CN116062143A - Bionic fluctuation propulsion device and fluctuation control method - Google Patents
Bionic fluctuation propulsion device and fluctuation control method Download PDFInfo
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- CN116062143A CN116062143A CN202310224731.3A CN202310224731A CN116062143A CN 116062143 A CN116062143 A CN 116062143A CN 202310224731 A CN202310224731 A CN 202310224731A CN 116062143 A CN116062143 A CN 116062143A
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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
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
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Abstract
The application discloses a bionic fluctuation propulsion device and a fluctuation control method, comprising the following steps: a body; the driving assembly is arranged on the body at intervals and comprises a first driving piece and a swinging frame connected with the driving end of the first driving piece, a second driving piece is arranged on the swinging frame, the output end of the second driving piece is connected with the swinging disc, and the rotation axis of the swinging frame is intersected with the rotation axis of the swinging disc; and the clamping strip is movably connected with the wobble plate through a rotating assembly, and one end, far away from the wobble plate, of the clamping strip is connected with the fluctuation fin. Compared with the prior art, the bionic fluctuation propulsion device and the fluctuation control method can drive the fluctuation fin to generate more complex waveforms, so that the fluctuation fin can generate more complex actions to cope with more various environments.
Description
Technical Field
The application relates to the technical field of robots, in particular to a bionic fluctuation propulsion device and a fluctuation control method.
Background
With the development of the scientific and economic level, the exploration requirement of human beings on the ocean is continuously increasing. The underwater robot can replace human beings to perform various underwater operations, so that the underwater robot has wide application prospect and great development potential. For example, in the civil field, underwater robots can perform economic tasks such as biological observation, water quality detection, garbage collection, underwater rescue, mineral exploration, etc.; in the military field, underwater robots can perform various combat tasks such as autonomous reconnaissance, mine blasting, torpedo detection, and the like. The traditional underwater propulsion mode mainly comprises a propeller type and a jet type, and has the defects of high noise and high environmental disturbance, especially the problem that the propeller is easy to wind foreign matters such as pasture and sand and stone when rotating at a high speed so as to cause damage, and the control and stability of the propeller are poor at a low speed.
In order to solve the problems, the bionic fluctuation fin propulsion device is designed by combining the adaptability of the living beings in nature to the environment, the motion of the fluctuation fin is simplified into fluctuation of a single dimension by the bionic fluctuation fin propulsion device in the prior art, the fluctuation fin can be controlled to swing up and down through clamping points at different positions on the fluctuation fin, a sine wave transmitted back and forth can be formed, the current bionic fluctuation fin propulsion device only has up and down swinging of clamping strips, and a single clamping strip has only one degree of freedom and cannot be controlled to generate more complex waveforms.
Therefore, a bionic wave propulsion device and a control method are needed to drive the wave fin to generate more complex waveforms, so that the wave fin can generate more complex actions to cope with more various environments.
Disclosure of Invention
In order to solve the technical problems, the application provides a bionic wave propulsion device and a control method, which can drive a wave fin to generate more complex waveforms, so that the wave fin can generate more complex actions to cope with more various environments.
The technical scheme provided by the application is as follows:
a biomimetic wave propulsion device, comprising:
a body;
the driving assembly is arranged on the body at intervals and comprises a first driving piece and a swinging frame connected with the driving end of the first driving piece, a second driving piece is arranged on the swinging frame, and the driving end of the second driving piece is connected with the swinging disc;
and the clamping strip is movably connected with the wobble plate through a rotating assembly, and one end, far away from the wobble plate, of the clamping strip is connected with the fluctuation fin.
Preferably, the rotation axis of the swing frame intersects the rotation axis of the wobble plate, and the rotation axis of the swing frame is coplanar with the swing plane of the driving end of the second driving member.
Preferably, the rotating assembly comprises:
a rotating seat connected with one end of the swinging frame far away from the second driving piece;
the first rotating shaft is rotatably connected with the rotating seat and is connected with the clamping strip.
Preferably, the clip strip is made in particular of a spring steel material.
Preferably, the swing frame includes:
a first support plate coupled to the driving end of the first driving member;
and the second supporting plate is far away from one end of the first driving piece with the first supporting plate, a mounting groove for mounting the second driving piece is formed in the second supporting plate, and the second driving piece is fixedly arranged on the second supporting plate.
Preferably, the swing frame further includes:
the second support plate is far away from the third support plate connected with one end of the first support plate, a second rotating shaft is fixedly arranged on the third support plate and connected with the body through a bearing assembly, and the axis direction of the second rotating shaft coincides with the axis direction of the first driving piece.
Preferably, the method further comprises:
the sealed cabin is arranged at the top of the body, and through holes are formed in two sides of the sealed cabin;
the threading screw is arranged in the through hole and is in sealing connection with the through hole, and a wire passing hole is formed in the threading screw;
and the sealing cover is connected with the top of the sealed cabin in a sealing way.
Preferably, the method further comprises:
a force sensor fixedly arranged at the top of the body;
and the measuring platform is fixedly connected with the force sensor.
