CN217074757U - Small underwater exploration robot based on octopus ocellatus is bionical - Google Patents

Abstract

A small underwater exploration robot based on the bionics of Octopus ocellatus belongs to the technical field of robots. Small-size underwater exploration robot based on ghost octopus is bionical, including the robot forebody and afterbody propeller, the robot forebody includes enclosed construction and sets up in the inside advancing mechanism of enclosed construction, advancing mechanism includes mainboard two, mainboard two is provided with motor one, the motor shaft of motor one links to each other with the cylinder cam, the one end sliding connection of cylinder cam internal surface and driving spindle, afterbody propeller is located driving spindle outside circular connecting piece one and set firmly in driving spindle other end circular connecting piece two including the cover, circular connecting piece one is provided with 3 at least main blades along circumferential direction, main blade passes through connecting rod three and is connected with circular connecting piece two rotation. The small underwater exploration robot based on the octopus ocellatus is optimized in mechanical structure on the premise of guaranteeing the original functions of the robot, energy consumption can be reduced, and exploration efficiency is improved.

Description

Small underwater exploration robot based on octopus ocellatus is bionical

Technical Field

The utility model relates to the technical field of robots, in particular to small-size underwater exploration robot based on ghost octopus is bionical.

Background

At present, the underwater robot generally has the problem of poor cruising ability, and the propulsion mode of the main stream under water has two kinds: propeller type, water jet type. The propeller type propulsion has large vibration, high rotating speed, bubble phenomenon and large energy consumption, and is not beneficial to the biological detection and the common water quality detection. One of the water-jet propulsion is a pump-jet type advancing mode; the other is a magnetic water spraying mode which is mainly applied to high-speed running and has higher cost, large energy consumption and large volume.

Therefore, there is a need for an underwater exploration robot which improves mechanical transmission efficiency, energy utilization rate and endurance from the perspective of mechanical structure optimization on the basis of ensuring the original functions of the robot.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem that the continuation of the journey ability that current underwater robot exists is poor, propeller energy utilization is not high, the utility model provides a small-size underwater exploration robot based on ghost octopus is bionical has carried out mechanical structure optimization under the prerequisite of guaranteeing the original function of robot, can reduce energy consumption and improve exploration efficiency.

In order to realize the purpose, the technical scheme of the utility model is that:

a small underwater exploration robot based on simulation of Octopus ocellatus comprises a robot front body and a tail propeller;

the robot front body comprises a closed structure and a propelling mechanism arranged in the closed structure, the propelling mechanism comprises a main board II, the main board II is provided with a motor I, a motor shaft of the motor I is connected with a cylindrical cam, and the inner surface of the cylindrical cam is connected with one end of a driving main shaft in a sliding manner;

the tail propeller comprises a first circular connecting piece and a second circular connecting piece, wherein the first circular connecting piece is sleeved outside the driving main shaft, the second circular connecting piece is fixedly arranged at the other end of the driving main shaft, at least 3 main blades are arranged on the first circular connecting piece in a circumferential rotation mode, and the main blades are rotatably connected with the second circular connecting piece through a third connecting rod.

Furthermore, a steering mechanism is further arranged inside the closed structure and comprises a first main board rotationally connected with the second main board, a steering engine is arranged on the first main board, and the steering engine is connected with one side of the second main board through a connecting rod mechanism.

Furthermore, the connecting rod mechanism comprises a first connecting rod connected with the output end of the steering engine, the first connecting rod is rotatably connected with a second connecting rod, and the second connecting rod is connected with the second main board through a connecting pin.

Among the above-mentioned technical scheme, the steering wheel comes pulling mainboard two to use bearing two to rotate as the rotation center through connecting rod one, connecting rod two and connecting pin to realize the rotation about robot.

Furthermore, a sinking and floating mechanism is further arranged inside the closed structure and comprises a second motor, the output end of the second motor is connected with a screw rod, a heavy object is sleeved outside the screw rod, and the heavy object is arranged in the guide rail in a sliding mode.

