 with a steering engine 6 through a bolt 13.

According to the propelling device, the steering engine 6 is connected with the connecting rod structure 10, the fin surface 7 of the flexible fluctuation fin is fixed through the bolt 13 by the fluctuation fin-fin line of the connecting rod structure, namely the 3D printing connecting rod 11, the steering engine 6 drives the connecting rod 11 to swing to fit a sine wave, and the fin surface 7 of the flexible fluctuation fin swings along with the connecting rod, so that the flexible fluctuation fin propelling unit 2 makes sine-like motion.

The control principle of the bionic flexible fluctuation fin submersible is as follows:

and (3) motion state: the direction of the flexible fluctuation fin propulsion unit 2 is horizontal, the steering engine 6 rotates to drive the connecting rod structure 10 to swing, the flexible fin swings along with the connecting rod structure 10, the swing frequency, the swing wavelength and the swing amplitude of the steering engine 6 are adjusted through the control chip, the flexible fin swings to perform sine-like motion to generate forces in different directions, and the advancing, retreating, steering, sinking, floating and the like of the robot are achieved.

When the robot executes straight-sailing movement, the orientation of the underwater robot and the flow field flow rate of the robot are determined by data returned by the sonar and the flow rate sensor, a route is planned, the straight-going speed of the underwater robot is determined and converted into a specific steering engine 6 rotating speed control instruction, the steering engine 6 rotating speed control instruction is sent to a control chip through an optical fiber or copper wire cable, the control chip decodes the movement instruction, the steering engine 6 is controlled to rotate according to the same rotating speed, the left flexible fluctuation fin propulsion unit 2 and the right flexible fluctuation fin propulsion unit 2 are driven to perform swinging movement with the same rule, forward thrust is generated, when acceleration or deceleration is needed, the rotating speed of the steering engine 6 is increased or reduced by an equal amount, the flexible fluctuation fin propulsion units 2 on two sides of the robot main body synchronously move, the thrust of the two flexible fluctuation fins faces to one direction, and the resistance on the main body is counteracted.

When the robot performs a turning motion: during left-hand turning, the rotating speed of the left-hand steering engine is higher than that of the right-hand steering engine, so that the propelling force generated by the left-hand bionic fluctuation fin propelling unit is larger than that of the right-hand bionic fluctuation fin propelling unit, the organism generates a leftward yawing moment, left-hand turning is realized, right-hand turning is similar to left-hand turning and is realized through the rotating speed difference of the left-hand steering engine and the right-hand turning, and the larger the rotating speed difference is, the faster the turning speed is. The bionic wave fin thrust difference on the two sides is controlled to realize that the bionic wave fin thrust on the turning inner side is small and the bionic wave fin thrust on the turning outer side is large; and for the condition that the turning radius is small, the turning inner side is static and the turning outer side normally moves in the flexible fluctuation period can be controlled.

The invention is not the best known technology.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.

Claims

1. An amphibious bionic squid robot is characterized in that: comprises a robot main body 1 and a flexible wave fin propulsion unit 2; the main body comprises an outer shell 3, a sealed head compartment 4 and a sealed body compartment 5; bionic wave fin propulsion units 2 are symmetrically distributed on two sides of the sealed body cabin 5, and a row of steering engine 6 mounting openings are respectively reserved on the two sides; the left side and the right side of the bionic wave fin propulsion unit have the same structure; the flexible wave propulsion unit comprises a bionic flexible wave fin surface 7 and a wave fin power source 8.

2. An amphibious biomimetic squid robot as defined in claim 1, wherein: the wave fin power source 8 adopts a plurality of steering engines 6 to swing in series, and the steering engines are arranged at each steering engine mounting opening on the two sides of the main body through steering engine mounting plates 9; the flexible wave fin surfaces are arranged on two sides of the main body 1, and the flexible wave fin surface 7 on each side is connected with the output end of each steering engine 6 on the side through a connecting rod mechanism; the main part 1 built-in 32-bit Arduino as main control chip, the swing frequency, the swing wavelength and the swing amplitude of control steering wheel make flexible fluctuation fin swing and do the power that the motion of fitting sine wave produced different directions, realize hovering, advancing, retreating, turning to, sinking and the come-up motion of robot.

3. An amphibious biomimetic squid robot as defined in claim 1, wherein: the link mechanism 10 adopts a steering engine-gear-threaded 3D printing rod integrated mechanical structure; the 3D printing rod 11 is internally meshed with the gear 12, and the gear 12 is connected with the output end of the steering engine 6; the flexible wave fin and the threaded 3D printing rod are fixed at equal intervals through bolts 13, and the threaded 3D printing rod and the flexible wave fin are adjustable in fixed position and rotatable.

4. An amphibious biomimetic squid robot as claimed in claim 1 or 2, wherein: the main body 1 is a 3D printing shell; the main body is also internally provided with a head cabin and a body cabin 4; the body cabin 5 is filled with EVA foaming buoyancy material; the head cabin 4 is internally provided with measuring equipment and an underwater camera; the measuring equipment comprises a sensor and a sonar.

5. An amphibious biomimetic squid robot as claimed in claim 1 or 2, wherein: the flexible wave fin propulsion unit 2 is bionic and is derived from a squid horizontal fin and a wave fin of a ray, and the connection mode and the wave of the flexible wave fin propulsion units 2 on the two sides of the main body are symmetrical; the flexible fluctuation fin surface 7 is a high-elastic silica gel bionic fin surface with uniform thickness, and a 3-dimensional dynamic positioning swing shaft system is adopted.