CN215851811U - Bionic white sturgeon robot - Google Patents
Bionic white sturgeon robot Download PDFInfo
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- CN215851811U CN215851811U CN202121925587.9U CN202121925587U CN215851811U CN 215851811 U CN215851811 U CN 215851811U CN 202121925587 U CN202121925587 U CN 202121925587U CN 215851811 U CN215851811 U CN 215851811U
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Abstract
The utility model discloses a bionic white sturgeon robot, which belongs to the technical field of bionics and comprises a white sturgeon head body (1) and a white sturgeon tail body (2), wherein the white sturgeon head body (1) comprises a sensor (11) for detecting the underwater position of the robot, a propeller (12) for controlling the robot to ascend and descend, a motor (13) for driving the propeller (12) and a control unit (14) for controlling the positive and negative rotation and the motor rotating speed of the motor (13) and connected with the sensor (11); be provided with drive structure (21) that drive robot gos forward in white sturgeon tail body (2), drive structure (21) with control unit (14) are connected. The bionic white sturgeon robot utilizes the sensor (11) to feed back the position of the bionic white sturgeon robot in water, so that the position of the white sturgeon robot in water is changed by controlling the propeller (12) embedded in the white sturgeon body (1), and floating and diving are realized.
Description
Technical Field
The utility model relates to the technical field of bionics, in particular to a bionic white sturgeon robot.
Background
The length of the white sturgeon is 2-3 meters, the weight of the white sturgeon is 200-300 kilograms, and the maximum length of the white sturgeon can reach 7.5 meters. Also known as Chinese paddlefish, and species of paddlefish belonging to the same family of paddlefish living in the Mixisband river. The other name is the Chinese swordfish, which is the largest freshwater fish in China. The long shape of the lip is like the trunk, which is also commonly called elephant fish. Chinese ancient white sturgeon is called tuna. Tracing to the river in spring and laying eggs. Mainly produced in the main tributary from Yibin to Yangtze river mouth in Yangtze river of China, and is also found in Qiantang river and the downstream of yellow river. Is a rare and precious animal which is a special product in China, belongs to the first-class wild protection animal of China, and is called as a panda in water. The utility model designs and manufactures a bionic white sturgeon robot capable of realizing free ascent and submergence in water by combining a bionic fish control technology.
The current general method for controlling floating and submerging of the bionic fish comprises the following steps: 1. change fish body density, shortcoming: the reaction speed is slow; 2. the pectoral fin angle is changed, and the lifting and diving are realized by matching with the tail thrust, so that the defects are as follows: a large swimming space is required; 3. The gravity center of the fish body is changed to raise and submerge, and the defects are as follows: the reaction speed is slow, and the space requirement is large.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the technology for controlling the floating and submerging of bionic fish in the prior art, and provides a bionic white sturgeon robot.
The purpose of the utility model is realized by the following technical scheme:
provided is a biomimetic white sturgeon robot, comprising:
the white sturgeon head comprises a sensor for detecting the underwater position of the robot, a propeller for controlling the robot to ascend and submerge, a motor for driving the propeller, and a control unit for controlling the positive and negative rotation and the rotating speed of the motor and connected with the sensor;
white sturgeon tail body, with white sturgeon head body connects, the internal drive structure that is provided with drive robot and advances of white sturgeon tail, drive structure with the control unit is connected.
As a preferred item, a bionical white sturgeon robot, white sturgeon head body includes outside casing and inside hollow structure, the screw embedded in hollow structure.
As a preferred item, the bionic white sturgeon robot is characterized in that the propeller is fixed on the outer shell through a cross-shaped bracket.
As a preferred item, a bionic white sturgeon robot, wherein the upper surface and the lower surface of the outer shell are respectively provided with a filter screen corresponding to the propeller.
As a preferred item, a bionic white sturgeon robot, the motor is a three-phase brushless motor.
As a preferred item, a bionic white sturgeon robot, be equipped with on the outside casing and place the aperture of sensor, the sensor is pressure sensor under water.
As a preferred item, the bionic white sturgeon robot is characterized in that the model of the underwater pressure sensor is MS 5837.
As a preferred item, a bionic white sturgeon robot, the control unit includes singlechip and electricity accent, the singlechip respectively with sensor, electricity accent are connected, electricity accent with the motor is connected.
As a preferred item, a bionic white sturgeon robot, the singlechip is an STM32 microprocessor.
As a preferred item, a bionic white sturgeon robot, the drive structure includes three steering engines connected in series.
It should be further noted that the technical features corresponding to the above options can be combined with each other or replaced to form a new technical solution.
Compared with the prior art, the utility model has the beneficial effects that:
(1) the bionic white sturgeon robot utilizes the sensor to feed back the position of the bionic white sturgeon robot in water, the control unit receives the position information fed back by the sensor, controls the positive and negative rotation of the motor and the rotating speed of the motor according to the position information, and finally controls the thrust and the direction of the driving propeller to realize the floating up and submerging of the white sturgeon robot.