Among the above-mentioned technical scheme, the second rotation of motor drives the lead screw and rotates, and the both ends of heavy object can't produce the rotation owing to be provided with the guide rail, make the heavy object along the guide rail back-and-forth movement, and when the lead screw was clockwise, anticlockwise rotation promptly, the heavy object began the back-and-forth movement, and the back-and-forth movement of heavy object makes the whole focus of robot take place to remove, and the every single move angle changes simultaneously, realizes that the robot can the come-up sink when advancing.

Furthermore, the inner surface of the cylindrical cam is provided with a sliding groove, the outer wall of one end of the driving main shaft is provided with a cylindrical convex key, and the cylindrical convex key moves along the sliding groove.

Further, the spout includes fast closed section, the idle section of sliding and slowly opens the section, the contained angle of fast closed section tangential direction and cylindrical cam axial direction is 7 ~ 90 °, the contained angle of idle section tangential direction and cylindrical cam axial direction that slides is 90 °, the contained angle of slowly opening section tangential direction and cylindrical cam axial direction is 45 °, and the ratio of the angle that every section in fast closed section, the idle section of sliding and slowly opening section formed at the coplanar's with cylindrical cam axial vertical direction projection point and cylindrical cam center at this planar projection point's line is 3: 5: 8.

furthermore, the cross section of the driving spindle is square, and the driving spindle is connected with the second main board through the first round connecting piece.

Among the above-mentioned technical scheme, when a motor rotation drove the cylinder cam and rotate, square drive main shaft can only the back-and-forth movement because the spacing unable emergence of circular connecting piece middle part quad slit rotates for drive main shaft, thereby promote the blade of afterbody to open and shut, push away water and advance.

Further, the main blade comprises an arc-shaped frame and a plurality of arc-shaped small blades arranged on the arc-shaped frame, the small blades are matched with the arc-shaped frame through a first revolute pair, the arc-shaped frame is further provided with a limiting structure for limiting the opening angle of the small blades, and under the action of the limiting structure and the first revolute pair, the opening angle of the small blades is limited, so that the maximum opening degree of the small blades is just parallel to the advancing axis when the main blade is completely opened, and the advancing resistance is reduced to the maximum degree.

Furthermore, the third connecting rod is matched with the main blade through the second revolute pair.

In the technical scheme, the four main blades have consistent motion pace, and the small blades on each main blade have consistent pace. When the main blade is completely opened, the opening degree of the small blade is parallel to the motion direction of the robot, and the opening degree of the small blade reaches the maximum and is just connected with the limiting structure; when the main blades are completely closed, the four small arc-shaped blades on each main blade and the arc-shaped frame form a complete arc-shaped surface.

Furthermore, the closed structure is formed by enclosing an upper shell and a lower shell, and the lower shell is fixedly connected with the first main board.

Compared with the prior art, the beneficial effects of the utility model are that:

1) compared with a mainstream propeller type propeller, the utility model has the advantages that the tail propelling device has small motion abrasion and low energy consumption rate, the bionic propeller of the utility model does not rotate and only does reciprocating motion, has small mechanical abrasion, light vibration, slower motion speed and high concealment, does not have cavitation phenomenon, and can better meet the requirements of a biological detector; meanwhile, bionic periodic actions are adopted, the quick return characteristic and the idle stroke of the cylindrical cam can be utilized to the maximum extent by utilizing the advancing inertia of the detector, the reasonable use of mechanical energy is realized, the energy utilization rate of the robot is improved, meanwhile, the periodic opening and closing actions with relatively regularity cannot disturb the observed organisms, and the observation task can be well completed in a fusion environment.