A wave control method for a bionic wave propulsion device according to any one of the above, comprising the steps of:
s1, presetting a transverse wave equation, a longitudinal wave equation, wave parameters, a time value and a control period;
s2, acquiring a transverse wave output angle and a longitudinal wave output angle according to the time value, the transverse wave equation, the longitudinal wave equation and the control period;
s3, generating a first PWM value according to the transverse wave output angle, outputting the first PWM value to control the driving end of the second driving piece to rotate the transverse wave output angle, generating a second PWM value according to the longitudinal wave output angle, and outputting the second PWM value to control the driving end of the first driving piece to rotate the longitudinal wave output angle.
Preferably, the following steps are further included between step S1 and step S2:
the iteration number is initialized to zero and the time value is equal to the product of the control period and the iteration number.
Preferably, the following steps are further included after step 3:
and S4, after waiting for a control period, updating the iteration times and the time value, and returning to the step S2 for circulation.
Preferably, the fluctuation parameter includes: transverse wave frequency, transverse wave amplitude, longitudinal wave frequency, longitudinal wave amplitude and bias angle, wherein,
when the offset angle is equal to 0, the fluctuation balance position of the fluctuation fin is positioned on the center surface of the body, and the body is driven to linearly run;
when the offset angle is larger than 0, the fluctuation balance position of the fluctuation fin is positioned at the left side of the center plane of the body, and the fluctuation fin has a rightward yaw moment to drive the body to turn rightward;
when the offset angle is smaller than 0, the fluctuation balance position of the fluctuation fin is positioned on the right side of the center plane of the body, and the fluctuation fin has a left yaw moment to drive the body to turn left.
Preferably, the transverse wave equation and the longitudinal wave equation are sinusoidal wave equations.
The bionic wave propulsion device provided by the invention is characterized in that a body, a driving assembly and a clamping strip are arranged, wherein the driving assembly is arranged on the body at intervals, the driving assembly comprises a first driving piece, a swinging frame, a second driving piece and a swinging disc, wherein the driving end of the first driving piece is connected with the swinging frame and drives the swinging frame to rotate around the driving end of the first driving piece, the second driving piece is arranged on the swinging frame, the first driving piece drives the swinging frame to rotate and simultaneously drives the second driving piece to rotate, the driving end of the second driving piece is connected with the swinging disc and drives the swinging disc to rotate around the driving end of the second driving piece, the swinging disc swings around the driving end of the first driving piece along with the swinging frame, the swinging disc is connected with the clamping strip, one end of the clamping strip far away from the swinging disc is connected with a wave fin, and therefore, the swinging fin is in a wave-generating composite wave form by transverse wave generated by the driving of the second driving piece and longitudinal wave generated by the first driving piece in the swinging process, and in order to enable the clamping strip to adapt to the change of the fin surface of the swinging, the swing wave can be in a complete wave-generating mode by rotating the clamping strip and the wave-shaping assembly in a self-adapting mode. Therefore, compared with the prior art, each clamping strip of the bionic wave propulsion device provided by the embodiment of the invention has two active swinging degrees of freedom and one self-adaptive rotating degree of freedom, and the wave fin can be controlled to generate a longitudinal and transverse composite wave form, so that the wave fin can generate more complex actions to cope with more various environments.
The technical scheme also provides a control method for the bionic wave propulsion device, and the technical effects can be achieved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a bionic wave propulsion device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a body according to an embodiment of the present invention;
FIG. 3 is an exploded view of FIG. 2;
FIG. 4 is a schematic diagram of a driving assembly according to an embodiment of the present invention;
FIG. 5 is an exploded view of FIG. 4;
FIG. 6 is a schematic view of a rotating assembly according to an embodiment of the present invention;
FIG. 7 is an exploded view of FIG. 6;
FIG. 8 is a schematic view of a capsule according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a bionic wave propulsion device according to an embodiment of the present invention as an experimental platform;
FIG. 10 is a schematic structural diagram of a bionic wave propulsion device according to an embodiment of the present invention when the bias angle is 0;
FIG. 11 is a schematic structural diagram of a bionic wave propulsion device according to an embodiment of the present invention when the bias angle is smaller than 0;
FIG. 12 is a schematic structural diagram of a bionic wave propulsion device according to an embodiment of the present invention when the bias angle is greater than 0;
fig. 13 is a schematic flow chart of a control method for a bionic wave propulsion device according to an embodiment of the present invention;
fig. 14 is a schematic flow chart of another control method for a bionic wave propulsion device according to an embodiment of the present invention.
Reference numerals: 1. a body; 2. a first driving member; 3. a swing frame; 4. a second driving member; 5. a swinging plate; 6. a rotating assembly; 7. clamping strips; 8. a wave fin; 9. sealing the cabin; 11. a base; 12. a left mounting seat; 13. a right mounting seat; 14. a force sensor; 15. a measurement platform; 21. a first steering wheel; 31. a first support plate; 32. a second support plate; 33. a mounting groove; 34. a third support plate; 35. a second rotating shaft; 36. a bearing assembly; 41. a second steering wheel; 61. a rotating seat; 62. a first rotating shaft; 63. a flange shaft sleeve; 64. an axial limiting member; 71. a first mounting hole; 72. a second mounting hole; 91. a through hole; 92. threading a screw; 93. sealing cover; 94. sealing grooves; 95. a static seal; 361. a flange shaft; 362. a flange bearing; 363. a fastener; 364. a second fixing hole; 365. a first fixing hole.
