CN206231599U - A kind of bionic detection robot - Google Patents
A kind of bionic detection robot Download PDFInfo
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- CN206231599U CN206231599U CN201621278169.4U CN201621278169U CN206231599U CN 206231599 U CN206231599 U CN 206231599U CN 201621278169 U CN201621278169 U CN 201621278169U CN 206231599 U CN206231599 U CN 206231599U
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- trunk
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- rotating disk
- housing
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- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 29
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 241000251468 Actinopterygii Species 0.000 description 15
- 230000008447 perception Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Abstract
The utility model provides a kind of bionic detection robot, belongs to robotics.It solves existing robot in the technical problem such as water medium velocity is slow.This bionic detection robot includes housing, housing is made of flexiplast, the profile of housing is consistent with the profile of tuna, housing includes afterbody and trunk, afterbody is hinged on trunk by jointed shaft, battery, servomotor and controller are provided with trunk, afterbody can be in the driving lower swing of servomotor.Robot housing in the utility model simulates the profile of tuna, being optimal of resistance when moving it, and optimizes power according to the travelling feature of tuna, its travel speed is reached 20 sections.
Description
Technical field
The utility model belongs to robot device's technical field, is related to a kind of bionic detection robot.
Background technology
Robot is more and more applied in the middle of modern society's production and living, and it can not only save manpower, can be with
Be competent at the work that many mankind cannot realize, such as survey under water, explore etc., " bio-robot " refers to mimic biology, is engaged in
The robot of biological characteristic work.
Chinese patent (notification number：CN1480300, publication date：A kind of fish shape bio-robot 2004-03-10) is disclosed,
The fish shape bio-robot is by fish shape shell and framework, sink-float mechanism, wabbler mechanism, swing mechanism, information Perception mechanism, control
Device and electric power generating composition；It is to be flexibly connected between fish body and fish tail；Frame seal in fish shape shell, sink-float mechanism, wabbler mechanism,
Information Perception mechanism, controller and power supply are installed in framework；Sink-float mechanism is placed in fish head, and wabbler mechanism is by waving electricity
Each one of machine, crank and rocker mechanism, extension bar, fin or so is symmetrical arranged；Swing mechanism is driven by oscillating motor connection and derived
Bar is constituted, and the outer end connection of export bar drives the swing connector being fixed on fish tail；Distance-sensing in information Perception mechanism
Device is located at the forefront of fish head, and vision sensor is located at the procephalic flake position of fish, and attitude transducer, pressure sensor are located at
In fish body；Controller and power supply are located in fish body.
The water resistance that fish shape bio-robot disclosed in above-mentioned patent runs into when being run in water is than larger, and it is slower to take action
It is slow.
The content of the invention
The above mentioned problem that the utility model exists for existing technology, there is provided a kind of bionic detection robot, this practicality
New technical problem to be solved is：How bionic detection robot translational speed in water is improved.
The purpose of this utility model can be realized by following technical proposal：
A kind of bionic detection robot, including housing, it is characterised in that the housing is made of flexiplast, described
The profile of housing is consistent with the profile of tuna, and the housing includes afterbody and trunk, and the afterbody is hinged by jointed shaft
On the trunk, battery, servomotor and controller are provided with the trunk, the afterbody can be in servo electricity
The driving lower swing of machine.
