CN210212733U - Amphibious robot based on wave fin propulsion - Google Patents
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Abstract
本实用新型公开了基于波动鳍推进的水陆两栖机器人，其特征在于，包括机体、驱动臂单元以及波动鳍，所述机体左右两侧各设置有7个驱动臂单元，所述驱动臂单元一端与机体连接另一端与波动鳍连接，所述波动鳍由扇形平面弯曲形成，相邻两个驱动臂单元所连接的波动鳍之间的相位差可根据驱动臂单元之间的配合进行自由调节，最大为120度，所述驱动臂单元控制波动鳍进行正弦波动，机器人在陆地上通过波动鳍与地面的静摩擦力运动，在水下通过波动鳍与推动水流的反作用力运动，本申请文件的机器人，相对于传统的两栖机器人，本实用新型结构简单、控制方便、能效高、噪音低、运动性能强。
The utility model discloses an amphibious robot based on wave fin propulsion, which is characterized in that it comprises a body, a driving arm unit and a wave fin, seven driving arm units are arranged on the left and right sides of the body, and one end of the driving arm unit is connected to the The other end of the body is connected to the wave fin, which is formed by bending a fan-shaped plane. The phase difference between the wave fins connected to two adjacent drive arm units can be freely adjusted according to the cooperation between the drive arm units. is 120 degrees, the drive arm unit controls the wave fin to perform sinusoidal wave motion, the robot moves through the static friction force between the wave fin and the ground on land, and moves underwater through the wave fin and the reaction force that pushes the water flow, the robot of this application document, Compared with the traditional amphibious robot, the utility model has the advantages of simple structure, convenient control, high energy efficiency, low noise and strong movement performance.
Description
Technical Field
The utility model relates to a robot, concretely relates to impel amphibious robot based on undulant fin.
Background
In the aspect of the wave fin propulsion technology, a plurality of related technologies have been researched and applied at home and abroad. Such as a wave fin bionic underwater propeller and a wave fin bionic underwater propulsion device developed by Shenyang automation research institute of Chinese national defense science university and Chinese academy of sciences, and related patents are applied. There are many underwater bionic robots propelled by the wave fins abroad. However, these robots are underwater robots and cannot move on land. Most of the wave fins are made of thin and soft rubber, and the wave fins have no capability of moving on land, and the robot moving on land has no precedent for propelling by using the wave fins.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that present amphibious bionic robot ubiquitous problem: the amphibious bionic robot has the advantages of complex structure, high control difficulty, low motion performance on the underwater land and low energy efficiency, and mainly solves the technical problem of a propulsion device of the amphibious bionic robot for the amphibious bionic robot. Because amphibious robots need to move on land and underwater at the same time, most of traditional amphibious robots use a plurality of propulsion devices, so that the mechanical structures of the amphibious robots are generally complex and heavy, the control difficulty is high, and the energy efficiency is low. For the propulsion form, the utility model mainly solves the problem that the traditional amphibious robot has insufficient motion performance on land or under water, for example, on land, the leg propulsion has low energy efficiency; wheeled propulsive low-pass rate, unable adaptation complicated land surface medium has restricted amphibious robot's home range the utility model aims at providing the propulsive amphibious robot in water and land based on undulant fin, solve foretell problem.
The utility model discloses a following technical scheme realizes: the amphibious robot based on the wave fin propulsion is characterized by comprising a machine body, driving arm units and wave fins, wherein the left side and the right side of the machine body are respectively provided with 7 driving arm units, one end of each driving arm unit is connected with the machine body, the other end of each driving arm unit is connected with the wave fins, each wave fin is formed by bending a fan-shaped plane, the phase difference between the wave fins connected with two adjacent driving arm units is 120 degrees at most, the driving arm units control the wave fins to perform sine wave, the side end surface of one side of each wave fin connected with the driving arm units is an inner end surface, the side end surface of one side far away from the driving arm units is an outer end surface, the lines of the inner end surface and the outer end surface are sine lines, the wave amplitude of the sine line of the inner end surface is smaller than the wave amplitude of the sine line of the outer end surface, when the amphibious robot performs, the wave fin is driven to move by the action of the driving arm unit.