Detailed Description
In order to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" or "a number" is two or more, unless explicitly defined otherwise.
It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the scope of the present disclosure, since any structural modifications, proportional changes, or dimensional adjustments made by those skilled in the art should not be made in the present disclosure without affecting the efficacy or achievement of the present disclosure.
The embodiment of the invention is written in a progressive manner.
As shown in fig. 1 to 12, an embodiment of the present invention provides a bionic wave propulsion device, including: a body 1; the driving assembly is arranged on the body 1 at intervals and comprises a first driving piece 2, a swinging frame 3 connected with the driving end of the first driving piece 2, a second driving piece 4 is arranged on the swinging frame 3, and the driving end of the second driving piece 4 is connected with a swinging disc 5; and the clamping strip 7 is movably connected with the wobble plate 5 through the rotating assembly 6, and one end, away from the wobble plate 5, of the clamping strip 7 is connected with the fluctuation fin 8.
The bionic fluctuation fin propulsion device in the prior art simplifies the motion of the fluctuation fin into fluctuation of a single dimension, and can form a sine wave transmitted back and forth by controlling clamping points at different positions on the fluctuation fin to swing up and down, and the current bionic fluctuation fin propulsion device only sets up and down swinging of clamping strips, and only has one degree of freedom for a single clamping strip 7, so that more complex waveforms cannot be controlled to be generated.
The bionic wave propulsion device provided by the invention is provided with a body 1, a driving component and a clamping strip 7, wherein the driving component is arranged on the body 1 at intervals, the driving component comprises a first driving piece 2, a swinging frame 3, a second driving piece 4 and a swinging disc 5, wherein the driving end of the first driving piece 2 is connected with the swinging frame 3 to drive the swinging frame 3 to rotate around the driving end of the first driving piece 2, the second driving piece 4 is arranged on the swinging frame 3, the first driving piece 2 drives the swinging frame 3 to rotate and simultaneously drives the second driving piece 4 to rotate, the driving end of the second driving piece 4 is connected with the swinging disc 5 to drive the swinging disc 5 to rotate around the driving end of the second driving piece 4, the swinging disc 5 swings around the output of the second driving piece 4, driven by the first driving piece 2, the wobble plate 5 swings around the driving end of the first driving piece 2 along with the wobble frame 3, the wobble plate 5 is connected with the clamping strip 7, one end, away from the wobble plate 5, of the clamping strip 7 is connected with the fluctuation fin 8, therefore, the fluctuation fin 8 is a composite waveform generated by transverse fluctuation generated by driving of the second driving piece 4 and longitudinal fluctuation generated by the first driving piece 2 in the fluctuation process, in order to enable the clamping strip 7 to adapt to tangential line changes of fin surfaces of the fluctuation fin 8, the integrity of the waveform of the fluctuation fin 8 is guaranteed, the clamping strip 7 is movably connected with the wobble plate 5 through the rotating assembly 6, the clamping strip 7 is arranged in a rotatable mode, the fluctuation fin 8 can adaptively rotate in the fluctuation process, and the integrity of the waveform of the generated composite waveform is guaranteed. Therefore, compared with the prior art, each clamping strip 7 of the bionic wave propulsion device in the embodiment of the invention has two active swinging degrees of freedom and one adaptive rotating degree of freedom, and can control the wave fin 8 to generate a longitudinal and transverse composite wave form, so that the wave fin 8 can generate more complex actions to cope with more various environments.
The "transverse wave" refers to a wave whose vibration direction is perpendicular to the wave propagation direction, and the wave generated by the wave fin 8 in the prior art is a transverse wave; "longitudinal wave" refers to a wave whose vibration direction is parallel to the wave propagation direction. According to the technical scheme, the rotation axis A1B1 of the output end of the first driving piece 2 is parallel to the width direction of the body 1, the clamping strip 7 is driven to generate longitudinal waves through the output end of the first driving piece 2, the direction of the rotation axis A2B2 of the output end of the second driving piece 4 in the technical scheme is parallel to the length direction of the body 1, the clamping strip 7 is driven to generate transverse waves through the output end of the second driving piece 4, under the action of the first driving piece 2 and the second driving piece 4, the fluctuation fin 8 generates composite waveforms of the transverse waves and the longitudinal waves, the fluctuation fin 8 can swing up and down and can swing back and forth, the clamping strip 7 also has self-adaptive rotation under the action of the rotating component 6, the fluctuation of the fluctuation fin of natural fishes propelled by the fluctuation of the fin or the pectoral fin is simulated, the three-degree-of-freedom composite motion can control the fin surface to generate more complex waveforms, so that more complex actions are generated, and the three-degree-of-freedom composite motion can correspond to more diverse environments.
In the above-described structure, as one of the embodiments, the rotation axis of the swing frame 3 in the embodiment of the present invention intersects with the rotation axis of the wobble plate 5, and the rotation axis of the swing frame 3 is coplanar with the swing plane of the driving end of the second driving member 4, and the wobble plate 5 is rotated around the fixed point under the driving action of the first driving member 2 and the second driving member 4.
