CN206231595U - Bionical sea snake device - Google Patents
Bionical sea snake device Download PDFInfo
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- CN206231595U CN206231595U CN201621297072.8U CN201621297072U CN206231595U CN 206231595 U CN206231595 U CN 206231595U CN 201621297072 U CN201621297072 U CN 201621297072U CN 206231595 U CN206231595 U CN 206231595U
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- snake
- steering wheel
- snakehead
- sea snake
- power
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Abstract
The utility model is related to bionic underwater vehicle technical field, is a kind of bionical sea snake device, and it includes snakehead, snake body, multichannel servos control plate, the main control singlechip that can be rotated along left and right and above-below direction；Snake body includes at least 10 supports and steering wheel, and steering wheel is separately installed with each support, and support is sequentially fixed together, and snakehead and first support are fixed together, and two infrared obstacle avoidance instruments in left and right are provided with snakehead correspondence eyes.The utility model mixes control using many steering wheels, the structure that the forward part of bionical sea snake is staggeredly placed using steering wheel output shaft, the so free degree of the action of sea snake just correspondingly large increase, the whole body of sea snake is all power resources, the neatly effect in the direction of control biomimetics sea snake, thrust and upper dive, bionical sea snake front body trunk is tiny, reduce resistance of the water body to sea snake, rear portion is flat similar to slurry, sea snake can be made to obtain bigger thrust, it is symmetrical preferably to keep balance.
Description
Technical field
The utility model is related to bionic underwater vehicle technical field, is a kind of bionical sea snake device.
Background technology
With the development and the progress in epoch of science and technology, requirement to underwater robot also improving, it is traditional " propeller+
The submarine navigation device volume of rudder " pattern is big, and quality weight, propulsive efficiency is low, and noise is big, and flow disturbance effect is obvious, low speed opportunity
Dynamic poor-performing, build is larger, it is required that occasion higher cannot be applied many, biomimetic type submarine navigation device just meet the tendency of and
It is raw.As the cross discipline of fusion bionics, hydrodynamics, materialogy, engineering science, Theory of Automatic Control and robotics,
Biomimetic type submarine navigation device possesses that sea snake class is high to water environment strong adaptability, flexibility high, small volume, propulsive efficiency, noise
The advantages of low, flow disturbance is small, mobility is good.It is to imitate with the different place of the submarine navigation device of traditional propeller type propulsion
Raw type submarine navigation device is using bionical sea snake as ROV.But current bionical sea snake formula ROV has the following disadvantages：1、
The ability of control biomimetics sea snake, effector and bionical sea snake are easily caused when bionical sea snake is into deeper water, cause to damage
Lose；2nd, the flexibility ratio of existing bionical sea snake is poor, it is impossible in narrow regions operation.
The content of the invention
The utility model provides a kind of bionical sea snake device, overcomes the deficiency of above-mentioned prior art, and it can effectively be solved
Certainly the ability of control biomimetics sea snake, effector and bionical sea snake are easily caused when bionical sea snake is into deeper water, are caused
The problem of loss.
The flexibility ratio that the utility model also further solves existing bionical sea snake is poor, it is impossible to the operation in narrow regions
Problem.
A kind of bionical sea snake device, including snake body, the multichannel servos control that snakehead, energy are rotated along left and right and above-below direction
Plate, main control singlechip；Snake body includes at least 10 supports and steering wheel, and steering wheel is separately installed with each support, and support is sequentially
It is fixed together, snakehead and first support are fixed together, it is red to be provided with left and right two at snakehead correspondence eyes
Outer avoidance instrument；The communication of sonic sensor, magnetic field sensor, acceleration transducer and channel wireless radio multi is installed with snakehead to receive
Transmitting apparatus, are installed with temperature sensor and pressure sensor respectively with snake, and it is miniature that snakehead mouth front end is provided with high definition
Camera；The multiple signals output end of multichannel servos control plate is electrically connected with the signal input part of each steering wheel respectively；Multichannel rudder
It is two-way between machine control panel and main control singlechip to electrically connect；Infrared obstacle avoidance instrument, hydraulic pressure sensor, temperature sensor, sound wave sensing
The signal output part of device, acceleration transducer and magnetic field sensor is electrically connected with each signal input part of main control singlechip respectively
Connect, the wireless telecommunications end of main control singlechip, the wireless telecommunications end of multichannel servos control plate respectively with channel wireless radio multi R-T unit
Signal end communication connection.
