CN216185955U - Underwater soft robot simulating octopus movement - Google Patents
Underwater soft robot simulating octopus movement Download PDFInfo
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- CN216185955U CN216185955U CN202122533254.8U CN202122533254U CN216185955U CN 216185955 U CN216185955 U CN 216185955U CN 202122533254 U CN202122533254 U CN 202122533254U CN 216185955 U CN216185955 U CN 216185955U
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- shell
- octopus
- soft robot
- tentacle
- steering wheel
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- 230000033001 locomotion Effects 0.000 title claims abstract description 32
- 241000238413 Octopus Species 0.000 title claims abstract description 15
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 5
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- 238000009434 installation Methods 0.000 claims description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 5
- 239000011664 nicotinic acid Substances 0.000 claims 1
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- 229920001296 polysiloxane Polymers 0.000 description 2
- 210000003625 skull Anatomy 0.000 description 2
- FPWNLURCHDRMHC-UHFFFAOYSA-N 4-chlorobiphenyl Chemical compound C1=CC(Cl)=CC=C1C1=CC=CC=C1 FPWNLURCHDRMHC-UHFFFAOYSA-N 0.000 description 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses an underwater soft robot simulating octopus movement, which comprises a shell, a plurality of tentacles and steering engines, wherein a battery pack for supplying power to the steering engines and a PCB (printed Circuit Board) for controlling the steering engines to operate are arranged in the shell, the bottom of the shell is of a centrosymmetric structure and is provided with the plurality of steering engines, the top ends of the tentacles are arranged to the power output ends of the steering engines, and the tentacles do pendulum movement under the driving of the steering engines. The steering wheel through controlling different positions moves, and then drives corresponding tentacle and carries out the pendulum motion, give equipment power through the swing of tentacle, through the swing range of the different tentacles of control, and then can realize the rotation of the arbitrary direction's of robot appointed angle, and can realize accurate control and regulation, consequently can accomplish specific task in the precision environment, environmental suitability has been strengthened, in addition, the only tentacle of initiative motion is made by silica gel, consequently reducible robot during operation to the destruction of external equipment.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to an underwater soft robot simulating octopus movement.
Background
With the development of society, the robot technology has been widely applied to the fields of industrial production, exploration and survey, medical service, military reconnaissance and the like, and has important significance for national economy and national defense construction. The traditional robot is mostly formed by connecting rigid kinematic pairs based on hard materials such as metal and plastic, and can complete quick, accurate and repeatable position or force control tasks. However, the robot has limited motion flexibility and low environmental adaptability, and can only work in a structured environment. These disadvantages limit the application of rigid robots in dynamic, unknown, unstructured complex environments such as military reconnaissance, disaster relief, and scientific exploration.
With the exhaustion of land resources and the growth of human social production, the marine resources are more and more emphasized by human beings, and the exploration of the marine resources and underwater exploration are also more important. However, the traditional underwater robot has the characteristics of large noise, large volume and poor concealment during underwater operation, and as an important means for improving the position precision and the endurance time, the traditional underwater robot mostly adopts the modes of tail swing, water paddling at two sides of a machine body, small propeller propulsion and the like, so that the defects of poor stability, large noise and difficulty in miniaturization of the size in the motion process are caused. In addition, in order to ensure the stability of the robot under water, the traditional underwater working robot is basically a hard shell, has strong structural rigidity and poor environmental adaptability, and may damage the operation contents in the working process. Therefore, there is a need to develop a new high-efficiency soft robot which has small volume, low noise, strong concealment, and can adapt to underwater operation and reduce the damage to equipment during the operation of the robot.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem of solving the defects that the operation content is easy to damage during underwater operation, the damage to equipment during the operation of a robot is reduced, the stability is poor and the like, and discloses an underwater soft robot control system for simulating octopus movement.
In order to solve the technical problems, the technical scheme of the utility model is as follows:
the utility model provides a software robot under water of bionical octopus motion, includes casing, a plurality of tentacles and steering wheel, be equipped with the PCB board for the group battery of steering wheel power supply and control steering wheel operation in the casing, the bottom of casing is central symmetrical structure and installs a plurality of steering wheels, the power take off end to the steering wheel is installed on the top of tentacle, the tentacle does the pendulum motion under the drive of steering wheel.