2) The utility model discloses a kind shutter device has been taken on the umbrella formula propeller: the main blades of the bionic propeller and the small blades matched with the main blades form a structure similar to a shutter together, the direction of the main blades is adjusted, and the small blades are matched with the main blades, so that when the bionic propeller is propelled (namely when the four main blades are closed together), the main blades are closed quickly, the small blades are closed under the action of overturning moment of water flow, full closing of the blades is completed, a large forward propelling force is generated, and propelling action bionic of the octopus ocellatus is completed; when the blades are opened slowly, the small blades on the main blades are opened in the direction with the minimum resistance to the water flow under the action of the overturning moment of the water flow, so that the resistance when the blades are opened is reduced, the idle work is reduced, and the mechanical rationality and the energy utilization rate of the system are improved; simultaneously, in order to make the effect of the overturning moment more obvious, the installation rotating shaft of the small blade is arranged at the front part of the whole small blade, so that the small blade can be more conveniently opened and closed under the action of water flow.

3) The utility model discloses a heavy mechanism that floats realizes that the focus changes, and energy utilization is high, waterproof nature is strong: the energy-saving type underwater robot is matched with the working environment and working requirements of a small underwater robot, and can float and sink only by driving a heavy object to move on a lead screw through a motor, so that compared with other modes, the energy-saving type underwater robot is more energy-saving, has lower requirements on electric energy storage of a battery, and can vacate more space to install other parts; the utility model discloses a heavy mechanism of floating does not contact completely with the external world, installs completely in the middle of the enclosed construction, does not have the influence to the holistic waterproof nature of robot, as long as make initial waterproof work can, the work load of the waterproof work that significantly reduces.

4) The utility model discloses a cylinder cam has realized the snap-back characteristic: in order to simulate the advancing mode of the octopus ocellatus to the maximum extent, improve the whole energy utilization rate of a detector and reduce the influence of a robot on surrounding organisms when the robot performs an observation task, an umbrella-shaped propeller needs to be slow in the opening process, is stopped for a certain time after being opened, is closed quickly and is regularly and circularly reciprocated once, so that the whole slope of a working curve surface of a sliding groove in the inner surface of a cylindrical cam needs to be slow in one section of the opening of a main blade, and a shorter driving main shaft can be pushed out and pulled back at a certain angular speed in the rotating process of the main blade to complete the opening process of the main blade; on the other hand, the integral slope of the working curve surface of the sliding groove on the inner surface of the cylindrical cam is steep, and a longer driving main shaft can be pushed out and pulled back at a certain angular speed in the rotating process of the main blade; meanwhile, the cephalopods are inspirational and cannot be immediately connected with the next propelling action after being propelled once, the inertia after each propelling is fully utilized, the cephalopods slide forwards continuously, and the required energy during traveling is greatly reduced.

5) The utility model discloses a new thinking is provided to underwater robot's research and development.

Additional features and advantages of the invention will be set forth in part in the detailed description which follows.

Drawings

Fig. 1 is a schematic overall structure diagram of a small octopus-based bionic underwater exploration robot (with main blades opened) provided by an embodiment of the utility model;

fig. 2 is a schematic structural diagram of a small octopus-based bionic underwater exploration robot (with main blades closed) provided by the embodiment of the utility model;

fig. 3 is a schematic perspective view of the internal structure of a small octopus-based bionic underwater exploration robot provided by the embodiment of the invention;

fig. 4 is a schematic front view of the internal structure of a small octopus-based bionic underwater exploration robot provided by the embodiment of the utility model;

fig. 5 is a schematic structural diagram of a sinking and floating mechanism provided by an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a steering mechanism provided in an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a propulsion mechanism provided in an embodiment of the present invention;

fig. 8 is a partial schematic view of a tail thruster provided by an embodiment of the present invention;

fig. 9 is a first schematic sectional view of a cylindrical cam according to an embodiment of the present invention;

fig. 10 is a schematic sectional view of a cylindrical cam according to an embodiment of the present invention;

fig. 11 is a schematic cross-sectional view of a cylindrical cam according to an embodiment of the present invention;

fig. 12 is a front view of a cylindrical cam provided by an embodiment of the present invention;

fig. 13 is a design diagram of an angle ratio between a projection connection line of each of the slow opening section, the sliding idle section and the quick closing section, which are located on the same plane, and the center of the cylindrical cam according to the embodiment of the present invention.