Above-mentioned snake body includes left section of snake body, right section of snake body and tail-rotor, and left section of snake body is at least six to be separately installed with left pair
The left socle of axle steering wheel is sequentially formed by fixedly connecting, left twin shaft steering wheel be odd number, the left socle of the left twin shaft steering wheel of the leftmost side with
Snakehead is fixedly connected, and the power output shaft of the left twin shaft steering wheel of the leftmost side is arranged on left socle and can drive snake along the vertical direction
Head side-to-side movement, the power output shaft of the left twin shaft steering wheel adjacent with the left twin shaft steering wheel of the leftmost side is arranged on a left side along the longitudinal direction
On support and snakehead can be driven to move up and down, the power output shaft installation direction of left twin shaft steering wheel separately is identical, snake body is right
Section is that at least 4 right supports for being separately installed with right double steering engine are sequentially formed by fixedly connecting, and the power of each right double steering engine is defeated
Go out that direction of principal axis is identical with the power output shaft installation direction of the left twin shaft steering wheel of the leftmost side, the left socle of the rightmost side and the leftmost side
Right support is fixedly connected, and the right support right-hand member in the rightmost side is provided with tail-rotor.
Buoyant mass is separately installed with above-mentioned left double steering engine, right double steering engine, left socle, right support.
The above-mentioned buoyant mass is in semiellipse cylindricality.
Above-mentioned left double steering engine is 9, and right double steering engine is 6.
Above-mentioned snakehead, the surface of snake body are provided with bionical class silica gel.
It is above-mentioned also include power supply, the power end of main control singlechip, the power end of multichannel servos control plate, magnetic field sensor
The power end of power end, the power end of acceleration transducer and steering wheel respectively with power electric connection.
The utility model is rational in infrastructure, easy to use, by patrolling for the bionical sea snake with some sensors and camera
Boat moves about to gather related data, is supervised in real time so as to carry out topographic(al) reconnaissance, narrow regions operation, shoal of fish real-time monitoring to full waters
Survey.Control mode of the present invention has various mutual switchings to use cooperatively, when the water surface or shallower waters are subjected to wireless signal,
Switch to remote control mode；Control mode is intelligent cruise pattern when depths can't accept wireless signal under water, by sound
Range data, sea snake direction of advance number of the sea snake that wave sensor, magnetic field sensor and hydraulic pressure sensor are collected into apart from seabed
According to, hydraulic pressure data (calculating the actual depth of water by formula), it is stored in the storage of main control singlechip, main control singlechip is calculated
Go out the distance apart from originating point, direction, arriving at rear sea snake can return safely.
The utility model mixes control using many steering wheels, what the forward part of bionical sea snake was staggeredly placed using steering wheel output shaft
Structure, the free degree just correspondingly large increase of the action of such sea snake, the whole body of sea snake is all power resources, flexibly
The effect in the direction, thrust and upper dive of ground control biomimetics sea snake, bionical sea snake front body trunk is tiny, reduces water body
To the resistance of sea snake, rear portion is flat similar to slurry, and sea snake can be made to obtain bigger thrust, symmetrical preferably to keep flat
Weighing apparatus.
Brief description of the drawings
Fig. 1 is circuit block diagram of the present utility model.
Fig. 2 is dimensional structure diagram of the present utility model.
The dimensional structure diagram that Fig. 3 is connected for snakehead in the utility model with two left socles and left double steering engine.
Fig. 4 is two right supports and the dimensional structure diagram of right double steering engine connection in the utility model.