Preferably, the bottom side of the shell is provided with an installation cylinder, the axis of the installation cylinder coincides with the axis of the shell, the inner cavity of the installation cylinder is communicated with the inner cavity of the shell, the radial outer wall of the installation cylinder is of a centrosymmetric structure and is provided with a plurality of connecting plates, and the steering engine is installed on the connecting plates through fixing bolts.
Preferably, a through hole for a wiring harness to pass through is formed in the bottom side of the shell corresponding to each steering engine.
As preferred, be provided with focus adjustment mechanism in the casing, focus adjustment mechanism includes mounting bracket, step motor, lead screw and balancing weight, step motor fixes the inner chamber at the installation section of thick bamboo, the bottom of lead screw and step motor's power take off end fixed connection, the center department of balancing weight is provided with the screw hole, the balancing weight passes through screw hole and lead screw threaded connection, mounting bracket fixed mounting is at the inner wall of casing, but the balancing weight longitudinal movement sets up in the mounting bracket.
Preferably, the housing is cylindrical and has an upper opening, and a detachable head cover is disposed at the top of the housing.
Preferably, the head cover includes a transparent cover, an annular lower connecting portion is disposed at a bottom side of the transparent cover, and an upper connecting portion is disposed at a top of the housing corresponding to the lower connecting portion.
Preferably, the upper connecting portion is uniformly and respectively provided with a plurality of positioning holes, and the lower connecting portion is provided with positioning columns corresponding to the positioning holes.
Preferably, the tentacles are made of silicone.
The utility model has the following characteristics and beneficial effects:
by adopting the technical scheme, the steering engine is simple in structure and reasonable in technology, and the steering engine is driven to operate through the PCB. The steering wheel through controlling different positions moves, and then drives corresponding tentacle and carries out the pendulum motion, give equipment power through the swing of tentacle, through the swing range of the different tentacles of control, and then can realize the rotation of the arbitrary direction's of robot appointed angle, and can realize accurate control and regulation, consequently can accomplish specific task in the precision environment, environmental suitability has been strengthened, in addition, the only tentacle of initiative motion is made by silica gel, consequently reducible robot during operation to the destruction of external equipment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an assembly view of the internal structure of the present invention.
Fig. 2 is a schematic structural view of the head cap of the present invention.
Fig. 3 is a schematic view of the bottom of the housing of fig. 1.
Fig. 4 is a schematic view of the bottom of the housing of fig. 1 connected to a tentacle.
Fig. 5 is a motion trajectory diagram of an embodiment of the present invention.
Reference numerals: 1. a stepping motor; 2. a battery; 3. a PCB board; 4. a housing; 5. a mounting frame; 6. a lower connecting portion; 7. a positioning column; 8. a balancing weight; 9. a screw rod; 10. touching hands; 11. an upper connecting portion; 12. positioning holes; 14. a steering engine; 13. a transparent cover; 15. a through hole; 16. mounting the cylinder; 17. a connecting plate.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The utility model provides an underwater soft robot simulating octopus movement, which comprises a shell 4, a plurality of tentacles 10 and steering engines 14, wherein a battery pack 2 for supplying power to the steering engines 14 and a PCB 3 for controlling the steering engines 14 to operate are arranged in the shell 4, the bottom of the shell 4 is provided with the steering engines 14 in a centrosymmetric structure, the top ends of the tentacles 10 are arranged at the power output ends of the steering engines 14, and the tentacles 10 make pendulum movement under the driving of the steering engines 14. The casing 4 is of a cylindrical structure and is open at the upper side, and a detachable head cover is arranged at the top of the casing 4.
Among the above-mentioned technical scheme, simple structure, the technique is reasonable, through the operation of PCB board 3 drive steering wheel 14. Through the operation of the steering wheel 14 of controlling different positions, drive corresponding tentacle 10 and carry out the pendulum motion, and then give equipment power through the swing of tentacle, think, through the control to steering wheel 14, can realize the swing range of controlling different tentacles 10, and then can realize the rotation of the appointed angle of arbitrary direction of robot, and can realize accurate control and regulation, consequently can accomplish specific task in the precision environment, environmental suitability has been strengthened, and then the destruction to external equipment when reducible robot is worked.
The battery pack 2 is used for supplying electric energy to the robot and generally comprises two 3400mhA batteries.