Reference numerals in the drawings of the specification include:

1-upper shell, 2-lower shell, 3-main blade, 4-sealing colloid soft body, 5-small blade, 6-steering engine, 7-motor I, 8-cylindrical cam, 9-circular connecting piece II, 10-connecting rod III, 11-driving main shaft, 12-motor II, 13-main board I, 14-main board II, 15-circular connecting piece I, 16-coupling I, 17-cross connecting device, 18-cylindrical convex key, 19-sliding chute, 20-limiting structure, 21-revolute pair I, 22-revolute pair II, 23-revolute pair III, 24-connecting rod I, 25-connecting rod II, 26-bearing II, 27-connecting pin, 28-coupling II, 29-heavy object, 30-screw rod, 31-bearing one.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "vertical", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "a" and "an" 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, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected" and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection through an intermediate medium, and those skilled in the art may understand the specific meanings of the above terms according to specific situations.

In order to solve the problems in the prior art, as shown in fig. 1 to 13, the utility model provides a small underwater exploration robot based on the simulation of octopus ocellatus, which comprises a robot forebody and a tail propeller;

the robot front body comprises a closed structure and a propelling mechanism arranged in the closed structure, the propelling mechanism comprises a main board II 14, the main board II 14 is provided with a motor I7, a motor shaft of the motor I7 is connected with a cylindrical cam 8, and the inner surface of the cylindrical cam 8 is connected with one end of a driving main shaft 11 in a sliding manner;

the tail propeller comprises a first circular connecting piece 15 and a second circular connecting piece 9, wherein the first circular connecting piece 15 is sleeved outside the driving main shaft 11, the second circular connecting piece 9 is fixedly arranged at the other end of the driving main shaft 11, the first circular connecting piece 15 is provided with at least 3 main blades 3 in a rotating mode along the circumferential direction, and the main blades 3 are rotatably connected with the second circular connecting piece 9 through a third connecting rod 10.

As shown in fig. 1, 2, 3, 4 and 6, a steering mechanism is further arranged inside the closed structure, the steering mechanism comprises a first main board 13 rotatably connected with a second main board 14, a steering engine 6 is arranged on the first main board 13, and the steering engine 6 is connected with one side of the second main board 14 through a connecting rod mechanism. The connecting rod mechanism comprises a first connecting rod 24 connected with the output end of the steering engine 6, the first connecting rod 24 is rotatably connected with a second connecting rod 25, the second connecting rod 25 is connected with a second main board 14 through a connecting pin 27, specifically, the output end of the steering engine 6 is fixedly connected with one end of the first connecting rod 24, the other end of the first connecting rod 24 is rotatably connected with one end of the second connecting rod 25, the other end of the second connecting rod 25 is rotatably connected with one end of the connecting pin 27, and the other end of the connecting pin 27 is fixedly connected with one side of the second main board 14.

In this embodiment, steering wheel 6 installs on mainboard one 13 through the steering engine groove, mainboard one 13 passes through the screw snap-on under on shell 2, mainboard one 13 and mainboard two 14 link to each other through bearing two 26, connecting rod one 24 rotates with connecting rod two 25 through revolute pair three 23, steering wheel 6 rotates, can drive connecting rod one 24, connecting rod two 25 motion, connecting rod two 25 links to each other with mainboard two 14 through connecting pin 27, pulling mainboard two 14 swings from side to side, the afterbody propeller then swings from side to side therewith, realize that the robot turns from side to side when moving forward, namely, steering wheel 6 passes through connecting rod one 24, connecting rod two 25 and connecting pin 27 come the pulling mainboard two 14 to use bearing two 26 to rotate as the center of rotation, thereby realize the horizontal rotation of robot.