Coding in figure is respectively：1 is snakehead, and 2 is tail-rotor, and 3 is left twin shaft steering wheel, and 4 is left socle, and 5 is right twin shaft rudder
Machine, 6 is right support.
Specific embodiment
In the utility model, for the ease of description, the description to position relationship such as each part upper and lower, left and right is root
It is described according to the Butut mode of Figure of description 2.
As shown in accompanying drawing 1 to 4, snake body of the bionical sea snake device including snakehead 1, energy edge or so and above-below direction rotation,
Multichannel servos control plate, main control singlechip；Snake body includes at least 10 supports and steering wheel, and rudder is separately installed with each support
Machine, support is sequentially fixed together, and snakehead 1 and first support are fixed together, and is set at the corresponding eyes of snakehead 1
There are two infrared obstacle avoidance instruments in left and right；Sonic sensor, magnetic field sensor, acceleration transducer and many are installed with snakehead 1
Passage wireless telecommunications R-T unit, is installed with temperature sensor and pressure sensor, before the mouth of snakehead 1 respectively with snake
End is provided with high definition minisize pick-up head；The multiple signals output end of multichannel servos control plate respectively with the signal input part of each steering wheel
Electrical connection；It is two-way between multichannel servos control plate and main control singlechip to electrically connect；Infrared obstacle avoidance instrument, hydraulic pressure sensor, temperature are passed
The signal output part of sensor, sonic sensor, acceleration transducer and magnetic field sensor is believed with each of main control singlechip respectively
The electrical connection of number input, the wireless telecommunications end of main control singlechip, the wireless telecommunications end of multichannel servos control plate respectively with multichannel
The signal end communication connection of wireless transmitter.Here main control singlechip, multichannel servos control plate is using existing known
Mature technology.Main control singlechip can use existing TOROBOT 20 using existing stc series monolithics, multichannel servos control plate
Road servos control plate, snake body can be using existing known bionical sea snake structure.
The course of work of the main control singlechip is as follows：Divide three roads first while processing respectively, the first via receives each biography
Sensor feedback data, and each sensing data is stored in the memory of main control singlechip, then by channel wireless radio multi
Signal receiving/transmission device is uploaded to host computer, returns again to " receiving sensor feedback data " step；Second tunnel receives that high definition is miniature takes the photograph
As the image data of head, and image data is stored in the memory of main control singlechip, then by image data by leading to more
Road wireless signal transceiver is uploaded to host computer；Return again to " receiving the image data of high definition minisize pick-up head " step；3rd
Road judges whether to receive the high frequency electrical signal that infrared obstacle avoidance instrument sends；If receiving high frequency electrical signal, into " to multichannel steering wheel
Control panel sends corresponding actions signal " step；If not receiving high frequency electrical signal, instruction is sent into remote control is received；So
Judge that remote command is all kinds of afterwards；Described instruction includes advance, rising, dive, left-hand rotation, right-hand rotation, speed；To multichannel steering wheel control
Making sheet sends corresponding actions signal；Corresponding steering wheel performs action command；4th tunnel, judge channel wireless radio multi R-T unit whether with
Host computer connect, when depths can't accept wireless signal under water control mode be intelligent cruise pattern, by sonic sensor,
Range data, sea snake direction of advance data, hydraulic pressure number of the sea snake that magnetic field sensor and hydraulic pressure sensor are collected into apart from seabed
According to (calculating the actual depth of water by formula), it is stored in the storage of main control singlechip, main control singlechip calculates distance to be begun
The distance of hair point, direction, arriving at rear sea snake can return safely.