Its operation principle is as follows：The technical program is produced using the contour structures of tuna when being swung according to tuna tail fin
Raw trailing vortex design feature, tuna is a kind of large-scale ocean property important goods food fish.Swimming rate is fast, scooter when instantaneous
160 kms, average speed per hour about 60-80 kms.The shape matching of tuna is peculiar, and it is whole streamlined, extends along head
Cuirass, be seemingly one block of balance plate that can adjust current of uniqueness.The tuna bodily form is more long, sturdy and justify, in streamlined,
Backward tapered point and tail base is elongated, tail fin is for forked or crescent.There are obvious ridges caudal peduncle both sides, and the back of the body, anal fin rear respectively have
A line finlet.With the torpedo bodily form, its cross section is slightly rounded, and the afterbody of tuna is in semilune, make it is big in the sea can
Soon thrust forward.Powerful muscle and crescent tail fin, shoulder has the scale by expanding gradually to constitute cuirass.Really
Tuna is per second to move about the distance of 10 times long of body of controlling oneself, and this money robot can reach per second travelling long equivalent to from body
Distance.Travel speed is significantly larger than existing submarine, can almost reach any region under water up to 20 sections, its flexibility,
By people's remote control, it can easily enter abyssal trench and cave, as military scouting and Science Explorations instrument, its
The prospect of development and application is very wide.
In above-mentioned bionic detection robot, the bionic detection robot also includes remote control, on the trunk
Being provided with the remote sensing antenna that is connected with the controller and the remote sensing antenna can exchange with the remote control information.By distant
Control device is capable of the action of this bionic detection of remote control robot, reduces the interference of cable so that this bionic detection robot is walked
It is farther, faster.
In above-mentioned bionic detection robot, the bottom of the trunk is provided with support feet, passes through in the support feet
Linking arm is connected with impeller chimney, and the impeller chimney is provided with impeller and is capable of the impeller motor of impeller rotation, the support
Pin can be bent in the retraction trunk.Support feet can play a supporting role such that it is able to stop for a long time, keep fixing
Position detection, while can be received when it is moved gather into folds again, reduces interference；Impeller in support feet can also accelerate robot
Translational speed；Support feet is hinged on the bottom of trunk, can drive stretching for support feet by setting motor reciprocating rotation
Go out or shrink.
In above-mentioned bionic detection robot, solar energy electroplax is provided with the upside of the trunk, the trunk
Front position is installed with camera.Can so be charged to itself using solar energy electroplax in certain environment, by camera
The surrounding enviroment and object situation of shooting are able to record that, while perception effect can also be played, it is to avoid damaged in collision.
In above-mentioned bionic detection robot, the housing is made up of soft condensate.The material will not be subject to water
Corrosiveness.
In above-mentioned bionic detection robot, the position that the afterbody installs jointed shaft has with the end of the afterbody
Spacing, the end of the afterbody is installed with vertical rotating shaft, and the lower end of the rotating shaft is installed with rotating disk one, the servomotor
Rotating disk two, the diameter with diameter greater than the rotating disk two of the rotating disk one, the rotating disk one and rotating disk two are installed with output shaft
Between be provided with connecting rod, the two ends of the connecting rod are respectively hinged at the position of rotating disk one and rotating disk two side faces near edge.By watching
The rotation of motor is taken, rotation two can be driven to rotate and connecting rod compound motion, and then rotate on rotating disk one and rotating disk one
Rotating shaft reciprocating rotation, finally drives tail swing.Servomotor can be with reciprocating rotation, according to angle and the speed adjustment for rotating
The amplitude and frequency of tail swing.
Compared with prior art, the robot housing in the utility model simulates the profile of tuna, is hindered when moving it
Being optimal of power, and power is optimized according to the travelling feature of tuna, its travel speed is reached 20 sections.
Brief description of the drawings
Fig. 1 is the structural representation of this bionic detection robot.
Fig. 2 is the dimensional structure diagram at impeller in this bionic detection robot.
Fig. 3 is afterbody driving structure schematic diagram in this bionic detection robot.
In figure, 1, housing；1a, trunk；1b, afterbody；2nd, battery；3rd, servomotor；4th, controller；5th, remote control；6、
Remote sensing antenna；7th, support feet；8th, impeller；9th, solar energy electroplax；10th, camera；11st, jointed shaft；12nd, linking arm；13rd, impeller
Cover；14th, impeller motor；15th, rotating shaft；16th, rotating disk one；17th, rotating disk two；18th, connecting rod.
Specific embodiment
The following is specific embodiment of the utility model and with reference to accompanying drawing, further is made to the technical solution of the utility model
Description, but the utility model is not limited to these embodiments.
