CN210455158U - Bionic bat ray based on joint type mechanical arm - Google Patents
Bionic bat ray based on joint type mechanical arm Download PDFInfo
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- CN210455158U CN210455158U CN201921333403.2U CN201921333403U CN210455158U CN 210455158 U CN210455158 U CN 210455158U CN 201921333403 U CN201921333403 U CN 201921333403U CN 210455158 U CN210455158 U CN 210455158U
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- 241001331491 Myliobatis californica Species 0.000 title claims abstract description 35
- 239000011664 nicotinic acid Substances 0.000 title claims description 13
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 48
- 239000000463 material Substances 0.000 claims abstract description 11
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 8
- 239000000741 silica gel Substances 0.000 claims abstract description 8
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 8
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 241000251468 Actinopterygii Species 0.000 description 5
- 230000009182 swimming Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model discloses a bionical bat ray based on joint type arm, including the bat shell, the pectoral fin shell, the tail fin shell, photoelectric sensor, sonar sensor, pectoral fin steering wheel and tail fin steering wheel, the bat shell includes casing and cap, the cap be located the top of casing and with casing fixed connection, the front end fixedly connected with photoelectric sensor and the sonar sensor of casing, the inside fixedly connected with battery case and the control box of casing, the left and right sides difference fixedly connected with pectoral fin shell of casing, the inside of pectoral fin shell is equipped with the joint support, the joint support is equipped with the pectoral fin steering wheel with the junction of casing, the rear end fixedly connected with tail fin shell of casing, fixedly connected with tail fin steering wheel in the tail fin shell. The utility model discloses a pectoral fin shell and tail fin shell that are equipped with the silica gel material in the both sides of casing, cooperate inside joint support, pectoral fin steering wheel and tail fin steering wheel, the more complete imitates the bat ray, improves the flexibility and the use experience of bionical bat ray motion.
Description
Technical Field
The utility model relates to an underwater navigation technical field specifically is a bionical bat ray based on articulated type arm.
Background
The exploration of ocean science is one of the most important problems in the 21 st century, the traditional propeller navigation device is gradually eliminated along with the progress of the era, and the underwater robot becomes an important modern exploration tool of ocean resources. Researchers at home and abroad simulate a fish swimming mode to develop various bionic robot fishes, the hot point of research is mainly focused on propelling the robot fishes by swinging tail fins, the robot fishes in the mode have high swimming speed but poor flexibility, and the robot fishes swimming in a central fin/opposite fin propelling mode have low swimming speed but high stability and good maneuverability.
At present, an underwater navigation device in the market can only imitate the appearance of underwater organisms, and the operation of the underwater navigation device is not flexible enough due to the lack of imitation of a motion mode, so that the operation speed and the use experience of the underwater navigation device are influenced. For this reason, a new technical solution needs to be designed for solution.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a bionical bat based on articulated type arm, through pectoral fin shell and the tail fin shell that is equipped with the silica gel material in the both sides of casing, cooperate inside joint support, pectoral fin steering wheel and tail fin steering wheel, more complete imitates the bat ray, improves the flexibility and the use experience of bionical bat ray motion.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a bionical bat ray based on joint type arm, includes bat shell, pectoral fin shell, tail fin shell, photoelectric sensor, sonar sensor, pectoral fin steering wheel and tail fin steering wheel, the bat shell includes casing and cap, the cap be located the top of casing and with casing fixed connection, the front end fixedly connected with photoelectric sensor and sonar sensor of casing, the inside fixedly connected with battery case and the control box of casing, the left and right sides difference fixedly connected with pectoral fin shell of casing, the inside of pectoral fin shell is equipped with the joint support, the joint support is equipped with the pectoral fin steering wheel with the junction of casing, the rear end fixedly connected with tail fin shell of casing, fixedly connected with tail fin in the tail fin shell.
As an improvement of the above technical scheme, the case cover is fixedly connected with the casing through bolts, a drain hole is formed in the lower surface of the head of the casing, a switch is fixedly connected to the lower surface of the tail of the casing, and the switch is connected in series with the battery case and the control box.
As the improvement of the technical scheme, the photoelectric sensors are symmetrically distributed about the sonar sensors, and the photoelectric sensors and the sonar sensors are respectively connected with the control box.
As an improvement of the technical scheme, the output ends of the pectoral fin steering engine and the tail fin steering engine are respectively and fixedly connected with a steering engine connecting rod, and the steering engine connecting rods are respectively and fixedly connected with the joint support and the tail fin shell.
As an improvement of the technical scheme, the shell of the bat ray is made of resin material, and the pectoral fin shell and the tail fin shell are integrally formed by silica gel material.
Compared with the prior art, the beneficial effects of the utility model are as follows:
1. the utility model discloses a pectoral fin shell and the tail fin shell that are equipped with the silica gel material in the both sides of casing, cooperate inside joint support, pectoral fin steering wheel and tail fin steering wheel, the more complete imitates the bat ray, has both included the appearance of bat ray, has included the motion mode of bat ray again, improves the flexibility and the use experience of bionical bat ray motion.
