CN209905021U

CN209905021U - Amphibious underwater robot imitating bat ray

Info

Publication number: CN209905021U
Application number: CN201920618696.2U
Authority: CN
Inventors: 张淳熙; 阚杰; 徐高欢; 罗阳; 金卓凡; 蒋林祥; 曾新民
Original assignee: Zhejiang University of Water Resources and Electric Power
Current assignee: Zhejiang University of Water Resources and Electric Power
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2020-01-07
Anticipated expiration: 2029-04-30

Abstract

The utility model discloses an amphibious underwater robot imitating a bat ray, which comprises a frame, flapping wing rocking mechanisms symmetrically arranged at the two sides of the frame, turbidity sensors arranged at the front and the back ends of the frame, heavy metal sensors arranged at the front and the back ends of the frame, a PH sensor arranged at the back end of the frame, an image acquisition unit arranged at the front end of the frame and a controller; the wing swing mechanism comprises a plurality of crank and rocker mechanisms which are arranged in a linear array, the crank and rocker mechanisms share a crankshaft and a rotating shaft, and rockers of the crank and rocker mechanisms are connected through flexible rubber to form pectoral fins; the turbidity sensor, the heavy metal sensor, the PH sensor and the waterproof motor of the flapping wing swing mechanism are all electrically connected with the controller. The amphibious characteristic of the underwater robot is finally realized by skillfully combining the crankshaft, the connecting rod, the rocker and the flexible rubber, so that the robot has better adaptability in a complex environment.

Description

Amphibious underwater robot imitating bat ray

Technical Field

The utility model belongs to the technical field of bionic robot, a amphibious robot is related to, concretely relates to amphibious underwater robot of imitative bat ray.

Background

Underwater robots are important tools to assist humans in surveying underwater conditions and monitoring water quality. With the emphasis of China on the water ecological environment, the water environment supervision and monitoring become more important. Due to the factors of complicated underwater environment, variable underwater terrain, complicated ground and water area joint conditions and the like, the omnibearing supervision and monitoring is very difficult, so that the underwater robot is required to assist in completing water environment monitoring, the types of the existing underwater robots are more, but most of the underwater robots are driven by propellers, the environmental adaptability is poor, underwater sand and stones, silt and the like are easily disturbed, and the propellers are easy to wind aquatic weeds in aquatic weed environments. With actuating mechanism classification, present underwater robot mainly can divide into screw drive and bionic structure drive as follows specifically:

(1) propeller-driven underwater robots. The invention patent with publication number CN206930281U controls four propellers by two motors distributed horizontally and two motors distributed vertically to realize underwater movement of the robot; the main function is to utilize the high definition of robot camera under water and the self stabilization cloud platform to shoot the condition under water. The underwater environment can be well detected, but the propeller driving structure is easy to cause robot movement obstacle by winding sundries such as aquatic weeds and the like underwater, and the robot floats upwards and sinks under the driving of the propeller, so that the stability is low. The invention patent with publication number CN107697249A is an invention patent which uses two motors arranged horizontally to realize the horizontal movement and steering of a robot, and realizes the floating and sinking in water through the water intake and drainage of a multi-cabin structure. Compared with a propeller, the structure is more stable when floating and sinking are controlled. However, the structure is complex, the propeller mechanism is still used as the propulsion mechanism, the underwater robot is still mainly used for underwater shooting, the comprehensive monitoring of the water environment is difficult to realize, and the motion control stability of the robot is poor if a complex land-water crossing environment is met.

(2) A bionic underwater robot. The invention patent application with publication number CN107140163A is a turtle-imitated underwater robot, which controls four hydrofoils imitating fins of a turtle through a steering engine, a rotating shaft and the like, and realizes the motion of the robot by realizing the flapping-wing motion of the hydrofoils. But the structure is suitable for moving slowly in water but not suitable for moving on the ground.