Tuna is a kind of large-scale ocean property important goods food fish.Swimming rate is fast, the km of scooter 160 when instantaneous,
Average speed per hour about 60-80 kms.The shape matching of tuna is peculiar, and it is whole streamlined, along the cuirass that head extends, imitates
Buddhist is one block of balance plate that can adjust current of uniqueness.The tuna bodily form is more long, sturdy and justify, tapered backward in streamlined
Point and tail base is elongated, tail fin is for forked or crescent.There are obvious ridges caudal peduncle both sides, and respectively there is a line finlet at the back of the body, anal fin rear.
With the torpedo bodily form, its cross section is slightly rounded, and the afterbody of tuna is in semilune, make it is big in the sea can soon forward
Spurt.Powerful muscle and crescent tail fin, shoulder has the scale by expanding gradually to constitute cuirass.
As shown in figure 1, bionic detection robot includes housing 1 in the present embodiment, housing 1 is made of flexiplast, shell
The profile of body 1 is consistent with the profile of tuna, and housing 1 includes that trunk 1a and afterbody 1b, afterbody 1b are hinged by jointed shaft 11
On trunk 1a, battery 2, servomotor 3 and controller 4 are provided with trunk 1a, afterbody 1b can be in the drive of servomotor 3
Dynamic lower swing.Above-mentioned housing 1 uses the contour structures of tuna, and the trailing vortex structure produced when being swung according to tuna tail fin is special
Point, using the method for Fluid Mechanics Computation, have studied the hydrodynamic performance and promotion tactics of imitative tuna oscillating tail-fin, calculate
The permanent hydrodynamic performance of two dimension, three-dimensional hydrofoil, has inquired into the hydrodynamic performance meter to hydrofoil such as network, calculating parameter
The influence of result is calculated, and has carried out corresponding flow field structure and shown, then carried out two-dimensional rigid, flexible flapping foil hydrodynamic force
Numerical computations and the promotion tactics research of performance, can the more preferable true tuna of simulation activity.
Real tuna is per second to move about the distance of 10 times long of body of controlling oneself, and this money robot can reach travelling phase per second
When in from body distance long.Travel speed is significantly larger than existing submarine, can almost reach up to 20 sections, its flexibility
Any region under water, by people's remote control, it can easily enter abyssal trench and cave, used as military scouting and section
Exploration instrument is learned, the prospect of its development and application is very wide.
As depicted in figs. 1 and 2, bionic detection robot also includes remote control 5, and trunk 1a is provided with and the phase of controller 4
The remote sensing antenna 6 and remote sensing antenna 6 of connection can be exchanged with the information of remote control 5, by remote control 5 can remote control sheet it is bionical
The action of sniffing robot, reduces the interference of cable so that it is farther, faster that this bionic detection robot is walked；Trunk 1a's
Bottom is provided with support feet 7, and impeller chimney 13 is connected with by linking arm 12 in support feet 7, and impeller chimney 13 is provided with impeller 8 and can
The impeller motor 14 that impeller 8 is rotated, support feet 7 can be bent in retraction trunk 1a, and support feet 7 can play support and make
With such that it is able to stop for a long time, keep fixed position observation, while can be received when it is moved gather into folds again, reduce interference；
Impeller 8 in support feet 7 can also accelerate the translational speed of robot；Solar energy electroplax 9, trunk are provided with the upside of trunk 1a
The front position of portion 1a is installed with camera 10, can so be charged to itself using solar energy electroplax 9 in certain environment, leads to
Cross camera 10 and be able to record that the surrounding enviroment and object situation of shooting, while perception effect can also be played, it is to avoid collision
Damage.