2. The utility model discloses an at the front end fixed connection of casing have photoelectric sensor, sonar sensor, cooperate the inside control box of casing, can detect the environment of navigation in-process, be convenient for survey under water, conveniently change the course simultaneously, improve the security of navigation under water.
Drawings
Fig. 1 is a schematic view of the overall structure of a bionic bat ray based on a joint-type mechanical arm according to the present invention;
fig. 2 is a schematic view of a bottom view of a bionic bat ray based on a joint-type mechanical arm according to the present invention;
fig. 3 is a side view schematic diagram of a bionic bat ray based on a joint-type mechanical arm.
In the figure: the bat ray comprises a bat ray shell-1, a pectoral fin shell-2, a tail fin shell-3, a photoelectric sensor-4, a sonar sensor-5, a pectoral fin steering engine-6, a tail fin steering engine-7, a shell-8, a shell cover-9, a battery box-10, a control box-11, a joint support-12, a drain hole-13, a switch-14 and a steering engine connecting rod-15.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Please refer to fig. 1-3, the present invention provides a technical solution: the utility model provides a bionical bat based on joint type arm, includes bat casing 1, pectoral fin shell 2, tail fin shell 3, photoelectric sensor 4, sonar sensor 5, pectoral fin steering wheel 6 and tail fin steering wheel 7, bat casing 1 includes casing 8 and cap 9, cap 9 is located the top of casing 8 and with casing 8 fixed connection, the front end fixedly connected with photoelectric sensor 4 and sonar sensor 5 of casing 8, the inside fixedly connected with battery case 10 and the control box 11 of casing 8, fixedly connected with pectoral fin shell 2 respectively is in the left and right sides of casing 8, the inside of pectoral fin shell 2 is equipped with joint support 12, joint support 12 is equipped with pectoral fin steering wheel 6 with the junction of casing 8, the rear end fixedly connected with tail fin shell 3 of casing 8, fixedly connected with tail fin 7 in the tail fin shell 3.
In a further improvement, as shown in fig. 2-3, the case cover 9 is fixedly connected with the casing 8 through bolts, a drain hole 13 is formed in the lower surface of the head of the casing 8, a switch 14 is fixedly connected to the lower surface of the tail of the casing 8, the switch 14 is connected with the battery case 10 and the control box 11 in series, the casing 8 and the case cover 9 are connected through bolts, disassembly, assembly and maintenance are facilitated, the drain hole 13 is formed in the lower surface of the head of the casing 8, convection is conveniently formed between the inside and the outside of the bat body, and pressure balance inside and outside the casing 8 is maintained.
In a further improvement, as shown in fig. 1-2, the photoelectric sensors 4 are symmetrically distributed about the sonar sensors 5, the photoelectric sensors 4 and the sonar sensors 5 are respectively connected with the control box 11, and the photoelectric sensors 4 and the sonar sensors 5 are connected with the control box 11, so that underwater objects can be conveniently detected, and the heading can be changed.
In a further improvement, as shown in fig. 1-2, the output ends of the pectoral fin steering engine 6 and the tail fin steering engine 7 are respectively and fixedly connected with a steering engine connecting rod 15, the steering engine connecting rod 15 is respectively and fixedly connected with the joint support 12 and the tail fin shell 3, and the steering engine connecting rod 15 is fixedly connected with the output end of the steering engine, so that the effect of lengthening the steering engine support is mainly achieved, and the soft pectoral fin shell 2 and the soft tail fin shell 3 are supported.
Specifically improve ground, the bat casing 1 adopts the resin material to make, pectoral fin shell 2 and tail fin shell 3 adopt silica gel material integrated into one piece, make pectoral fin shell 2 and tail fin shell 3 through adopting the silica gel material, make things convenient for pectoral fin shell 2 and tail fin shell 3 to carry out deformation when the motion to imitate the gesture of bat when advancing under water.
The utility model discloses a bat ray shell-1, pectoral fin shell-2, tail fin shell-3, photoelectric sensor-4, sonar sensor-5, pectoral fin steering wheel-6, tail fin steering wheel-7, casing-8, cap-9, battery case-10, control box-11, joint support-12, wash port-13, switch-14, steering wheel connecting rod-15, the part is general standard component or the part that technical staff in this field know, its structure and principle all can be known for this technical staff through the technical manual or through conventional experimental method, this photoelectric sensor specifically is E18-D80NK photoelectric sensor, this specifically SG90 steering wheel, this sonar transducer specifically is DJIN9879 sonar transducer, the utility model discloses a pectoral fin shell 2 and tail fin shell 3 that are equipped with the silica gel material in casing 8's both sides, the joint support 12, pectoral fin steering wheel 6 and the tail fin steering wheel 7 of cooperation inside, more complete imitates the bat ray, has both included the appearance of the bat ray, has included the motion mode of the bat ray again, improves the flexibility and the use experience of the motion of bionical bat ray.