As shown in fig. 1 to 5, a sinking and floating mechanism is further arranged inside the closed structure, the sinking and floating mechanism includes a second motor 12, an output end of the second motor 12 is connected with a lead screw 30, a weight 29 is sleeved outside the lead screw 30, and the weight 29 is slidably arranged in the guide rail.

In this embodiment, the sinking and floating mechanism is located at the foremost end inside the closed structure, a second motor 12 in the sinking and floating mechanism is installed in a built-in motor groove on the lower housing 2, the second motor 12 is connected with a lead screw 30 through a second coupling 28, the tail end of the lead screw 30 is connected with a first bearing 31 fixed at the tail of the lower housing 2, a heavy object 29 is placed in the middle of the lead screw 30, the heavy object 29 adopts a battery with a large relative density and a heavy weight, which can supply power to an electric structure on the robot and save space, of course, the heavy object 29 can also adopt other structures such as a steel block, a guide rail is arranged on the lower housing 2 and can also be arranged on an installation shell fixedly connected with the lower housing 2, when the sinking and floating mechanism works, the second motor 12 rotates to drive the lead screw 30 to rotate, the two ends of the heavy object 29 cannot rotate due to the arrangement of the guide rail, so that the heavy object 29 moves back and forth along the guide rail, namely, the lead screw 30 moves clockwise, When the robot rotates anticlockwise, the weight 29 starts to move back and forth, the center of gravity of the whole robot is moved due to the back and forth movement of the weight 29, the pitching angle is changed simultaneously, and the robot can float upwards and sink while moving forwards.

As shown in fig. 9 to 13, the inner surface of the cylindrical cam 8 is provided with a slide groove 19, and the outer wall of one end of the driving spindle 11 is provided with a cylindrical protruding key 18, and the cylindrical protruding key 18 moves along the slide groove 19. Chute 19 includes the quick closure section, the idle section of sliding and the section of slowly opening, the contained angle of quick closure section tangential direction and 8 axial direction of cylindrical cam is 7 ~ 90, the contained angle of the idle section tangential direction of sliding and 8 axial direction of cylindrical cam is 90, the contained angle of the section tangential direction of slowly opening and 8 axial direction of cylindrical cam is 45, the ratio of the angle that every section in the idle section of sliding and the section of slowly opening formed at the line of this planar projection point with the projection point of 8 axial vertical directions of cylindrical cam and the cylindrical cam 8 center is 3: 5: 8, in this embodiment, the sliding groove 19 is an arc-shaped circumferential groove, the built model is scanned and cut by a cylinder with the radius of 3mm, the maximum width is 4mm, the depth is 3mm, the sliding groove is attached to the inner wall of the cylinder cam, the cylindrical convex key 18 of the driving main shaft 11 sequentially slides through the quick closing section, the sliding idle section and the slow opening section of the sliding groove 19 to realize the processes of quick advance, sliding and slow opening of the robot, namely, a complete cycle is completed, the ratio of the angle formed by the connecting line of the projection point of each section in the same plane in the axial vertical direction of the cylindrical cam 8 in the quick closing section, the sliding idle section and the slow opening section and the projection point of the center of the cylindrical cam 8 in the plane, that is, the included angle between the connecting line of the one end of the quick closing section and the axis of the cylindrical cam 8 along the radial direction of the cylindrical cam 8 and the connecting line of the other end of the quick closing section and the axis of the cylindrical cam 8 along the radial direction of the cylindrical cam 8 is as follows: the one end of the idle section that slides and the connecting wire of 8 radial directions of cylindrical cam along the cylindrical cam with the other end of the idle section that slides and the contained angle of the connecting wire of 8 radial directions of cylindrical cam along the cylindrical cam 8 axis: the one end of the section of slowly opening is 3 with the connecting wire of 8 radial directions of cylindrical cam along the cylindrical cam 8 axis with the other end of the section of slowly opening and the contained angle of the connecting wire of 8 radial directions of cylindrical cam along the cylindrical cam 8 axis: 5: 8.

as shown in fig. 4 and 7, the cross-sectional section of the drive spindle 11 is square, and the drive spindle 11 is connected to the second main plate 14 through a first circular connecting member 15.