Further, as shown in figure 3, the position of afterbody 1b installation jointed shafts 11 has spacing, tail with the end of afterbody 1b
The end of portion 1b is installed with vertical rotating shaft 15, and the lower end of rotating shaft 15 is installed with rotating disk 1, solid on the output shaft of servomotor 3
Rotating disk 2 17 is provided with, the diameter with diameter greater than rotating disk 2 17 of rotating disk 1 is provided with connecting rod between rotating disk 1 and rotating disk 2 17
18, the two ends of connecting rod 18 are respectively hinged at the position of rotating disk 1 and the side of rotating disk 2 17 near edge.
Housing 1 is made up of soft condensate in the present embodiment, and the housing 1 that the material is made will not be corroded by water, make
Use long lifespan.
Specific embodiment described herein is only to the utility model spirit explanation for example.The utility model institute
Category those skilled in the art can make various modifications or supplement or using similar to described specific embodiment
Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.
Claims (6)
1. a kind of bionic detection robot, including housing (1), it is characterised in that the housing (1) is made of flexiplast,
The profile of the housing (1) is consistent with the profile of tuna, and the housing (1) includes trunk (1a) and afterbody (1b), described
Afterbody (1b) is hinged on the trunk (1a) by jointed shaft (11), and battery (2), servo are provided with the trunk (1a)
Motor (3) and controller (4), the afterbody (1b) can be in the driving lower swings of servomotor (3).
2. bionic detection robot according to claim 1, it is characterised in that the bionic detection robot also includes distant
Control device (5), the trunk (1a) is provided with the remote sensing antenna (6) and the remote sensing antenna being connected with the controller (4)
(6) can be exchanged with the remote control (5) information.
3. bionic detection robot according to claim 1 and 2, it is characterised in that the bottom of the trunk (1a) sets
There is support feet (7), impeller chimney (13) is connected with by linking arm (12) on the support feet (7), set on the impeller chimney (13)
There is impeller (8) and be capable of the impeller motor (14) of impeller (8) rotation, the support feet (7) can bend the retraction body
In cadre (1a).
4. bionic detection robot according to claim 1 and 2, it is characterised in that set on the upside of the trunk (1a)
The front position for having solar energy electroplax (9), the trunk (1a) is installed with camera (10).
5. bionic detection robot according to claim 1 and 2, it is characterised in that the housing (1) is by soft condensate
It is made.
6. bionic detection robot according to claim 1 and 2, it is characterised in that the afterbody (1b) installs jointed shaft
(11) end that position has spacing, the afterbody (1b) with the end of the afterbody (1b) is installed with vertical rotating shaft
(15), the lower end of the rotating shaft (15) is installed with rotating disk one (16), and rotating disk two is installed with the output shaft of the servomotor (3)
(17), the diameter with diameter greater than the rotating disk two (17) of the rotating disk one (16), the rotating disk one (16) and rotating disk two (17)
Between be provided with connecting rod (18), the two ends of the connecting rod (18) are respectively hinged at rotating disk one (16) with the side of rotating disk two (17) near side
The position on edge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621278169.4U CN206231599U (en) | 2016-11-25 | 2016-11-25 | A kind of bionic detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621278169.4U CN206231599U (en) | 2016-11-25 | 2016-11-25 | A kind of bionic detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206231599U true CN206231599U (en) | 2017-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621278169.4U Expired - Fee Related CN206231599U (en) | 2016-11-25 | 2016-11-25 | A kind of bionic detection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107176280A (en) * | 2017-06-30 | 2017-09-19 | 大连海事大学 | A kind of Intelligent bionic machinery fish of solar recharging |
| CN109342015A (en) * | 2018-08-31 | 2019-02-15 | 南京理工大学 | Produce the water tunnel experiment device of oscillation incoming flow |
-
2016
- 2016-11-25 CN CN201621278169.4U patent/CN206231599U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107176280A (en) * | 2017-06-30 | 2017-09-19 | 大连海事大学 | A kind of Intelligent bionic machinery fish of solar recharging |
| CN109342015A (en) * | 2018-08-31 | 2019-02-15 | 南京理工大学 | Produce the water tunnel experiment device of oscillation incoming flow |
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| 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: 20171125 |