In the above structure, as one of the embodiments, the rotating assembly 6 in the embodiment of the present invention includes the rotating seat 61 and the first rotating shaft 62, where the rotating seat 61 is connected to one end of the wobble plate 5 far away from the second driving member 4, the first rotating shaft 62 is rotatably connected to the rotating seat 61, the first rotating shaft 62 is connected to the clamping strip 7, the wobble plate 5 is driven by the first driving member 2 and the second driving member 4 to swing up and down and simultaneously swing back and forth, the fluctuating fin 8 is driven by the clamping strip 7 to generate fluctuation, and the clamping strip 7 can adaptively rotate around the axis direction of the first rotating shaft 62 in the fluctuating process of the fluctuating fin 8, so as to ensure the integrity of the generated composite wave.
In the above structure, as a specific implementation manner, the wobble plate 5 in the embodiment of the present invention is specifically a flat-plate steel structure, the wobble plate 5 is fixedly connected with the driving end of the second driving member 4, one end of the wobble plate 5 far away from the second driving member 4 is fixedly connected with the rotating seat 61, a rotating hole is provided in the rotating seat 61, the first rotating shaft 62 is rotationally connected with the rotating hole through the flange shaft sleeve 63, one end of the first rotating shaft 62 is provided with the axial limiting member 64, the first rotating shaft 62 is fixed with the flange shaft sleeve through the axial limiting member 64, and the first rotating shaft 62 is prevented from moving axially in the process of self-adapting rotation in the rotating seat 61. Further, the flange bushing 63 in the embodiment of the present invention is made of brass material, so that the rotational friction with the mounting hole can be reduced. More specifically, the axial limiting member 64 in the embodiment of the present invention is specifically a set screw, the end of the first rotating shaft 62, which is far away from the end of the holding strip 7, is provided with a threaded hole, the threaded hole is matched with the set screw, the first rotating shaft 62 passes through the flange bearing 63, and the flange bearing 63 is sleeved into the rotating hole of the rotating seat 61. The axial stop 64 is then screwed into the threaded bore of the first shaft 62 to effect axial positioning.
In the above-described structure, as one of the embodiments, the clip strip 7 in the example of the invention is made of a spring steel material, and the clip strip 7 has a certain flexibility. The head end of the clamping strip 7 in the embodiment of the invention is provided with a first mounting hole 71, the clamping strip 7 is fixedly connected with the first rotating shaft 62 and the inner side of the fluctuation fin 8 through the first mounting hole 71, the tail end of the clamping strip 7 is also provided with a second mounting hole 72 for fixedly connecting with the outer side of the fluctuation fin 8, the fluctuation fin 8 is supported by the clamping strip 7 and driven to generate fluctuation, and it is to be noted that the inner side of the fluctuation fin 8 refers to the side of the fluctuation fin 8 close to the first rotating shaft 62, and the outer side of the fluctuation fin 8 refers to the side of the fluctuation fin 8 far away from the first rotating shaft 62. Further, in the embodiment of the present invention, two first mounting holes 71 are provided, and two second mounting holes 72 are provided.
In the above structure, as one of the embodiments of the present invention, two holding strips 7 are disposed on the first rotating shaft 62, the two holding strips 7 are disposed on two sides of the fluctuation fin 8, and the holding strips 7 are fixedly connected with the fluctuation fin 8, the two holding strips 7 clamp the fluctuation fin 8, the holding strips 7 are connected with the first rotating shaft 62, the output end of the first driving member 2 drives the fluctuation of the holding strips 7 to generate longitudinal waves, the output end of the second driving member 4 drives the fluctuation of the holding strips 7 to generate transverse waves, and the holding strips 7 also have adaptive rotation, so as to simulate the fluctuation of the fluctuation fin of natural fish propelled by the fluctuation of the backrest fin or the pectoral fin.
In the above-described structure, as one of the embodiments, the wave fin 8 in the embodiment of the present invention is specifically a thin film-like structure, and the wave fin 8 is made of a flexible material, and the thickness of the wave fin 8 is less than 2mm, so that the wave fin 8 has a sufficient deformability. Further, the wave fin 8 in the embodiment of the present invention is specifically made of thin film silica gel.
In the above-described structure, as one of the embodiments, the axial direction of the first shaft 62 in the example of the invention is perpendicular to the direction of the rotation axis A2B2 of the output end of the second driver 4. Still further, the rotation axis of the swing frame 3 in the embodiment of the present invention is disposed along the width direction of the body 1, the rotation axis of the swing disc 5 is disposed along the length direction of the body 1, and the axis direction of the first rotation shaft 62 is perpendicular to the plane formed by the rotation axis of the swing frame 3 and the rotation axis of the swing disc 5, that is, the axis direction of the first rotation shaft 62 is perpendicular to the plane in which the body 1 is located.
In the above structure, as one of the embodiments, the body 1 in the embodiment of the present invention includes the base 11, the left mounting seat 12 and the right mounting seat 13, where the base 11 is used as a mounting base of other components, the base 11 is formed by bending an aluminum alloy sheet metal part, a receiving cavity is provided below the base 11, the whole of the base 11 is in a U-shape, and the left mounting seat 12 and the right mounting seat 13 are respectively connected with two side surfaces of the base 11. More specifically, threaded holes are formed in two side surfaces of the base 11, and the two side surfaces of the base 11 are fixedly connected with the left mounting seat 12 and the right mounting seat 13 through threads respectively.