In the embodiment, the first motor 7 is installed on the second main board 14 through a motor groove, a motor shaft of the first motor 7 is connected with one end of the first coupling 16, the other end of the first coupling 16 is connected with the cross connecting device 17, the cross connecting device 17 is embedded on the cylindrical cam 8 in a tenon-and-mortise structure, and the first motor 7 rotates to drive the first coupling 16, the cross connecting device 17 and the cylindrical cam 8 to rotate simultaneously; the driving main shaft 11 is connected with a sliding groove 19 in the inner surface of the cylindrical cam 8 through a cylindrical convex key 18, a first circular connecting piece 15 is installed at the tail end of a second main board 14, and when a first motor 7 rotates to drive the cylindrical cam 8 to rotate, the square driving main shaft 11 can only move back and forth due to the fact that the limiting of a square hole in the middle of the first circular connecting piece 15 cannot rotate, blades at the tail portion are pushed to open and close, and water is pushed to advance. Preferably, two cylinders are led out from two sides of the tail of the second main plate 14 and used for mounting a third bearing, and the outer ring of the third bearing is connected with the cylindrical cam 8, so that the lifting effect is achieved, and the phenomenon that the tail is too heavy to fall is prevented.

As shown in fig. 1, 2, 3, 4 and 8, the main blade 3 includes an arc frame and a plurality of arc-shaped small blades 5 disposed on the arc frame, the small blades 5 are matched with the arc frame through a revolute pair 21, the arc frame is further provided with a limiting structure 20 for limiting the opening angle of the small blades 5, the opening angle of the small blades 5 is limited under the action of the limiting structure 20 and the revolute pair 21, so as to ensure that the maximum opening degree of the small blades 5 is just parallel to the advancing axis when the main blade 3 is completely opened, and reduce the advancing resistance to the maximum extent, in this embodiment, the limiting structure 20 adopts two limiting blocks, the two limiting blocks are fixedly disposed on the arc frame, the connecting plate on the small blades 5 is inserted between the two limiting blocks and rotatably connected with the two limiting blocks, the structure of the limiting blocks can limit the opening angle of the small blades 5, and interference with the rotation of the small blade 5 can be avoided. The third connecting rod 10 is matched with the main blade 3 through the second revolute pair 22.

In the embodiment, the tail propeller simulates the opening and closing movement of a pacific octopus tentacle and a film thereof, the shape of the tail propeller is similar to that of an umbrella, the first round connecting piece 15 and the second round connecting piece 9 are identical in structure, the first round connecting piece 15 is in sliding connection with the driving main shaft 11 on the inner side of the first round connecting piece, and the second round connecting piece 9 is fixedly connected with the other end of the driving main shaft 11. In this embodiment, circular connecting piece 15 is provided with four arc main blades 3 along circumferential direction, and is concrete, and four arc main blades 3 all fix through the iron wire and form the revolute pair on circular connecting piece 15, are equipped with level four arc lobular 5 on every main blade 3, connect through the iron wire and connect and constitute the revolute pair, of course, also can adopt other modes among the prior art to form to rotate and connect, for example connect through the pivot. The four main blades 3 are in consistent pace with each other, and the small blades 5 on each main blade 3 are also in consistent pace. When the main blade 3 is completely opened, the opening degree of the small blade 5 is parallel to the motion direction of the robot, and at the moment, the opening degree of the small blade 5 reaches the maximum and is just connected with the limiting structure 20; when the main blades 3 are completely closed, the four small arc-shaped blades 5 on each main blade 3 and the arc-shaped frame form a complete arc-shaped surface.