This application file has mainly included organism, actuating arm unit and the undulant fin of rubber system, and the design principle of its organism is: the whole structure is compact, and the size of the robot is reduced; the whole appearance of the underwater moving device is streamline, so that the fluid resistance of the underwater moving device is reduced; the machine body is made of rigid material with certain thickness, and the requirement of the structural strength of the machine body is met. The driving arm unit mainly comprises a waterproof steering engine and a connecting rod piece, and the connecting rod piece transmits the motion of the steering engine to the wave fin. The robot has 7 drive units on one side and 14 drive units on two sides. The wave fin is made of rubber material with certain rigidity. The motion form of the wave fin is a rhythm type motion, and the motion form has periodicity and is similar to a sine wave. The wave fin has certain width, and all is sinusoidal line at the boundary line of inside end face and outer terminal surface, and inboard sinusoidal line amplitude is obviously less than the outside. This is because the wave fin is formed by bending a sector plane.
Further, the machine body comprises a cabin cover and a cabin body, the cabin cover is arranged above the cabin body, and a driving device and an electric circuit are installed in the cabin body. The machine body mainly comprises a cabin cover and a cabin body, the cabin cover and the cabin body are manufactured by adopting a 3D printing technology, the materials are photosensitive resin, the two parts form a shell of the robot, and the machine body is mainly used for bearing an electric circuit and a driving device of the robot.
Furthermore, the electric circuit comprises a lithium battery module, a wireless receiver, a steering engine driving plate, a main control panel, a depth sensor, a gyroscope and a servo motor, the lithium battery module supplies power to the main control panel and the steering engine driving plate, the main control panel is communicated with the steering engine driving plate, the depth sensor and the gyroscope through an I2C bus and communicated with the wireless receiving module through a digital IO port, and the main control panel is used for driving the driving arm unit to move through the steering engine driving plate. The robot is remotely controlled in its motion by a remote control. The remote controller sends signals to a wireless receiving module of the robot and then transmits the signals to the main control panel, the main control chip sends control instructions to the driving device to drive the steering gears on two sides of the robot to move, and the steering gears drive the wave fins to perform rhythmic vibration actions through the connecting rod pieces.
Furthermore, the driving arm unit comprises a waterproof steering engine and a connecting rod, the connecting rod is arranged on the waterproof steering engine and connected with the fluctuation fin, and the connecting rod transmits the motion of the waterproof steering engine to the fluctuation fin to drive the fluctuation fin to act. The moving direction of the robot on the land is the same as the propagation direction of the wave fins, namely the propagation direction of the sine wave. The robot can be controlled to move forwards or backwards by controlling the propagation direction of the wave fins, and when the propagation speeds of the wave fins on the two sides are inconsistent, the robot can complete the action of steering. When the wave fins on the two sides have opposite propagation directions and the same speed, the robot can complete the action of pivot steering
Furthermore, a plurality of through holes are formed in the end face of one side, close to the driving arm unit, of the wave fin, the bolt penetrates through the through holes to be connected with the connecting rod, and the wave fin is driven to move through the connecting rod. The wave fin is fixed through a bolt, the bolt is connected with a connecting rod, and the connecting rod moves to drive the wave fin to move.
Furthermore, the wave fin is made of rubber, the Shore hardness of the selected rubber is 80-90A, and the thickness of the wave fin is 3-4 mm.
Further, when the wave fin is underwater, the wave amplitude of the wave fin is larger than that of the wave fin when the wave fin moves on the ground, and when the driving arm units are underwater, the phase difference of the wave fins connected with two adjacent driving arm units is at most 90 degrees. When the driving arm units are on the ground, the phase difference of the wave fins connected with two adjacent driving arm units is 120 degrees.
