CN1911730A - Floating bionic terrapin robot on water - Google Patents
Floating bionic terrapin robot on water Download PDFInfo
- Publication number
- CN1911730A CN1911730A CN 200610112601 CN200610112601A CN1911730A CN 1911730 A CN1911730 A CN 1911730A CN 200610112601 CN200610112601 CN 200610112601 CN 200610112601 A CN200610112601 A CN 200610112601A CN 1911730 A CN1911730 A CN 1911730A
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- Prior art keywords
- robot
- frame
- water
- terrapin
- fixed
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 41
- 238000007667 floating Methods 0.000 title claims abstract description 14
- 241000270711 Malaclemys terrapin Species 0.000 title claims description 6
- 239000011664 nicotinic acid Substances 0.000 title claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 2
- 229910052751 metal Inorganic materials 0.000 claims description 2
- 230000002209 hydrophobic effect Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000002940 repellent Effects 0.000 abstract description 2
- 239000005871 repellent Substances 0.000 abstract description 2
- 241000630329 Scomberesox saurus saurus Species 0.000 description 7
- 239000003292 glue Substances 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 239000012467 final product Substances 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 241001489698 Gerridae Species 0.000 description 1
- 240000002834 Paulownia tomentosa Species 0.000 description 1
- 101000642819 Solanum tuberosum Soluble starch synthase 1, chloroplastic/amyloplastic Proteins 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 101000642821 Triticum aestivum Starch synthase 1, chloroplastic/amyloplastic Proteins 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- OTCVAHKKMMUFAY-UHFFFAOYSA-N oxosilver Chemical compound [Ag]=O OTCVAHKKMMUFAY-UHFFFAOYSA-N 0.000 description 1
- 229910001923 silver oxide Inorganic materials 0.000 description 1
- NDVLTYZPCACLMA-UHFFFAOYSA-N silver oxide Substances [O-2].[Ag+].[Ag+] NDVLTYZPCACLMA-UHFFFAOYSA-N 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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Abstract
The present invention belongs to the field of water floating robot technology, and features that the water floating robot has 6-8 supporting legs and the legs in filament structure are surface treated with water repellent and battery and three level gear mechanism driven to row on the water surface to move. The water floating robot has the advantages of light weight, small size and great loading capacity.
Description
Technical field
The invention belongs to robot waterborne, relate in particular to the Robotics field of bionical water skipper.
Background technology
The principle that biosome and mechanical device utilize surface tension to bubble through the water column is known, as article (Gao Xuefeng, JiangLei, Biophysics Water repellent legs of water striders, Nature, Vol.432,4Nov.2004,36) microstructure of pointing out water skipper shank bristle can produce huge buoyancy, realizes that the water surface stands.The science toy is waterborne to fly (country origin: China, publication number: CN85204519, open date: the 1987.11.07) technology that has realized relying on the surface tension of water that simple toy is bubbled through the water column.But it and water surface contact portion are not the leg shapes, can't bionical water surface biology.Also do not have electric drive system, structure is simple and crude, and performance is simple.Can't be used for correlation machine people technology and Study on Theory and test.
Present problem is to make the robot of bionical water skipper, and shank can only be a material (0.2 millimeter steel wire of the Φ of As used herein).And the water surface tension force that common thread shank produces is very limited.Be to realize floating on water surface robot electronic, no cable on the other hand, robot must carry the energy (as battery) and drive system (being generally motor and retarder thereof), and system entails has certain weight.How to draw materials and manufacture and design the robot shank producing enough surface tension, optimal design produces little, the lightweight robot system of volume simultaneously, is exactly the key issue that needs solve.
Summary of the invention
The objective of the invention is to propose little, the lightweight bionical water skipper robot of a kind of volume, i.e. the floating on water surface robot.
The invention is characterized in, contain:
Frame, centre have a rectangular groove;
The miniature gears transmission device of multistage driving, each bar gear wheel shaft is fixed on the frame by gear bush respectively, and each bar gear wheel shaft is gapped with each respective gears shaft room;
Motor is fixed in a side of this frame, and the engagement of the first order miniature gears in output shaft and the described gear drive;
Battery is fixed in the opposite side of this frame, to this motor power supply;
Supporting leg has the 6-8 bar, and afterbody is upturned, and head is fixed on the both sides of this frame elongatedness direction;
Driving leg has two, is fixed on this frame broad ways both sides, and the two ends that stretch out in this frame of the third stage gear wheel shaft in head and the described multilevel gear drive mechanism are mutually bonding;
Described supporting leg and driving leg and water surface contact portion are bent into metal wire material, and both are positioned on the same horizontal surface.
The design of electronic, no cable robot system that the present invention has realized is in light weight, volume is little and integrated, invented can bionical water skipper the floating on water surface robot, can be used for correlation machine people technology and theoretical investigation and test.