(2) The three-phase brushless motor is used to the bionic fish robot in an innovative mode, the three-phase brushless motor is good in waterproof performance, the service life is prolonged, and the thrust is large, so that the bionic white sturgeon robot can naturally and rapidly float up and dive, the motor is low in energy consumption, and the service time of the electric quantity is saved more.
(3) The embedded outward appearance that does not influence bionical white sturgeon robot of screw, cross support fixed mode can not influence rivers and pass through and fixed firm.
(4) The upper and lower surface of outside casing be provided with respectively with the filter screen that the screw corresponds for filter aquatic impurity to prevent that aquatic rubbish gets into, influence the screw rotation, also be the rivers passageway when the screw is rotatory simultaneously.
Drawings
FIG. 1 is a schematic structural diagram of a bionic white sturgeon robot of the utility model;
FIG. 2 is a schematic diagram of the circuit connection control of the present invention;
FIG. 3 is a schematic structural diagram of a propeller of the Acipenser sinensis head of the present invention;
fig. 4 is a schematic structural view of the filter screen of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that directions or positional relationships indicated by "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are directions or positional relationships described based on the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The bionic white sturgeon robot mainly utilizes the sensor 11 to feed back the position of the bionic white sturgeon robot in water, so that the position of the white sturgeon in water is changed by controlling the propeller 12 embedded in the white sturgeon body 1, and floating and diving are realized.
Example 1
In an exemplary embodiment, as shown in fig. 1, there is provided a biomimetic white sturgeon robot comprising:
the white sturgeon head comprises a white sturgeon head body 1, wherein the white sturgeon head body 1 comprises a sensor 11 for detecting the underwater position of the robot, a propeller 12 for controlling the robot to ascend and descend, a motor 13 for driving the propeller 12, and a control unit 14 for controlling the positive and negative rotation and the motor rotating speed of the motor 13 and connected with the sensor 11;
white sturgeon tail body 2, with white sturgeon head body 1 is connected, be provided with the drive structure 21 that drive robot gos forward in the white sturgeon tail body 2, drive structure 21 with the control unit 14 is connected.
Specifically, the sensor 11 is used for detecting the underwater position of the robot, detection information is fed back to the control unit 14, the control unit 14 receives the position information fed back by the sensor 11, the positive and negative rotation and the motor rotating speed of the motor 13 are controlled according to the position information, and finally the thrust and the direction of the driving propeller 12 are controlled to achieve the floating speed or the submergence speed and the floating speed of the white sturgeon robot. The propeller has extremely fast response, can realize fast elevating and submerging actions in a small space, has very stable thrust, and does not depend on the power of tail swing in the whole elevating and submerging actions.
Further, as shown in fig. 1, the bionic white sturgeon robot is characterized in that the driving structure 21 comprises three series-connected steering engines.
Example 2
The present embodiment has the same utility model concept as embodiment 1, and on the basis of embodiment 1, provides a bionic acipenser sinensis robot, as shown in fig. 3, acipenser sinensis body 1 includes an outer shell and an inner hollow structure, and screw 12 is embedded in the hollow structure.
Further, the bionic white sturgeon robot is characterized in that the propeller 12 is fixed on the outer shell through a cross-shaped support 15.
Specifically, the white sturgeon head body 1 of the bionic white sturgeon robot is printed in a 3D mode, is of a hollow structure and is used for arranging a control circuit, a control unit 14 and various sensors, and a propeller is embedded in the hollow structure; the white sturgeon tail body 2 is made of soft silica gel, and the built-in driving structure 21 is a source of forward power of the bionic white sturgeon robot.
Further, the embedded outward appearance that does not influence bionical white sturgeon robot of screw 12 uses cross support 15 fixed screw 12 can not influence rivers and pass through and fixed firm.
Example 3
Based on embodiment 2, a bionic white sturgeon robot is provided, as shown in fig. 3 and 4, the upper surface and the lower surface of the outer shell are respectively provided with a filter screen 16 corresponding to the propeller 12.
Specifically, the upper and lower surfaces of the outer casing are respectively provided with a filter screen corresponding to the propeller 12 for filtering impurities in water, so as to prevent garbage in water from entering and affecting the rotation of the propeller 12, and the filter screens are also water flow channels when the propeller 12 rotates.
Further, a bionic white sturgeon robot, motor 13 is a three-phase brushless motor. The three-phase brushless motor is used to the bionic fish robot in an innovative mode, the three-phase brushless motor is good in waterproof performance, the service life is prolonged, and the thrust is large, so that the bionic white sturgeon robot can naturally and rapidly float up and dive, the motor is low in energy consumption, and the service time of the electric quantity is saved more.
Further, as shown in fig. 4, the bionic white sturgeon robot is provided with a small hole 17 for placing the sensor 11 on the outer shell.