Compared with the prior art, the utility model, following advantage and beneficial effect have:
the utility model discloses based on undulant fin propulsive amphibious robot, the utility model provides an amphibious robot has only used one kind and has impeld the form, makes its structure simple relatively, the control degree of difficulty is little. The wave fin is a propulsion technology in the technical field of underwater robots, so that the robot has strong underwater motion performance and high energy efficiency. The three-dimensional space motion with multiple degrees of freedom, such as advancing, retreating, zero-degree turning, steering and vertical heaving, can be realized underwater; on land, the propelling speed and the efficiency of the wave fin with certain rigidity of the utility model are superior to those of leg-foot robots, and compared with wheel robots, the passing rate is higher;
drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic structural diagram of a scheme according to an embodiment of the present invention.
Fig. 2 is a left view of the amphibious robot according to the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a second embodiment of the present invention.
Fig. 4 is a front view of an amphibious robot according to the second embodiment of the present invention.
Fig. 5 is a schematic diagram of the wave fin structure of the present invention.
Fig. 6 is a block diagram of the system control electrical circuit system of the present invention.
Reference numbers and corresponding part names in the drawings:
1-machine body, 11-cabin cover, 12-cabin body, 2-driving arm unit, 21-waterproof steering engine, 22-connecting rod, 23-through hole and 3-wave fin.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended as limitations of the present invention.
Example one
As shown in fig. 1-2, the amphibious robot based on the wave fin propulsion of the present invention is characterized in that the robot includes a body 1, driving arm units 2 and wave fins 3, wherein the left and right sides of the body 1 are respectively provided with 7 driving arm units 2, one end of each driving arm unit 2 is connected to the body 1, and the other end is connected to the wave fin 3, the wave fin 3 is formed by bending a sector plane, the phase difference between the wave fins 3 connected to two adjacent driving arm units 2 is 120 degrees at most, the driving arm units 2 control the wave fins 3 to perform sinusoidal wave, the side end surface of the wave fin 3 connected to the driving arm units 2 is an inner end surface, the side end surface of the driving arm unit 2 away from the driving arm units is an outer end surface, the lines of the inner end surface and the outer end surface are sinusoidal lines, the wave amplitude of the sinusoidal line of the inner end surface is smaller than the wave amplitude of the sinusoidal line, the wave fin 3 on one side has two wave troughs, keeps 4 point contacts ground, through the action of drive arm unit 2, drives the wave fin 3 and carries out the motion.
On land, the robot is remotely controlled by a remote controller to move. The remote controller sends the signal to the wireless receiving module of robot on, and on the retransmission arrived Arduino mega2560 main control chip, the main control chip sent control command to drive device on, the steering wheel motion of drive robot both sides, the steering wheel drives undulant fin through connecting the member and carries out the vibration action of rhythm type. It should be noted here that the motion of the wave fin is a rhythm type motion, which is similar to sine wave, and here we regard it as sine wave for analysis, and does not affect its operation mechanism. The neutral plane of the wave fin refers to the plane where the 0 degree position of the inner and outer sine waves lies. When the robot moves on land, the robot is pushed to move by the friction force between the point in contact with the ground of the wave fin and the ground, the motion mechanism of the robot is similar to that of a snake-shaped robot, and when the wave fin fluctuates in the state shown in fig. 4 (the neutral plane is parallel to the ground), the contact point of the wave fin and the ground is the wave trough of the outer sine line. In order to maintain the stability of the robot, the robot must maintain at least 4 points of contact with the ground, i.e., two points on one side, while moving on the ground. This means that the wave fin has two troughs at any time, i.e. at least two complete cycles of a sine wave (720 degrees).
As shown in fig. 2, the machine body 1 includes a cabin cover 11 and a cabin body 12, the cabin cover 11 is disposed above the cabin body 12, the driving arm unit 2 includes a waterproof steering engine 21 and a connecting rod 22, the connecting rod 22 is disposed on the waterproof steering engine 21, the connecting rod 22 is connected with the wave fin 3, and the connecting rod 22 transmits the motion of the waterproof steering engine 21 to the wave fin 3 to drive the wave fin 3 to move. The cabin 12 houses drive equipment and electrical circuitry. The machine body mainly comprises a cabin cover and a cabin body, the cabin cover and the cabin body are manufactured by adopting a 3D printing technology, the materials are photosensitive resin, the two parts are distributed to form a shell of the robot, and the machine body is mainly used for bearing an electric circuit and a driving device of the robot.