SUMMERY OF THE UTILITY MODEL

The utility model is not enough to prior art, the utility model provides an amphibious underwater robot of imitative bat, the fin formula propulsion structure of imitative bat is provided, utilize the bent axle, the ingenious combination of connecting rod, rocker and flexible rubber, through the rotation of waterproof motor, the fine rubber of butyl is transmitted in the motion, regard as the underwater motion propeller with this, it can sink to have realized that the robot floats in aqueous, advance to retreat and turn to, the motion and turn to in a flexible way, downwards through changing the fin, through the rocker horizontal hunting, realize the crawling motion of the ground environment of robot. Finally, the amphibious characteristic of the underwater robot is realized, so that the robot has better adaptability in a complex environment. The utility model discloses utilize turbidity sensor, heavy metal sensor and PH sensor's many sensory information to fuse, calculate each position sensory information comparison through the controller, control robot is automatic to the direction that pollution concentration is high to advance, not only can accomplish more comprehensive monitoring to quality of water, can also realize automatic sewage pipes and the pollution sources who searches the aquatic.

The utility model discloses the technical scheme who adopts as follows: an amphibious underwater robot imitating a bat ray comprises a rack, flapping wing swing mechanisms symmetrically arranged on two sides of the rack, turbidity sensors arranged at the front end and the rear end of the rack, heavy metal sensors arranged at the front end and the rear end of the rack, a PH sensor arranged at the rear end of the rack, an image acquisition unit arranged at the front end of the rack and a controller; the wing swing mechanism comprises a plurality of crank and rocker mechanisms which are arranged in a linear array, the crank and rocker mechanisms share a crankshaft and a rotating shaft, and rockers of the crank and rocker mechanisms are connected through nitrile rubber to form pectoral fins; the turbidity sensor, the heavy metal sensor, the PH sensor and the waterproof motor of the flapping wing swing mechanism are all electrically connected with the controller.

Furthermore, the image acquisition unit mainly comprises a night vision camera, an image transmission module and a holder, wherein the night vision camera is installed on the holder, and the image information is acquired and then transmitted to the outside through the image transmission module.

Furthermore, the image acquisition unit mainly comprises a night vision camera, a neural network image identification chip, an image transmission module and a holder, wherein the night vision camera is installed on the holder, obtains image information and transmits the image information to the neural network image identification chip, and the original image and the identification result are transmitted to the outside through the image transmission module after the neural network calculation.

Furthermore, the included angle of the cranks of two adjacent crank rocker mechanisms is 180 degrees.

Furthermore, the crankshaft is driven to rotate by a waterproof motor, and the waterproof motor is controlled by a controller.

Furthermore, the turbidity sensors are four in number and distributed at four corners of the frame.

Furthermore, the heavy metal sensors are provided with four heavy metal sensors which are distributed at four corners of the rack.

Furthermore, the PH sensors are distributed in the middle of the rack.

Further, the flexible rubber is a product with similar properties such as butadiene-acrylonitrile rubber.

The utility model has the advantages as follows: the utility model discloses utilize waterproof motor, bent axle, connecting rod, rocker and flexible rubber to make up into bionical actuating mechanism (flapping wing wabbler mechanism promptly) ingeniously, replaced ordinary underwater robot's screw advancing mechanism, avoided underwater robot motion to the interference of sand and stone, silt and aquatic thing under water. By adjusting the angle of the bionic fin downwards and by swinging the fin left and right, the underwater robot can adapt to the movement of different working environments such as underwater, ground and the like. The robot can float up and sink, move forward and backward and turn in water, and can flexibly move in other environments. The utility model discloses utilize turbidity sensor, heavy metal sensor and PH sensor's many sensory information to fuse, calculate each position sensory information comparison through the controller, control robot not only can accomplish more comprehensive monitoring to quality of water to the direction that pollution concentration is high, can also realize automatic sewage pipes and the pollution sources who searches the aquatic. The utility model discloses advancing mechanism belongs to environment friendly type underwater robot for bionical drive mode, has brought great facility for water ecological environment monitoring work.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a robot;

FIG. 2 is a detailed schematic view of the flapping wing flapping mechanism;

FIG. 3 is a schematic diagram of various sensor mounting profiles;

FIG. 4 is a schematic view of a contamination source search;

FIG. 5 is a schematic view of the ground crawling

In the figure: 1. the device comprises a waterproof motor, a crankshaft, a connecting rod, a rocker, a rotating shaft, a nitrile rubber, a glass fiber upper cover plate, glass fiber upper cover plates, turbidity sensors, heavy metal sensors, a tail cover, a pH sensor, a transparent head cover, a front cover, a rear fixing plate, a front fixing plate, a controller and an image acquisition unit, wherein the crankshaft is 2, the connecting rod is 3, the rocker is 4, the rotating shaft is 5, the nitrile rubber is 6, the glass fiber upper cover plate is 7, the turbidity sensors, the heavy metal sensors are 9, 13, 15 and 18.