It can be understood, as shown in fig. 5, the inner chamber center department of skull is provided with the gyroscope of monitoring software robot real-time operation gesture, and PCB board 3 is including the singlechip that is used for controlling the steering wheel operation, and the gyroscope feeds back the data of monitoring to the singlechip, and then under the circumstances of guaranteeing whole focus and geometric center coincidence, makes software robot rotate to appointed angle through the different motion amplitude of a plurality of tentacles. The rotation control uses closed-loop control, the attitude of the soft robot is fed back through the gyroscope, the error is calculated, and the motion amplitude of the tentacle is adjusted according to the error, so that the soft robot inclines or rotates to a specified angle. If the soft robot needs to turn, the self-generated posture is changed firstly, so that the head faces to the moving direction, and then the eight legs move simultaneously to push forwards.
It can be understood that the shell 4 is arranged in a cylindrical structure and a regular structure, so that the center of gravity of the soft robot can be conveniently controlled on the assembly center, and similarly, the steering engines 14 are distributed in a central symmetrical structure, and the center of gravity of the soft robot can also be controlled on the assembly center. Thereby being convenient for adjust and control the soft robot and greatly improving the stability of the operation.
Specifically, as shown in fig. 2, the head cover includes a transparent cover 13. Through the setting of translucent cover 13, be convenient for install camera and searchlight in the skull, and then be convenient for acquire the image on scene through the camera, know real-time operating condition.
Further, the bottom side of the transparent cover 13 is provided with an annular lower connecting portion 6, and the top of the housing 4 is provided with an upper connecting portion 11 corresponding to the lower connecting portion 6. A plurality of positioning holes 12 are uniformly and respectively arranged on the upper connecting part 11, and positioning columns 7 are arranged on the lower connecting part 6 corresponding to the positioning holes 12.
It can be understood that, be provided with on the last connecting portion 11 and be used for waterproof sealing washer down between the connecting portion 6, avoid water from through-hole 15 and then in the casing 4, cause the damage to the PCB board, lead to the unable operation of software robot.
According to the utility model, as shown in fig. 3 and 4, an installation cylinder 16 is arranged at the bottom side of the shell 4, the axis of the installation cylinder 16 is overlapped with the axis of the shell 4, the inner cavity of the installation cylinder 16 is communicated with the inner cavity of the shell 4, a plurality of connecting plates 17 are arranged on the radial outer wall of the installation cylinder 16 in a centrosymmetric structure, and the steering engine 14 is installed on the connecting plates 17 through fixing bolts. The bottom side of the shell 4 is provided with a through hole 15 for the wiring harness to pass through corresponding to each steering engine 14.
In the above-described technical solution, the axis of the mounting tube 16 coincides with the axis of the housing 4, and further, it is ensured that the center of gravity of the soft robot can be controlled to the collective center. Thereby being convenient for adjust and control the soft robot and greatly improving the stability of the operation.
Conceivably, carry out the shutoff through silica gel in the through-hole 15 to play waterproof effect, avoid water from through-hole 15 and then in the casing 4, cause the damage to the PCB board, lead to the unable operation of software robot.
According to the utility model, the gravity center adjusting mechanism is further arranged in the shell 4 and comprises an installation frame 5, a stepping motor 1, a screw rod 9 and a balancing weight 8, the stepping motor 1 is fixed in an inner cavity of the installation cylinder 16, the bottom end of the screw rod 9 is fixedly connected with a power output end of the stepping motor 1, a threaded hole is formed in the center of the balancing weight 8, the balancing weight 8 is in threaded connection with the screw rod 9 through the threaded hole, the installation frame 5 is fixedly installed on the inner wall of the shell 4, and the balancing weight 8 can be longitudinally movably arranged in the installation frame 5.
Among the above-mentioned technical scheme, control step motor 1 through PCB board 3, drive the rotation of lead screw 9, and then make balancing weight 8 reciprocate on lead screw 9 to adjust the holistic focus position of software robot, make whole focus fall on the geometric centre, even when tentacle is static, also can guarantee that the software robot does not take place the rotation, and then improve the stability of software robot at underwater operation.
Further, the tentacle 10 is molded from silicone. As can be understood, the flexible material of the silica gel can reduce the damage to the external equipment when the robot works when the tentacle collides with the external equipment in the swinging process.