Description of drawings
Fig. 1. the supporting leg front elevation;
Fig. 2. the driving leg front elevation;
Fig. 3. the frame front elevation;
Fig. 4. slow down to increase and turn round the gear train assembly scheme drawing:
A. front elevation, the b. birds-eye view
Fig. 5. the side isometric view of robot;
Fig. 6. gear wheel shaft and axle sleeve connection diagram:
A. before connecting, after b. connects
Fig. 7. the birds-eye view of robot.
The specific embodiment
Having solved increases capillary shaped design of the thread shank water surface and process for treating surface problem.Realized electronic, no cable robot system design in light weight, that volume is little and integrated.Finally invent the bionical water skipper of energy, can be used for the floating on water surface robot of correlation machine people technology and theoretical investigation and test.
Technical scheme of the present invention is: 1, the paulownia wood chip is made rectangular shape body; 2, bend 2 of 8 of supporting legs and driving legs with stainless steel wire, with water-repelling agent shank is carried out the surface spraying and dry 3, each fixes 4 supporting legs before and after the body; 4,2.54 specifications row pin drives a DC machine as source switch with silver oxide cell; 5, plastic pipe or the copper wire ring that is fixed on the body is gear bush, and carbon fiber rod is a gear wheel shaft, uses tertiary gear to slow down; 6, two driving legs are fixed in the both sides of afterbody gear wheel shaft respectively; 7, gear and axle connect by flush fit, between other parts or part and body by gummed formation fixed connection.
Slow down to increase and turns round mechanism as shown in Figure 4: there is a groove in support platform central authorities, three rooted tooth wheel shafts be fixed on that six axle sleeves form free-running fits on the platform, three miniature gearss are interference fit with separately axle.Drive motor drives the motion of first order reducing gear, and the axle that is positioned at from the motor farthest obtains the power that relative low speed height is turned round, and drives the driving leg motion that is bundled on this root axle.
Shown in figure five, the floating on water surface robot adopts tertiary gear to slow down, and the axle sleeve of carbon-point axle adopts diameter suitable plastic pipe among the figure, gets final product as the crust of electric wire etc.Axle sleeve is bonded on the plank base with the good glue of brothers.Miniature motor and battery are installed in the two ends of base respectively, to guarantee the balance of robot on the water surface.Certain distance is stretched out at the axle two ends of the 3rd gear, and the driving leg axle that is used for water skiing just is installed in this axle, with 502 glue driving leg and gear wheel shaft is stood together.Motor, electric wire, supporting leg and battery all use 502 glue to be bonded on the plank base, as shown in Figure 7.Supporting leg will have certain radian, and perk is wanted in the rear end, at utmost to utilize surface tension of liquid.Supporting leg and driving leg will guarantee almost at grade.The centre of plank base is a dead slot, and is wide 1.0 centimetres, long 2.5 centimetres.For increasing surface tension, supporting leg quantity can be increased to the 6-8 bar, evenly arrange.
During operation, earlier robot is placed on the water surface gently, energized gets final product then.
The present invention stands by the surface tension realization water surface, with water surface contact portion be a silk material leg shape structure, no cable (promptly carries the energy and drive system etc., become independently system), use the SS-I type water nano water-repelling agent of Beijing Shouchuang Nano Techn Co., Ltd. that shank is carried out surface treatment, motor-driven, tertiary gear slows down, driving leg produces power at the water surface paddling, the bionical water skipper of profile, (less than 3 grams) in light weight, volume is little, load-carrying surplus big (greater than 0.5 gram), cruise duration long (greater than 10 hours).
Claims (4)
1, floating bionic terrapin robot on water is characterized in that, contains:
Frame, centre have a rectangular groove;
The miniature gears transmission device of multistage driving, each bar gear wheel shaft is fixed on the frame by gear bush respectively, and each bar gear wheel shaft is gapped with each respective gears shaft room;
Motor is fixed in a side of this frame, and the engagement of the first order miniature gears in output shaft and the described gear drive;
Battery is fixed in the opposite side of this frame, to this motor power supply;
Supporting leg has the 6-8 bar, and afterbody is upturned, and head is fixed on the both sides of this frame elongatedness direction;
Driving leg has two, is fixed on this frame broad ways both sides, and the two ends that stretch out in this frame of the third stage gear wheel shaft in head and the described multilevel gear drive mechanism are mutually bonding;
Described supporting leg and driving leg and water surface contact portion are bent into metal wire material, and both are positioned on the same horizontal surface.
2, floating bionic terrapin robot on water according to claim 1 is characterized in that: described supporting leg and driving leg all pass through hydrophobic treatment.
3, floating bionic terrapin robot on water according to claim 1 is characterized in that: the miniature gears transmission device of described multistage driving is that tertiary gear drives.