Detailed Description

The present invention will be further explained with reference to the drawings and examples.

As shown in fig. 1 and 2, the utility model provides an amphibious underwater robot imitating bat ray, which comprises a frame, flapping wing swing mechanisms symmetrically arranged at two sides of the frame, turbidity sensors arranged at the front and the back ends of the frame, heavy metal sensors arranged at the front and the back ends of the frame, a PH sensor arranged at the back end of the frame, an image acquisition unit arranged at the front end of the frame and a controller; the wing swing mechanism comprises a plurality of crank and rocker mechanisms which are arranged in a linear array, the crank and rocker mechanisms share one crankshaft 2 and one rotating shaft 5, and rockers of the crank and rocker mechanisms are connected through flexible rubber (products with similar properties such as butadiene-acrylonitrile rubber) to form pectoral fins; the turbidity sensor, the heavy metal sensor, the PH sensor and the waterproof motor of the flapping wing swing mechanism are all electrically connected with the controller.

The frame comprises a rear fixing plate 20, a front fixing plate 21 and a connecting column for connecting the fixing plate 20 and the front fixing plate 21, a front cover 17 is arranged on the front fixing plate 21, the front end of the front cover 17 is a transparent hood 14, and a controller and an image acquisition unit 22 are arranged in the transparent hood 14; the tail cover 10 is arranged on the rear fixing plate 20, and the glass fiber upper cover plate 7 covers the flapping wing swing mechanism. The waterproof motor 1 is fixed on the rear fixing plate 20, the crankshaft 2 is installed between the rear fixing plate 20 and the front fixing plate 21 through a bearing, one end of a connecting rod 3 of the crank-rocker mechanism is hinged with the crankshaft 2, a rocker 4 of the crank-rocker mechanism is hinged with the rotating shaft 5 through a bearing, the other end of the connecting rod 3 is hinged with the rocker 4, the waterproof motor 1 drives the crankshaft 2 to rotate, and the rocker 4 is driven to swing up and down under the action of the connecting rod 3 to drive the nitrile rubber 6 to swing like fish.

The image acquisition unit can mainly comprise a high-definition night vision camera, an image transmission module and a holder, wherein the high-definition night vision camera is installed on the holder and transmits image information to the outside through the image transmission module after acquiring the image information.

The image acquisition unit also can mainly comprise a high-definition night vision camera, a neural network image identification chip, an image transmission module and a holder, wherein the high-definition night vision camera is installed on the holder, acquires image information and transmits the image information to the neural network image identification chip, and the original image and the identification result are transmitted to the outside through the image transmission module after the neural network calculation.

The night vision camera adopts a high-definition night vision camera, the definition is at least more than 200 ten thousand pixels, and a product of KBA127B model of Haokangwei Vision company can be adopted, but the method is not limited to the product; the neural network image recognition chip can adopt a product of UPAI Care X model of the Yangtze company, but is not limited to the product; the image transmission module can adopt a product of a cineEye 5G model of the company of Xun, but is not limited to the product; the holder can adopt a product of FPV company Gopro3 model, but is not limited to the product; the controller may be, but is not limited to, a product of the mass transfer company model STM 32.

Fig. 3 shows the distribution positions of the sensors of the robot water quality detection system. The turbidity sensors are four in number, the four turbidity sensors are distributed at four corners of the robot (see

serial numbers

8, 12, 16 and 19 in fig. 3), the heavy metal sensors are four in number, and the four heavy metal sensors are distributed at four corners of the robot (see

serial numbers

9, 13, 15 and 18 in fig. 3). The PH sensors 11 are distributed in the middle of the robot and fixed on corresponding vacant positions of the glass fiber upper cover plate 7 through threaded connection. The

turbidity sensors

8, 12, 16 and 19 and the

heavy metal sensors

9, 13, 15 and 18 are connected to the controller through signal lines, and corresponding data are transmitted back to the ground control terminal in real time through cables.