In this embodiment, 8 tentacles are taken as an example, and the operation principle is shown in fig. 5, which is a diagram of the motion trajectory of eight tentacles of the soft robot. The whole movement process drives the eight tentacles to expand outwards or furl inwards through the rotation of the steering engine. When the eight tentacles are rapidly folded towards the middle, force is applied to water in the middle of the tail part, the resultant force direction is horizontal backwards, and the water generates a reaction force on the soft robot to serve as forward thrust to enable the soft robot to move forwards. And repeating the action to make the soft robot move forward continuously.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments, including the components, without departing from the principles and spirit of the utility model, and still fall within the scope of the utility model.
Claims (8)
1. The utility model provides a bionic octopus motion's software robot under water, its characterized in that includes casing (4), a plurality of tentacles (10) and steering wheel (14), be equipped with in casing (4) and install PCB board (3) for group battery (2) and control steering wheel (14) operation of steering wheel (14) power supply, the bottom of casing (4) is central symmetry structure and installs a plurality of steering wheel (14), the power take off end to steering wheel (14) is installed on the top of tentacle (10), tentacle (10) do the pendulum motion under the drive of steering wheel (14).
2. The underwater soft robot simulating octopus movement according to claim 1, wherein an installation cylinder (16) is arranged on the bottom side of the shell (4), the axis of the installation cylinder (16) coincides with the axis of the shell (4), the inner cavity of the installation cylinder (16) is communicated with the inner cavity of the shell (4), a plurality of connecting plates (17) are arranged on the radial outer wall of the installation cylinder (16) in a centrosymmetric structure, and the steering engine (14) is installed on the connecting plates (17) through fixing bolts.
3. The underwater soft robot simulating octopus movement according to claim 2, wherein a through hole (15) for a wire harness to pass through is formed in the bottom side of the shell (4) corresponding to each steering engine (14).
4. The underwater soft robot simulating octopus movement according to claim 2, characterized in that a center-of-gravity adjusting mechanism is arranged in the housing (4), the center-of-gravity adjusting mechanism comprises a mounting frame (5), a stepping motor (1), a lead screw (9) and a balancing weight (8), the inner cavity of the mounting cylinder (16) is fixed by the stepping motor (1), the bottom end of the lead screw (9) is fixedly connected with the power output end of the stepping motor (1), a threaded hole is formed in the center of the balancing weight (8), the balancing weight (8) is in threaded connection with the lead screw (9) through the threaded hole, the mounting frame (5) is fixedly mounted on the inner wall of the housing (4), and the balancing weight (8) can be longitudinally moved and arranged in the mounting frame (5).
5. The underwater soft robot simulating octopus movement according to any one of claims 1 to 4, wherein the shell (4) is of a cylindrical structure and is open at the upper side, and a detachable head cover is arranged at the top of the shell (4).
6. The underwater soft robot simulating octopus movement according to claim 5, wherein the head cover comprises a transparent cover (13), the bottom side of the transparent cover (13) is provided with an annular lower connecting part (6), and the top of the shell (4) is provided with an upper connecting part (11) corresponding to the lower connecting part (6).
7. The underwater soft robot simulating octopus movement according to claim 6, wherein a plurality of positioning holes (12) are uniformly formed in the upper connecting portion (11), and positioning columns (7) are arranged on the lower connecting portion (6) corresponding to the positioning holes (12).
8. The underwater soft robot simulating octopus movement according to claim 1, wherein the tentacle (10) is made of silica gel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122533254.8U CN216185955U (en) | 2021-10-21 | 2021-10-21 | Underwater soft robot simulating octopus movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122533254.8U CN216185955U (en) | 2021-10-21 | 2021-10-21 | Underwater soft robot simulating octopus movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216185955U true CN216185955U (en) | 2022-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122533254.8U Expired - Fee Related CN216185955U (en) | 2021-10-21 | 2021-10-21 | Underwater soft robot simulating octopus movement |
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| Country | Link |
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| CN (1) | CN216185955U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116588292A (en) * | 2023-05-23 | 2023-08-15 | 北京大学 | Underwater operation robot |
-
2021
- 2021-10-21 CN CN202122533254.8U patent/CN216185955U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116588292A (en) * | 2023-05-23 | 2023-08-15 | 北京大学 | Underwater operation robot |
| CN116588292B (en) * | 2023-05-23 | 2024-02-20 | 北京大学 | Underwater operation robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220405 |
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| CF01 | Termination of patent right due to non-payment of annual fee |