When the utility model works, the switch 14 is opened, the battery box 10 supplies power to the control box 11, the control box 11 controls the operation of the pectoral fin steering engine 6 and the tail fin steering engine 7 to drive the pectoral fin shell 2 and the tail fin shell 3 to swing continuously, thereby simulating the posture of the bat ray when swimming underwater, the photoelectric sensor 4 and the sonar sensor 5 monitor the periphery in real time when the bionic bat ray runs, when the photoelectric sensor 4 on the left side monitors an obstacle, the pectoral fin steering engine 6 on the left side swings in an accelerating way to drive the pectoral fin shell 2 on the left side to swing, the rest parts keep still, thereby avoiding the obstacle on the left side, otherwise, the pectoral fin steering engine 6 on the right side swings in an accelerating way, the rest parts keep still, when the obstacle is monitored by the sonar sensor 5 on the front, the pectoral fin 6 on one side randomly swings in an accelerating way, the rest parts keep still, when the bat ray needs to float upwards, the tail fin steering engine 7 drives the tail fin shell 3 to upwarp, and (3) the bionic bat ray floats upwards, otherwise, the tail fin steering engine 7 drives the tail fin shell 3 to stick upwards and the pectoral fin shell 2 to swing slowly, so that the bionic bat ray sinks downwards.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. The utility model provides a bionical bat based on joint type arm, includes bat shell (1), pectoral fin shell (2), tail fin shell (3), photoelectric sensor (4), sonar sensor (5), pectoral fin steering wheel (6) and tail fin steering wheel (7), its characterized in that: casing (1) of bat ray includes casing (8) and cap (9), cap (9) are located the top of casing (8) and with casing (8) fixed connection, the front end fixed connection of casing (8) has photoelectric sensor (4) and sonar sensor (5), the inside fixedly connected with battery case (10) and the control box (11) of casing (8), the left and right sides difference fixedly connected with pectoral fin shell (2) of casing (8), the inside of pectoral fin shell (2) is equipped with joint support (12), joint support (12) are equipped with pectoral fin steering wheel (6) with the junction of casing (8), the rear end fixedly connected with caudal fin shell (3) of casing (8), fixedly connected with caudal fin steering wheel (7) in caudal fin shell (3).
2. A bionic bat ray based on an articulated robotic arm as claimed in claim 1, wherein: the battery case is characterized in that the case cover (9) is fixedly connected with the case body (8) through bolts, a drain hole (13) is formed in the lower surface of the head of the case body (8), a switch (14) is fixedly connected to the lower surface of the tail of the case body (8), and the switch (14) is connected with the battery case (10) and the control box (11) in series.
3. A bionic bat ray based on an articulated robotic arm as claimed in claim 1, wherein: photoelectric sensor (4) are about sonar sensor (5) symmetric distribution, photoelectric sensor (4) and sonar sensor (5) are connected with control box (11) respectively.
4. A bionic bat ray based on an articulated robotic arm as claimed in claim 1, wherein: the output ends of the pectoral fin steering engine (6) and the tail fin steering engine (7) are respectively and fixedly connected with a steering engine connecting rod (15), and the steering engine connecting rod (15) is respectively and fixedly connected with the joint support (12) and the tail fin shell (3).
5. A bionic bat ray based on an articulated robotic arm as claimed in claim 1, wherein: the bat ray shell body (1) is made of resin materials, and the pectoral fin shell (2) and the tail fin shell (3) are integrally formed by silica gel materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921333403.2U CN210455158U (en) | 2019-08-16 | 2019-08-16 | Bionic bat ray based on joint type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921333403.2U CN210455158U (en) | 2019-08-16 | 2019-08-16 | Bionic bat ray based on joint type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210455158U true CN210455158U (en) | 2020-05-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921333403.2U Expired - Fee Related CN210455158U (en) | 2019-08-16 | 2019-08-16 | Bionic bat ray based on joint type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210455158U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111688887A (en) * | 2020-05-27 | 2020-09-22 | 西安交通大学 | Active variable-stiffness pectoral fin based on nylon artificial muscle and bionic underwater robot |
| CN113325858A (en) * | 2021-06-08 | 2021-08-31 | 西北工业大学 | Simulated bat aircraft course control method based on flapping wing amplitude |
| CN114889788A (en) * | 2022-06-06 | 2022-08-12 | 常州工学院 | Bionic bat ray |
-
2019
- 2019-08-16 CN CN201921333403.2U patent/CN210455158U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111688887A (en) * | 2020-05-27 | 2020-09-22 | 西安交通大学 | Active variable-stiffness pectoral fin based on nylon artificial muscle and bionic underwater robot |
| CN113325858A (en) * | 2021-06-08 | 2021-08-31 | 西北工业大学 | Simulated bat aircraft course control method based on flapping wing amplitude |
| CN114889788A (en) * | 2022-06-06 | 2022-08-12 | 常州工学院 | Bionic bat ray |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200505 |