Example two
As shown in fig. 3-4, the present embodiment is optimized on the basis of the first embodiment, and the present application document discloses a robot having 7 driving units on one side. The phase difference between the driving arm units of the wave fins is 120 degrees under the structure, and the total phase difference is exactly 720 degrees, so that the requirement can be met. It should be noted that the phase difference is too big, also can increase to the load effect of the steering wheel of actuating arm, still probably makes undulant fin waveform effectively transmit, and the phase place is too little, then can't provide the sine wave waveform of total phase place 720 degrees, the utility model discloses the drive structure of the constitution of 7 actuating arm units in one side has been selected after the comprehensive analysis various factors. The moving direction of the robot on flat land is the same as the propagation direction of the wave fins (i.e., the propagation direction of the sine wave). The robot can be controlled to move forwards or backwards by controlling the propagation direction of the wave fins, and when the propagation speeds of the wave fins on the two sides are inconsistent, the robot can complete the action of steering. When the propagation directions of the wave fins on the two sides are opposite and the speeds of the wave fins are the same, the robot can complete the action of pivot steering. This mode (neutral plane parallel to the ground) is suitable for soft or rough ground, such as asphalt, grass, sand, snow, etc., and due to its wide range of applicability, the robot works in this mode most of the time on land. When the wave fin is waved in the state shown in fig. 5 (the neutral plane is perpendicular to the ground), the outer sine line of the wave fin is in full contact with the ground. This pattern may better accommodate firm and smooth ground (e.g., ice). The wave fin is not constrained by the phase (the total phase difference is at least 720 degrees), and the motion of the wave fin on the ground is completely consistent with the motion principle of the snake-shaped robot.
EXAMPLE III
As shown in fig. 6, this application file optimizes on the basis of embodiment one, two, the electric circuit includes lithium cell module, wireless receiver, steering wheel drive plate, main control panel, depth sensor, gyroscope and servo motor, lithium cell module supplies power to main control panel and steering wheel drive plate, and main control panel communicates through the I2C bus with steering wheel drive plate, depth sensor, gyroscope, communicates through digital IO mouth with wireless receiving module, and main control panel is used for driving drive arm unit 2 to move through the steering wheel drive plate. The electrical circuit of which is shown in fig. 3 (the remote control does not belong to the circuit on board the robot and is therefore not shown in the figure). The lithium battery power supply module outputs a 6V steering engine driving power supply and a 5V main control panel power supply, and the main control panel Arduinomega2560 communicates with a steering engine driving plate, a depth sensor and a gyroscope sensor through an I2C bus and communicates with a wireless receiving module through a digital IO port. The steering engine drive plate is used for driving 14 steering engines to move.
Example four
As shown in fig. 5, in the present embodiment, the wave fin is optimized and improved, a plurality of through holes 23 are provided on an end surface of the wave fin 3 near the driving arm unit 2, bolts pass through the through holes 23 to be connected with the connecting rod 22, and the connecting rod 22 drives the bolts to move the wave fin 3.
The wave fin 3 is made of rubber, the Shore hardness of the selected rubber is 80-90A, and the thickness of the wave fin 3 is 3-4 mm.
When the wave fin 3 is underwater, the wave amplitude of the wave fin 3 is larger than that of the wave fin 3 when the wave fin moves on the ground, and when the driving arm units 2 are underwater, the phase difference of the wave fins 3 connected with two adjacent driving arm units 2 is at most 90 degrees.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The amphibious robot based on the wave fin propulsion is characterized by comprising a robot body (1), driving arm units (2) and wave fins (3), wherein the left side and the right side of the robot body (1) are respectively provided with 7 driving arm units (2), one end of each driving arm unit (2) is connected with the robot body (1), the other end of each driving arm unit is connected with each wave fin (3), each wave fin (3) is formed by bending a fan-shaped plane, the phase difference between the wave fins (3) connected with two adjacent driving arm units (2) is 120 degrees at most, the driving arm units (2) control the wave fins (3) to carry out sine fluctuation, the side end face of one side of each wave fin (3) connected with the driving arm unit (2) is an inner end face, the side end face far away from the driving arm units (2) is an outer end face, the sine line is arranged along the inner end face and the outer end face, and the fluctuation amplitude of the sine line of the inner, when the amphibious robot moves on the ground, the wave fin (3) on one side is provided with two wave troughs, 4 points are kept in contact with the ground, and the wave fin (3) is driven to move through the action of the driving arm unit (2).