Fig. 4 shows an automatic searching schematic diagram of an underwater robot, signals of

turbidity sensors

8, 12, 16 and 19 and

heavy metal sensors

9, 13, 15 and 18 of the underwater robot monitor the content and turbidity of heavy metal elements in a water area where the underwater robot is located, the rotation speed and the steering of a waterproof motor 1 are controlled through real-time comparison and calculation processing of a controller, the robot automatically moves forward to the side of a sensor with the highest concentration, and the automatic searching of a high-concentration pollution source can be realized.

The utility model discloses also can realize manual control, utilize ground remote control terminal, can realize advancing to retreat, the come-up sinks, action such as turn to. The waterproof motor 1 of the left flapping wing swing mechanism rotates clockwise, the waterproof motor 1 of the right flapping wing swing mechanism rotates anticlockwise, and the robot moves forwards. The waterproof motor 1 of the flapping wing swing mechanism on the left side rotates anticlockwise, the waterproof motor 1 of the flapping wing swing mechanism on the right side rotates clockwise, the robot moves backwards, the rotating speeds of the waterproof motors 1 of the flapping wing swing mechanisms on the left side and the right side rotate according to a sine rule, and the robot sinks; the rotation speed of a waterproof motor 1 of the flapping wing swing mechanisms on the left side and the right side rotates according to the cosine law, and the robot floats upwards; the waterproof motors 1 of the flapping wing swing mechanisms on the left side and the right side rotate clockwise at the same time, and the robot moves rightwards; the waterproof motors 1 of the flapping wing swing mechanisms on the left side and the right side rotate anticlockwise at the same time, and the robot moves leftwards.

As shown in fig. 5, when the utility model provides a when the robot goes ashore, the rocker 4 of left side flapping wing wabbler mechanism and right side flapping wing wabbler mechanism swings downwards and supports ground to support whole frame and leave ground, the rocker 4 swing in turn of rethread left side flapping wing wabbler mechanism and right side flapping wing wabbler mechanism realizes crawling on land, this direction of crawling and underwater direction of travel mutually perpendicular.

The above detailed description is provided for illustrative purposes, and is not intended to limit the present invention, which is intended to cover any modifications and variations within the spirit and scope of the appended claims.

Claims

1. An amphibious underwater robot imitating a bat ray is characterized by comprising a rack, flapping wing rocking mechanisms symmetrically arranged on two sides of the rack, turbidity sensors arranged at the front end and the rear end of the rack, heavy metal sensors arranged at the front end and the rear end of the rack, a PH sensor arranged at the rear end of the rack, an image acquisition unit arranged at the front end of the rack and a controller;

the wing swing mechanism comprises a plurality of crank and rocker mechanisms which are arranged in a linear array, the crank and rocker mechanisms share a crankshaft and a rotating shaft, and rockers of the crank and rocker mechanisms are connected through flexible rubber to form pectoral fins;

the turbidity sensor, the heavy metal sensor, the PH sensor and the waterproof motor of the flapping wing swing mechanism are all electrically connected with the controller.

2. The simulated bat ray amphibious underwater robot of claim 1, wherein the image acquisition unit mainly comprises a night vision camera, an image transmission module and a pan-tilt, the night vision camera is mounted on the pan-tilt, and image information is acquired and transmitted to the outside through the image transmission module.

3. The simulated bat ray amphibious underwater robot as claimed in claim 1, wherein the image acquisition unit mainly comprises a night vision camera, a neural network image recognition chip, an image transmission module, and a pan-tilt, wherein the night vision camera is mounted on the pan-tilt, acquires image information and transmits the image information to the neural network image recognition chip, and the original image and the recognition result are transmitted to the outside through the image transmission module after being calculated by the neural network.

4. The simulated bat ray amphibious underwater robot as claimed in claim 2 or 3, wherein the included angle of the cranks of two adjacent crank-rocker mechanisms is 180 °.

5. The simulated bat ray amphibious underwater robot of claim 4, wherein the crankshaft is driven in rotation by a waterproof motor, the waterproof motor being controlled by a controller.

6. The simulated bat ray amphibious underwater robot of claim 5, wherein said turbidity sensors comprise four turbidity sensors disposed at four corners of the housing.

7. The simulated bat ray amphibious underwater robot of claim 6, wherein four heavy metal sensors are arranged at four corners of the housing.

8. The simulated bat ray amphibious underwater robot of claim 7, wherein the PH sensor is distributed at a middle position of the gantry.

9. The simulated bat ray amphibious underwater robot of claim 8, wherein said flexible rubber is nitrile-butadiene rubber.