In the above structure, as one of the embodiments, the cross-sectional shapes of the left mount 12 and the right mount 13 in the embodiment of the present invention are rectangular tubular structures, and the left mount 12 and the right mount 13 are made of aluminum alloy materials, and the driving assembly is mounted through the left mount 12 and the right mount 13.
In the above structure, as one of the embodiments, the left mounting seat 12 in the embodiment of the present invention is provided with a receiving groove at intervals for placing the first driving element 2, the first driving element 2 is placed in the receiving groove, and the first driving element 2 is fixedly connected with the left mounting seat 12.
In the above structure, as one of the embodiments, the first driving member 2 in the embodiment of the present invention is specifically a first driving steering engine, and the second driving member 4 is specifically a second driving steering engine. Specifically, the first driving steering engine is installed in the accommodating groove, the first driving steering engine is fixed with the accommodating groove through a screw, the output shaft of the first driving steering engine is in meshed transmission with the first rudder disk 21 through a gear, and the first driving steering engine drives the first rudder disk 21 to rotate. The second driving steering engine is fixedly arranged on the swinging frame 3, an output shaft of the second driving steering engine is in gear engagement transmission with the second steering wheel 41, the second driving steering engine can drive the second steering wheel 42 to rotate, and the second steering wheel 42 is fixedly connected with the swinging plate 5.
In the above structure, as one embodiment, the swing frame 3 in the embodiment of the present invention includes the first support plate 31, the second support plate 32, and the mounting groove 33, where the first support plate 31 is connected to the output end of the first driving member 2, the second support plate 32 is disposed at an end of the first support plate 31 away from the first driving member 2, the mounting groove 33 is disposed on the second support plate 32, the mounting groove 33 is used for mounting the second driving member 4, and the second driving member 4 is fixedly connected to the second support plate 32. Specifically, the first backup pad 31 is fixed connection with the output of first driving piece 2, first driving piece 2 drives first backup pad 31 and winds the center rotation, second backup pad 32 sets up the one end of keeping away from first driving piece 2 at first backup pad 31, and be provided with second driving piece 4 on the second backup pad 32, the output of second driving piece 4 links to each other with wobble plate 5, the one end of wobble plate 5 keeping away from second driving piece 4 links to each other with holding strip 7, under the drive of second driving piece 4, drive undulant fin 8 through holding strip 7 and produce horizontal fluctuation, under the drive of first driving piece 2, drive undulant fin 8 through holding strip 7 and produce vertical fluctuation, under the combined action of first driving piece 2 and second driving piece 4, undulant fin 8 produces compound fluctuation.
In the above structure, in order to improve the stability of the transmission of the swing frame 3 and the bearing rigidity of the swing frame 3, as one embodiment, the swing frame 3 in the embodiment of the present invention further includes a third support plate 34, where the third support plate 34 is disposed at an end of the second support plate 32 away from the first support plate 31, a second rotating shaft 35 is fixedly disposed on the third support plate 34, and the second rotating shaft 35 is connected to the body 1 through a bearing assembly 36, where a rotation axis of the second rotating shaft 35 is coaxially disposed with a rotation axis of the output end of the first driving member 2.
In the above-described structure, the first support plate 31 and the third support plate 34 in the embodiment of the present invention are disposed in parallel, and the first support plate 31 and the second support plate 32 are disposed vertically. The first support plate 31 is fixedly connected with the first steering engine, and the third support plate 34 is rotatably connected with the body through a bearing assembly 36. More specifically, the bearing assembly 36 includes a flange shaft 361, a flange bearing 362, and a fastener 363, where the third support plate 34 is provided with a circular hole for installing the flange shaft 361, the flange shaft 361 is fixedly connected with the third support plate by a screw, the flange shaft 361 is fixedly connected with the second rotating shaft 35 by the fastener 363, one end of the second rotating shaft 35 far from the flange shaft 361 is inserted into an inner hole on the flange bearing 362, and the flange bearing 362 is fixedly connected with the right mounting seat 13. Further, the flange bearing in the embodiment of the present invention is made of polytetrafluoroethylene material, so that the friction force during the rotation of the second rotating shaft 35 can be reduced.
More specifically, as one embodiment, the flange shaft 361 in the embodiment of the present invention is provided with a first fixing hole 365, the second rotating shaft 35 is provided with a second fixing hole 364 that is matched with the first fixing hole 365, and the flange shaft 361 is fixed with the second rotating shaft 35 by inserting the fastener 363 into the second fixing hole 364 and the first fixing hole 365.