Example 4
In an example, as shown in fig. 2, a schematic control process diagram of a bionic white sturgeon robot is provided, the control unit 14 includes a single chip microcomputer and an electric controller, the single chip microcomputer is respectively connected with the sensor 11 and the electric controller, and the electric controller is connected with the motor 13. The electric regulation is called an electronic speed regulator for short ESC, and can be divided into a brush electric regulation and a brushless electric regulation aiming at different motors, and the rotating speed of the motor can be regulated according to a control signal.
Specifically, sensor 11 is pressure sensor under water, pressure sensor's model under water is MS5837, thereby utilizes pressure measurement principle to measure the aquatic pressure under water and calculate the degree of depth position of bionical white sturgeon robot in aqueous, and pressure sensor is fixed in white sturgeon head below, and the aquatic pressure value that will detect transmits the singlechip for through the I2C mode.
Further, a bionic white sturgeon robot, the singlechip is STM32 microprocessor. The single chip microcomputer outputs PWM control signals to the electric regulator through a PID control algorithm, and the electric regulator converts direct current into three-phase alternating current to control the positive and negative rotation and the rotating speed of the motor 13. The PID control algorithm is a control algorithm which combines three links of proportion, integration and differentiation into a whole and is suitable for occasions where the controlled object model is not clearly known. The deviation of the controlled object can be effectively corrected by adopting the PID algorithm, so that the controlled object can reach a stable state.
Further, the propeller 12 is connected with a bidirectional 30A brushless electric regulation drive, 12v direct current is converted into three-phase alternating current for output through the electric regulation, and PWM waves are output to an electric regulation control signal through a single chip microcomputer so as to control the positive and negative rotation and the rotation speed of the motor and control the thrust to control the floating and submerging of the white sturgeon.
The above detailed description is for the purpose of describing the utility model in detail, and it should not be construed that the detailed description is limited to the description, and it will be apparent to those skilled in the art that various modifications and substitutions can be made without departing from the spirit of the utility model.
Claims (10)
1. A bionic white sturgeon robot is characterized by comprising:
the white sturgeon head comprises a white sturgeon head body (1), wherein the white sturgeon head body (1) comprises a sensor (11) for detecting the underwater position of the robot, a propeller (12) for controlling the robot to ascend and descend, a motor (13) for driving the propeller (12), and a control unit (14) for controlling the positive and negative rotation and the motor rotating speed of the motor (13) and connected with the sensor (11);
white sturgeon tail body (2), with white sturgeon head body (1) is connected, be provided with drive structure (21) that drive robot gos forward in the white sturgeon tail body (2), drive structure (21) with the control unit (14) are connected.
2. A biomimetic sturgeon robot according to claim 1, characterized in that the sturgeon head body (1) comprises an outer shell and an inner hollow structure, the propeller (12) being embedded in the hollow structure.
3. A biomimetic white sturgeon robot according to claim 2, characterized in that the propeller (12) is fixed on the outer shell by a cross bracket (15).
4. The bionic white sturgeon robot according to claim 3, characterized in that the upper and lower surfaces of the outer shell are respectively provided with a filter screen (16) corresponding to the propeller.
5. A biomimetic acipenser aigregatus robot according to claim 1, characterized in that the motor (13) is a three-phase brushless motor.
6. The bionic white sturgeon robot according to claim 2, characterized in that a small hole (17) for placing the sensor (11) is arranged on the outer shell, and the sensor (11) is an underwater pressure sensor.
7. The bionic white sturgeon robot according to claim 6, wherein the model of the underwater pressure sensor is MS 5837.
8. The bionic white sturgeon robot according to claim 1, characterized in that the control unit (14) comprises a single chip microcomputer and an electric control, the single chip microcomputer is respectively connected with the sensor (11) and the electric control, and the electric control is connected with the motor (13).
9. The bionic white sturgeon robot according to claim 8, wherein the single chip microcomputer is an STM32 microprocessor.
10. A biomimetic white sturgeon robot according to claim 1, characterized in that the driving structure (21) comprises three series-connected steering engines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121925587.9U CN215851811U (en) | 2021-08-17 | 2021-08-17 | Bionic white sturgeon robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121925587.9U CN215851811U (en) | 2021-08-17 | 2021-08-17 | Bionic white sturgeon robot |
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| CN215851811U true CN215851811U (en) | 2022-02-18 |
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| CN202121925587.9U Active CN215851811U (en) | 2021-08-17 | 2021-08-17 | Bionic white sturgeon robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115871901A (en) * | 2023-02-14 | 2023-03-31 | 山东科技大学 | Sturgeon-imitated robot and submarine cable fault detection method |
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2021
- 2021-08-17 CN CN202121925587.9U patent/CN215851811U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115871901A (en) * | 2023-02-14 | 2023-03-31 | 山东科技大学 | Sturgeon-imitated robot and submarine cable fault detection method |
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