As shown in accompanying drawing 2,3,4, snake body includes left section of snake body, right section of snake body and tail-rotor 2, and left section of snake body is at least six points
The left socle 4 for not being provided with left twin shaft steering wheel 3 is sequentially formed by fixedly connecting, and left twin shaft steering wheel 3 is the left twin shaft of the odd number leftmost side
The left socle of steering wheel 3 is fixedly connected with snakehead 1, and the power output shaft of the left twin shaft steering wheel 3 of the leftmost side is arranged on along the vertical direction
On left socle 4 and the side-to-side movement of snakehead 1 can be driven, the power of the left twin shaft steering wheel 3 adjacent with the left twin shaft steering wheel 3 of the leftmost side is defeated
Shaft is arranged on left socle 4 and snakehead 1 can be driven to move up and down along the longitudinal direction, the power of left twin shaft steering wheel 3 separately
Output shaft installation direction is identical, and right section of snake body is that at least 4 right supports 6 for being separately installed with right double steering engine 5 are sequentially fixedly connected
Form, and the left twin shaft steering wheel 3 of power output direction of principal axis and the leftmost side of each right double steering engine 5 power output shaft installation direction
Identical, the left socle 4 of the rightmost side is fixedly connected with the right support 6 of the leftmost side, and the right-hand member of right support 6 in the rightmost side is provided with tail-rotor
2.Left socle 4 and right support 6 can be easily installed and dismantle, by above-mentioned connection, energy using existing known U-shaped frame technology
Make snake body by steering wheel coordinate control body twist propulsion sea snake movement, realize bionical sea snake forward, up and down, left and right fortune
It is dynamic, facilitate bionical sea snake to be moved about to narrow regions operation and full waters aqueous bio real-time monitoring from semi-autonomous cruise of advocating peace, because
This further increases efficiency.
Preferably, as shown in Figure 1, pacify respectively on left double steering engine 3, right double steering engine 4, left socle 4, right support 6
Equipped with buoyant mass.Buoyancy can be so effectively increased, flexibility of the utility model in water is improved.The buoyant mass is in semiellipse post
Shape can mitigate resistance in water.According to actual needs, left double steering engine is 9, and right double steering engine is 6, in order to reduce in water resistance and
Abrasion is reduced, service life is improved, bionical class silica gel is provided with the surface of snakehead 1, snake body.
As needed, also including power supply, the power end of main control singlechip, the power end of multichannel servos control plate, magnetic field pass
The power end of the power end of sensor, the power end of acceleration transducer and steering wheel respectively with power electric connection.
The utility model is not restricted to the described embodiments, and specific reality can be determined according to the utility model actual conditions
Apply mode.
Claims (10)
1. a kind of bionical sea snake device, it is characterised in that including snakehead, snake body, the multichannel rudder that can be rotated along left and right and above-below direction
Machine control panel, main control singlechip；Snake body includes at least 10 supports and steering wheel, and steering wheel is separately installed with each support, props up
Frame is sequentially fixed together, and snakehead and first support are fixed together, and left and right is provided with snakehead correspondence eyes
Two infrared obstacle avoidance instruments；Sonic sensor, magnetic field sensor, acceleration transducer and channel wireless radio multi are installed with snakehead
Communication receiving/transmission device, is installed with temperature sensor and pressure sensor respectively with snake, and snakehead mouth front end is provided with height
Clear minisize pick-up head；The multiple signals output end of multichannel servos control plate is electrically connected with the signal input part of each steering wheel respectively；
It is two-way between multichannel servos control plate and main control singlechip to electrically connect；Infrared obstacle avoidance instrument, hydraulic pressure sensor, temperature sensor, sound
The signal output part of wave sensor, acceleration transducer and magnetic field sensor respectively with each signal input part of main control singlechip
Electrical connection, the wireless telecommunications end of main control singlechip, the wireless telecommunications end of multichannel servos control plate are received and dispatched with channel wireless radio multi respectively
The signal end communication connection of device.