In the above structure, as one of the implementation manners, the bionic wave propulsion device in the embodiment of the invention further includes a sealed cabin 9, wherein the sealed cabin 9 is disposed at the top of the body 1, and the sealed cabin 9 is fixedly connected with the body 1, the sealed cabin 9 is used for placing a control board, a power supply, a sensor and a circuit, through holes 91 are disposed at two sides of the sealed cabin 9, threading screws 92 are disposed in the through holes 91, a sealing ring is disposed between the threading screws 92 and the sealed cabin 9, the wires draw out the wires inside the sealed casing to the outside of the sealed cabin 9 through the threading holes, the threading screws 92 are tightened, and the sealing ring is clamped, so that sealing between the threading screws 92 and the sealed cabin 9 is realized, and the top of the sealed cabin 9 is in sealing connection with a sealing cover 93 to form a static seal, so that liquid outside is prevented from entering the sealed cabin 9, and the service life of the electrical element is prevented. Further, the seal cabin 9 in the embodiment of the present invention is fixedly connected with the top of the body 1 by a screw. More specifically, the top of the sealed cabin 9 in the embodiment of the invention is provided with a sealing groove 94, a static seal 95 is arranged in the sealing groove 94, and the sealing cover 93 is connected with the sealing groove 94, and the static seal 95 is extruded to deform, so that the sealing cabin has sealing waterproof capability.
In the above structure, as one of the embodiments of the present invention, the bionic wave propulsion device provided in the present invention may be used in an underwater robot, where each clip strip 7 has three degrees of freedom, and may drive the wave fin 8 to swing up and down, and may also drive the wave fin 8 to swing back and forth, and rotate around the first rotation axis 62, so as to control the fin surface of the wave fin 8 to generate a more complex waveform, generate a more complex motion, and cope with a more diverse environment.
As another implementation manner, the bionic wave propulsion device provided by the embodiment of the invention can also be used as an experimental platform for researching an underwater bionic robot, and as a specific implementation manner, the bionic wave propulsion device further comprises a force sensor 14, wherein the force sensor 14 is fixedly arranged at the top of the body 1, the force sensor 14 is matched with a measuring platform 15 and a test water tank, the top of the measuring platform 15 is fixedly connected with the force sensor 14, the test water tank is arranged below the body 1, in the testing process, the fluctuation fin 8 is immersed in water, and force and moment generated when the fluctuation fin 8 moves in a fluctuation manner are measured through the force sensor 14, so that experimental data are provided for researching the underwater bionic robot.
In the above-described structure, as a first embodiment, the force sensor 14 provided in the embodiment of the present invention is specifically a six-dimensional sensor, and can measure forces in three degrees of freedom and moments in three degrees of freedom simultaneously; when no moment is required to be focused, as a second implementation manner, the force sensor 14 provided by the embodiment of the present invention may also be a three-dimensional sensor, and simultaneously measure forces with three degrees of freedom; when the tester focuses only on the thrust of the forward propulsion generated by the wave fin 8, as a third embodiment, the force sensor 14 provided by the embodiment of the present invention is specifically a one-dimensional sensor, and only the thrust of the forward propulsion generated by the wave fin 8 can be measured.
As shown in fig. 13 to 14, the present invention further provides a wave control method, which is used in the bionic wave propulsion device of any one of the above-mentioned items, and includes the following steps: s1, presetting a transverse wave equation, a longitudinal wave equation, wave parameters, a time value and a control period; s2, acquiring a transverse wave output angle and a longitudinal wave output angle according to the time value, the transverse wave equation, the longitudinal wave equation and the control period; s3, generating a first PWM value according to the transverse wave output angle, outputting the first PWM value to control the rotation angle of the second driving piece 4, generating a second PWM value according to the longitudinal wave output angle, and outputting the second PWM value to control the rotation angle of the first driving piece 2. The wave control method is used for controlling the bionic wave propulsion device so that the wave fin 8 can generate more complex actions to cope with more various environments.
It should be noted that, the transverse wave equation is determined by the second driving members 4 arranged in sequence, the longitudinal wave equation is determined by the first driving members 2 arranged in sequence, the number of the second driving members 4 in the embodiment of the present invention is N, the number of the first driving members 2 corresponds to the number of the second driving members 4 one by one, and the number of the second driving members 4 is also N. In the embodiment of the present invention, the output angle of the second driving member 4, i.e., the lateral output angle, is θ (i), i=1, 2, …, N, and the output angle of the first driving member 2, i.e., the longitudinal output angle, is β (i), i=1, 2, …, N. As a specific embodiment, N in the embodiment of the present invention is 9.
In this embodiment, the transverse wave equation in step S1 is a sine wave equation, and the transverse wave equation may take a variety of forms, and as one specific implementation manner, the preset transverse wave equation in this embodiment of the present invention is specifically:
wherein f 1 For transverse wave fluctuation frequency, θ m I is the number of the second driving piece, t is the time, theta 0 Is the offset angle of the wave fin 8, when θ 0 When =0, the fluctuation equilibrium position of the fluctuation fin 8 is on the central axis of the body 1, when θ 0 When > 0, the fluctuation equilibrium position of the fluctuation period is positioned at the left side of the central axis of the body 1, when theta 0 And when the fluctuation equilibrium position is smaller than 0, the fluctuation equilibrium position of the fluctuation period is positioned on the right side of the central axis of the body 1.
It is noted that equation (1) is only one possible form of transverse wave equation, and that any other form of transverse wave equation does not depart from the scope of the present invention.