2. The amphibious robot based on heave fin propulsion according to claim 1, characterised in that the hull (1) comprises a hatch (11) and a cabin (12), the hatch (11) being arranged above the cabin (12), the cabin (12) having mounted therein drive means and electrical circuitry.
3. The amphibious robot based on the wave fin propulsion as claimed in claim 2, wherein the electric circuit comprises a lithium battery module, a wireless receiver, a steering engine driving board, a main control board, a depth sensor, a gyroscope and a servo motor, the lithium battery module supplies power to the main control board and the steering engine driving board, the main control board is in communication with the steering engine driving board, the depth sensor and the gyroscope through an I2C bus and in communication with the wireless receiving module through a digital IO port, and the main control board is used for driving the driving arm unit (2) to move through the steering engine driving board.
4. The amphibious robot based on propelling by using the waving fins according to claim 1, wherein the driving arm unit (2) comprises a waterproof steering engine (21) and a connecting rod (22), the connecting rod (22) is arranged on the waterproof steering engine (21), the connecting rod (22) is connected with the waving fins (3), and the connecting rod (22) transmits the movement of the waterproof steering engine (21) to the waving fins (3) to drive the waving fins (3) to move.
5. The amphibious robot based on the wave fin propulsion according to claim 4, wherein a plurality of through holes (23) are formed in the end face, close to one side of the driving arm unit (2), of the wave fin (3), bolts penetrate through the through holes (23) to be connected with the connecting rod (22), and the wave fin (3) is driven to move through the connecting rod (22).
6. The amphibious robot based on the wave fin propulsion according to claim 1, wherein the wave fin (3) is made of rubber, the Shore hardness of the selected rubber is 80-90A, and the thickness of the wave fin (3) is 3-4 mm.
7. The amphibious robot based on heave fin propulsion according to claim 1, wherein the heave fin (3) has a heave amplitude when underwater which is larger than that of the heave fin (3) when the ground moves, and the heave fin phase difference between adjacent drive arm units (2) is maintained at 120 degrees when the drive arm units (2) are on the ground; when the driving arm units (2) are underwater, the phase difference of the wave fins (3) connected with two adjacent driving arm units (2) is less than 120 degrees.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027692A (en) * | 2019-05-14 | 2019-07-19 | 西南石油大学 | A kind of amphibious robot promoted using fluctuation fin |
| CN111688894A (en) * | 2020-05-27 | 2020-09-22 | 西安交通大学 | Motion transformation type fluctuation propelling device |
| CN111959210A (en) * | 2020-07-09 | 2020-11-20 | 中国人民解放军国防科技大学 | Amphibious bionic robot |
| WO2022250770A1 (en) * | 2021-05-27 | 2022-12-01 | Florida Atlantic University Board Of Trustees | Hybrid propeller/undulating fin propulsion for aquatic vehicles |
-
2019
- 2019-05-14 CN CN201920680383.XU patent/CN210212733U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027692A (en) * | 2019-05-14 | 2019-07-19 | 西南石油大学 | A kind of amphibious robot promoted using fluctuation fin |
| CN111688894A (en) * | 2020-05-27 | 2020-09-22 | 西安交通大学 | Motion transformation type fluctuation propelling device |
| CN111959210A (en) * | 2020-07-09 | 2020-11-20 | 中国人民解放军国防科技大学 | Amphibious bionic robot |
| CN111959210B (en) * | 2020-07-09 | 2022-06-17 | 中国人民解放军国防科技大学 | Amphibious bionic robot |
| WO2022250770A1 (en) * | 2021-05-27 | 2022-12-01 | Florida Atlantic University Board Of Trustees | Hybrid propeller/undulating fin propulsion for aquatic vehicles |
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