2. bionical sea snake device according to claim 1, it is characterised in that snake body includes left section of snake body, right section of snake body and tail
Oar, left section of snake body is sequentially formed by fixedly connecting at least six left socles for being separately installed with left twin shaft steering wheel, left twin shaft steering wheel
It is odd number, the left socle of the left twin shaft steering wheel of the leftmost side is fixedly connected with snakehead, the power output of the left twin shaft steering wheel of the leftmost side
Axle is arranged on left socle and can drive snakehead side-to-side movement along the vertical direction, and a left side adjacent with the left twin shaft steering wheel of the leftmost side is double
The power output shaft of axle steering wheel is arranged on left socle and snakehead can be driven to move up and down along the longitudinal direction, left twin shaft separately
The power output shaft installation direction of steering wheel is identical, right section of snake body be at least 4 right supports for being separately installed with right double steering engine sequentially
It is formed by fixedly connecting, and the power output direction of principal axis of each right double steering engine is pacified with the power output shaft of the left twin shaft steering wheel of the leftmost side
Dress direction is identical, and the left socle of the rightmost side is fixedly connected with the right support of the leftmost side, and the right support right-hand member in the rightmost side is provided with
Tail-rotor.
3. bionical sea snake device according to claim 2, it is characterised in that left double steering engine, right double steering engine, left socle, right branch
Buoyant mass is separately installed with frame.
4. bionical sea snake device according to claim 3, it is characterised in that the buoyant mass is in semiellipse cylindricality.
5. the bionical sea snake device according to Claims 2 or 3 or 4, it is characterised in that left double steering engine is 9, right double steering engine
It is 6.
6. the bionical sea snake device according to claim 1 or 2 or 3 or 4, it is characterised in that snakehead, the surface of snake body are all provided with
It is equipped with bionical class silica gel.
7. bionical sea snake device according to claim 5, it is characterised in that snakehead, the surface of snake body are provided with bionical class
Silica gel.
8. the bionical sea snake device according to claim 1 or 2 or 3 or 4 or 7, it is characterised in that also including power supply, master control list
The power end of piece machine, the power end of multichannel servos control plate, the power end of magnetic field sensor, the power end of acceleration transducer and
The power end of steering wheel respectively with power electric connection.
9. bionical sea snake device according to claim 5, it is characterised in that also including power supply, the power supply of main control singlechip
The power supply at end, the power end of multichannel servos control plate, the power end of magnetic field sensor, the power end of acceleration transducer and steering wheel
End respectively with power electric connection.
10. bionical sea snake device according to claim 6, it is characterised in that also including power supply, the power supply of main control singlechip
The power supply at end, the power end of multichannel servos control plate, the power end of magnetic field sensor, the power end of acceleration transducer and steering wheel
End respectively with power electric connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621297072.8U CN206231595U (en) | 2016-11-30 | 2016-11-30 | Bionical sea snake device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621297072.8U CN206231595U (en) | 2016-11-30 | 2016-11-30 | Bionical sea snake device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206231595U true CN206231595U (en) | 2017-06-09 |
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ID=58981365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621297072.8U Expired - Fee Related CN206231595U (en) | 2016-11-30 | 2016-11-30 | Bionical sea snake device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206231595U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323638A (en) * | 2017-06-29 | 2017-11-07 | 上海海洋大学 | A kind of bionical devil ray device |
| CN109515654A (en) * | 2018-11-29 | 2019-03-26 | 上海海洋大学 | Water quality detects bionic mechanical snake |
| CN109774896A (en) * | 2019-01-31 | 2019-05-21 | 上海海洋大学 | Bionical sea snake for aquafarm monitoring |
| CN110510088A (en) * | 2019-09-29 | 2019-11-29 | 中国科学院合肥物质科学研究院 | A kind of Multifunctional biomimetic robotic fish |
-
2016
- 2016-11-30 CN CN201621297072.8U patent/CN206231595U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323638A (en) * | 2017-06-29 | 2017-11-07 | 上海海洋大学 | A kind of bionical devil ray device |
| CN109515654A (en) * | 2018-11-29 | 2019-03-26 | 上海海洋大学 | Water quality detects bionic mechanical snake |
| CN109774896A (en) * | 2019-01-31 | 2019-05-21 | 上海海洋大学 | Bionical sea snake for aquafarm monitoring |
| CN110510088A (en) * | 2019-09-29 | 2019-11-29 | 中国科学院合肥物质科学研究院 | A kind of Multifunctional biomimetic robotic fish |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170609 Termination date: 20171130 |