In the embodiment of the invention, the longitudinal wave equation can take various forms so as to form different longitudinal and transverse composite waves with the transverse wave equation, and the following three longitudinal wave equations are provided in the embodiment of the invention:
β(i,t)＝β m sin(2πf 2 t),i＝1,2,...,N (2)
wherein f 2 For the wave fluctuation frequency, beta m For the amplitude of the fluctuation i is the number of the first driving piece and t is the time value.
As one of the embodiments, in order to further explain the present technical solution more clearly, in the embodiment of the present invention, equation (1) is taken as a transverse wave equation, and equation (2) is taken as a longitudinal wave equation.
In step S2, a lateral output angle and a longitudinal output angle are obtained according to the preset time value t, the lateral wave equation, the longitudinal wave equation and the control period Δt, wherein the lateral output angle refers to the output angle of the second driving member 4, which is calculated by the formula (1), and the longitudinal output angle refers to the output angle of the first driving member 2, which is calculated by the formula (2).
In step S3, a conversion formula for generating the first PWM value according to the transversal wave output angle is:
based on the formula (5) and the formula (1), a first PWM value is calculated and output, and the output end of the second driving piece 4 is controlled to rotate by a transverse output angle.
In step S3, a conversion formula for generating the second PWM value according to the longitudinal wave output angle is:
based on the formula (6) and the formula (2), a second PWM value is calculated and output, and the output end of the first driving piece 2 is controlled to rotate by a longitudinal output angle.
In step S3, in the embodiment of the present invention, the output angles of the first driving element 2 and the second driving element 4 are controlled by the single chip microcomputer, and a new output angle needs to be calculated every interval of one control period, obviously, the shorter the control period is, the higher the control accuracy is, but if the control period is too short, the control period may exceed the fastest running speed of the single chip microcomputer, in the embodiment of the present invention, the control period is specifically 10ms, that is, every interval of 10ms, the single chip microcomputer calculates a new transverse wave output angle and a longitudinal wave output angle, generates a first PWM value according to the transverse wave output angle, and generates a second PWM value according to the longitudinal wave output angle.
As one implementation mode, the SCM control board in the embodiment of the invention adopts STM32F7 series high-performance chips, the clock frequency can reach 216MHz, and a hardware floating point calculation unit is arranged inside the SCM control board, so that the calculation speed in the control process can be ensured, the control precision is ensured, and the control resolution is improved.
In the above method, as one implementation manner, the following steps are further included between the step S1 and the step S2 in the embodiment of the present invention: the iteration number k is initialized to zero, and the time value t is equal to the product of the control period Δt and the iteration number k, i.e., the iteration number k=0; time value t=k×Δt; wherein Δt is the control period.
In the above method, after step 3, the method further comprises the steps of: s4, after waiting for a control period Deltat, updating the iteration number k 1 Time value t 1 And returning to the step S2 for circulation. Specifically, the updated iteration number k 1 =k+1; updated time value t 1 ＝k 1 * And delta t, returning to the step S2 after updating, and restarting to calculate the transverse wave output angle and the longitudinal wave output angle.
In the above method, in order to ensure that the wave form of the wave fin 8 wave continuously even if the frequency varies during the wave, as one of the embodiments, the transverse wave equation and the longitudinal wave equation in the embodiment of the present invention use a phase increment calculation method.
Specifically, the phase increment formula of the transverse wave equation is specifically:
wherein f 1 For transverse wave fluctuation frequency, θ m For the transverse fluctuation amplitude, i is the number of the second driving piece, k is the iteration number, theta 0 Is the offset angle of the fluctuating fin; phi (i) is the shear wave phase.
The phase increment formula of the longitudinal wave equation is specifically:
wherein f 2 For the wave fluctuation frequency, beta m For the longitudinal wave amplitude, i is the number of the first driving piece, k is the iteration number, and Ω (i) is the longitudinal wave phase.
By adopting the phase increment type calculation method, even if the transverse wave fluctuation frequency and the longitudinal wave fluctuation frequency change during the operation, the wave form of the fluctuation generated by the fluctuation fin 8 can be continuous.
When the iteration number is initialized to zero, the transverse wave phase Φ (i, 0) of each second driving piece is specifically:
when the iteration number is initialized to zero, the longitudinal wave phase Ω (i, 0) of each first driving member is specifically:
Ω(i,0)＝2πf 2 t＝0,i＝1,2,...,N (10)
in the above method, as one embodiment, the fluctuation parameter includes: transverse wave frequency f 1 Amplitude theta of transverse fluctuation m Frequency f of longitudinal fluctuation 2 Amplitude beta of longitudinal fluctuation m Offset angle theta 0 When the offset angle is equal to 0, the fluctuation equilibrium position of the fluctuation fin 8 is positioned on the center surface of the body 1, and the body 1 is driven to run in a straight line; when the offset angle is greater than 0, the fluctuation equilibrium position of the fluctuation fin 8The fluctuation fin 8 is positioned at the left side of the center surface of the body 1 and has a rightward yaw moment, so that the body 1 is driven to turn rightward; when the offset angle is smaller than 0, the fluctuation equilibrium position of the fluctuation fin 8 is positioned on the right side of the center plane of the body 1, the fluctuation fin 8 has a leftward yaw moment, and the body 1 is driven to turn leftwards. When the fluctuation directions of the fluctuation fins are controlled to be opposite, power for advancing and retreating is respectively generated, so that the forward and retreating movement of the body is realized. At this time, the movement in the underwater multimode can be realized.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A biomimetic wave propulsion device, comprising:
a body (1);
the driving assembly is arranged on the body (1) at intervals and comprises a first driving piece (2), a swinging frame (3) connected with the driving end of the first driving piece (2), a second driving piece (4) is arranged on the swinging frame (3), and the driving end of the second driving piece (4) is connected with a swinging disc (5);
and the clamping strip (7) is movably connected with the wobble plate (5) through the rotating assembly (6), and one end, far away from the wobble plate (5), of the clamping strip (7) is connected with the fluctuation fin (8).