4, floating bionic terrapin robot on water according to claim 1 is characterized in that: its total reduction ratio of described tertiary gear transmission device is 166.67: 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101126017A CN100404371C (en) | 2006-08-25 | 2006-08-25 | Floating bionic terrapin robot on water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101126017A CN100404371C (en) | 2006-08-25 | 2006-08-25 | Floating bionic terrapin robot on water |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1911730A true CN1911730A (en) | 2007-02-14 |
| CN100404371C CN100404371C (en) | 2008-07-23 |
Family
ID=37720836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101126017A Expired - Fee Related CN100404371C (en) | 2006-08-25 | 2006-08-25 | Floating bionic terrapin robot on water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100404371C (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102219050A (en) * | 2011-01-13 | 2011-10-19 | 西北工业大学 | Drainage steel wire leg part of mini-type water robot and preparation method thereof |
| CN102556318A (en) * | 2012-01-12 | 2012-07-11 | 河北工业大学 | Bionic water strider robot |
| CN101817395B (en) * | 2010-01-15 | 2013-01-30 | 清华大学 | Remote-control electric overwater walking robot |
| CN103043201A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Bionic biped water walking robot |
| CN103879537A (en) * | 2014-04-21 | 2014-06-25 | 哈尔滨工业大学 | Water-skipper-imitation waterborne skipping robot |
| CN104229087A (en) * | 2014-10-08 | 2014-12-24 | 哈尔滨工业大学 | Hydroplaning robot imitating water strider |
| CN104943832A (en) * | 2015-06-08 | 2015-09-30 | 浙江大学 | Bionic wind-proof and wave-proof type water strider robot with schema translation function |
| CN108145752A (en) * | 2018-01-15 | 2018-06-12 | 华南理工大学 | A kind of marmem supporting leg of water strider robot and its preparation and operation |
| CN110816760A (en) * | 2019-11-20 | 2020-02-21 | 石门县腾越电子商务有限公司 | Robot walking on water |
| CN113514800A (en) * | 2021-04-23 | 2021-10-19 | 吉林大学 | Water strider-imitated vibration sensing and positioning system and vibration sensing and positioning method |
| CN114055427A (en) * | 2021-12-13 | 2022-02-18 | 哈尔滨工业大学 | Water strider magnet imitating micro robot with flexible hinge and motion control method thereof |
| CN114228982A (en) * | 2021-11-30 | 2022-03-25 | 重庆交通大学绿色航空技术研究院 | Unmanned aerial vehicle support |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85204519U (en) * | 1985-10-16 | 1987-11-07 | 周浩生 | Floating scientific toy |
| JP2000140453A (en) * | 1998-11-10 | 2000-05-23 | Ntt Advanced Technology Corp | Water-surface toy and its manufacture |
| WO2005035909A1 (en) * | 2003-10-14 | 2005-04-21 | Maytronics Ltd. | Cordless pool cleaning robot |
-
2006
- 2006-08-25 CN CNB2006101126017A patent/CN100404371C/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101817395B (en) * | 2010-01-15 | 2013-01-30 | 清华大学 | Remote-control electric overwater walking robot |
| CN102219050A (en) * | 2011-01-13 | 2011-10-19 | 西北工业大学 | Drainage steel wire leg part of mini-type water robot and preparation method thereof |
| CN103043201A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Bionic biped water walking robot |
| CN102556318A (en) * | 2012-01-12 | 2012-07-11 | 河北工业大学 | Bionic water strider robot |
| CN102556318B (en) * | 2012-01-12 | 2014-04-16 | 河北工业大学 | Bionic water strider robot |
| CN103879537A (en) * | 2014-04-21 | 2014-06-25 | 哈尔滨工业大学 | Water-skipper-imitation waterborne skipping robot |
| CN104229087A (en) * | 2014-10-08 | 2014-12-24 | 哈尔滨工业大学 | Hydroplaning robot imitating water strider |
| CN104943832A (en) * | 2015-06-08 | 2015-09-30 | 浙江大学 | Bionic wind-proof and wave-proof type water strider robot with schema translation function |
| CN108145752A (en) * | 2018-01-15 | 2018-06-12 | 华南理工大学 | A kind of marmem supporting leg of water strider robot and its preparation and operation |
| CN108145752B (en) * | 2018-01-15 | 2023-10-13 | 华南理工大学 | Shape memory alloy supporting leg of water strider robot and preparation and operation thereof |
| CN110816760A (en) * | 2019-11-20 | 2020-02-21 | 石门县腾越电子商务有限公司 | Robot walking on water |
| CN113514800A (en) * | 2021-04-23 | 2021-10-19 | 吉林大学 | Water strider-imitated vibration sensing and positioning system and vibration sensing and positioning method |
| CN113514800B (en) * | 2021-04-23 | 2022-09-09 | 吉林大学 | Water strider-imitated vibration sensing and positioning system and vibration sensing and positioning method |
| CN114228982A (en) * | 2021-11-30 | 2022-03-25 | 重庆交通大学绿色航空技术研究院 | Unmanned aerial vehicle support |
| CN114228982B (en) * | 2021-11-30 | 2024-07-09 | 重庆交通大学绿色航空技术研究院 | Unmanned aerial vehicle support |
| CN114055427A (en) * | 2021-12-13 | 2022-02-18 | 哈尔滨工业大学 | Water strider magnet imitating micro robot with flexible hinge and motion control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100404371C (en) | 2008-07-23 |
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Granted publication date: 20080723 Termination date: 20090925 |