2. The bionic wave-motion propulsion apparatus of claim 1, wherein,
the rotation axis of the swinging frame (3) is intersected with the rotation axis of the swinging disc (5), and the rotation axis of the swinging frame (3) is coplanar with the swinging plane of the driving end of the second driving piece (4).
3. The bionic wave-motion propulsion apparatus of claim 2, wherein,
the rotating assembly (6) comprises:
a rotating seat (61) connected with one end of the swinging frame (3) far away from the second driving piece (4);
and a first rotating shaft (62) rotatably connected with the rotating seat (61), wherein one end of the first rotating shaft (62) far away from the rotating seat (61) is connected with the clamping strip (7).
4. A bionic wave-motion propulsion apparatus as defined in claim 3, wherein,
the clamping strip (7) is made of spring steel material.
5. The bionic wave propulsion apparatus of any of claims 1 to 4,
the swing frame (3) includes:
a first support plate (31) connected to the drive end of the first drive member (2);
and the second support plate (32) is far away from one end of the first driving piece (2) with the first support plate (31), a mounting groove (33) for mounting the second driving piece (4) is formed in the second support plate (32), and the second driving piece (4) is fixedly arranged on the second support plate (32).
6. The bionic wave propulsion apparatus of claim 5, wherein,
the swing frame (3) further includes:
and a third support plate (34) connected with one end of the second support plate (32) far away from the first support plate (31), wherein a second rotating shaft (35) is fixedly arranged on the third support plate (34), the second rotating shaft (35) is connected with the body (1) through a bearing assembly (36), and the axial direction of the second rotating shaft (35) coincides with the axial direction of the first driving piece (2).
7. The bionic wave-motion propulsion apparatus of claim 1, wherein,
further comprises:
the sealed cabin (9) is arranged at the top of the body (1), and through holes (91) are formed in two sides of the sealed cabin (9);
the threading screw (92) is arranged in the through hole (91) and is in sealing connection with the through hole (91), and a wire passing hole is formed in the threading screw (92);
and the sealing cover (93) is connected with the top of the sealed cabin (9) in a sealing way.
8. The bionic wave-motion propulsion apparatus of claim 1, wherein,
further comprises:
a force sensor (14) fixedly arranged on the top of the body (1);
and the measuring platform (15) is fixedly connected with the force sensor (14).
9. A wave control method for use in the bionic wave propulsion apparatus of any one of claims 1 to 8, comprising the steps of:
s1, presetting a transverse wave equation, a longitudinal wave equation, wave parameters, a time value and a control period;
s2, acquiring a transverse wave output angle and a longitudinal wave output angle according to the time value, the transverse wave equation, the longitudinal wave equation and the control period;
s3, generating a first PWM value according to the transverse wave output angle, outputting the first PWM value to control the driving end of the second driving piece (4) to output the transverse wave output angle, generating a second PWM value according to the longitudinal wave output angle, and outputting the second PWM value to control the driving end of the first driving piece (2) to output the longitudinal wave output angle.
10. The surge control method according to claim 9, wherein,
the following steps are also included between step S1 and step S2:
the iteration number is initialized to zero and the time value is equal to the product of the control period and the iteration number.
11. The surge control method according to claim 10, wherein,
after step 3, the method further comprises the following steps:
and S4, after waiting for a control period, updating the iteration times and the time value, and returning to the step S2 for circulation.
12. The surge control method according to claim 9, wherein,
the fluctuation parameters include: transverse wave frequency, transverse wave amplitude, longitudinal wave frequency, longitudinal wave amplitude and bias angle, wherein,
when the offset angle is equal to 0, the fluctuation balance position of the fluctuation fin (8) is positioned on the central surface of the body (1) to drive the body (1) to run along a straight line;
when the offset angle is larger than 0, the fluctuation balance position of the fluctuation fin (8) is positioned at the left side of the central surface of the body (1), and the fluctuation fin (8) has a rightward yaw moment and drives the body (1) to turn rightward;
when the offset angle is smaller than 0, the fluctuation balance position of the fluctuation fin (8) is positioned on the right side of the center plane of the body (1), and the fluctuation fin (8) has a left yaw moment and drives the body (1) to turn leftwards.
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| CN202310224731.3A CN116062143B (en) | 2023-03-09 | Bionic fluctuation propulsion device and fluctuation control method |
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| CN202310224731.3A CN116062143B (en) | 2023-03-09 | Bionic fluctuation propulsion device and fluctuation control method |
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