As shown in fig. 1, the closed structure is formed by enclosing an upper shell 1 and a lower shell 2, the lower shell 2 is fixedly connected with a first main board 13, in this embodiment, a sealing colloid soft body 4 is arranged at the joint of the front body and the tail propeller of the robot, and the upper shell 1, the lower shell 2 and the sealing colloid soft body 4 form the closed structure.

The utility model relates to a small-size underwater exploration robot's working process based on ghost octopus is bionical as follows:

(1) powering on the robot;

(2) the first motor 7 is started to rotate, the first motor 7 drives the cross connecting device 17 embedded on the cylindrical cam 8 to rotate through the first coupling 16, and the cross section of the driving main shaft 11 is square and cannot rotate under the action of the first round connecting piece 15, so that the driving main shaft can only move forwards and backwards under the pushing of the first cylindrical convex key 18; in the stage of the rapid advance of the chute 19 of the cylindrical cam 8, the driving main shaft 11 rapidly extends backwards, the main blade 3 is rapidly closed, and simultaneously, the small blade 5 is simultaneously closed under the action of water flow, so that the water is pushed forwards; the next stage is a sliding stage, at the moment, each blade is in a completely closed state, and the robot slides forwards under the initial pushing; the last stage is a slow expansion stage, the main shaft 11 is driven to move forwards slowly at the moment to drive the main blades 3 to expand, and the small blades 5 are always kept parallel to the advancing direction under the pushing of water flow, so that the advancing resistance is reduced to the maximum extent; then, the operation is repeated by taking the above as a cycle, and the acceleration and deceleration of the robot are realized by changing the rotating speed of the first motor 7 so as to change the size of the minimum cycle;

(3) when the robot needs to turn, the steering engine 6 rotates, the steering engine 6 drives the tail propeller to swing left and right by taking the main axis as the center under the assistance of the first connecting rod 24 and the second connecting rod 25 to realize turning, and the maximum swing angles at two sides are respectively 30 degrees;

(4) when the robot needs to sink, the second motor 12 starts to work, and the heavy object 29 on the lead screw 30 moves forwards at the same time, so that the whole gravity center of the robot moves forwards, the head of the robot sinks, the angle between the central axis and the horizontal line is increased, and meanwhile, the robot starts to sink under the action of the propeller; when the robot needs to float upwards, the movement of each mechanism is completely opposite to the sinking process.

The design principle of the utility model is as follows:

according to the underwater motion mode of the octopus ocellatus, the utility model designs a small underwater exploration robot with a novel motion mode; the gravity center moving device with the lead screw as a carrier is adopted to adjust the pitch angle of the head of the detector so as to realize the upward shallow and downward floating of the detector; the novel umbrella type propulsion mechanism is adopted, propulsion action is realized by simulating the opening and closing of a tentacle of the octopus ocellatus and a film of the tentacle, and slow opening, stable sliding and rapid closing are realized by assisting a mechanism with a quick return characteristic, so that advancing action is finished; simultaneously in order to reduce the huge resistance that the umbrella face received when opening, introduced spacing formula class shutter structure on the propeller: when the umbrella cover is opened, the shutter is automatically opened under the pushing of water, and water flows through the window; when closed, the leaves close rapidly, pushing the water forward.

The utility model discloses when the in-service use, usable partial new forms of energy carry out the energy supply, and is energy-concerving and environment-protective: for example, solar energy is adopted for power supply, and certain endurance is provided for a battery; for example, a sheet-shaped solar cell panel is arranged in the transparent plastic shell, so that the battery can be charged as long as illumination is provided, and the cruising ability of the robot is improved; and the working environment of the robot is rivers, lakes and offshore regions, the water level is shallow, sunlight can better penetrate through the robot, and the robot is ideal to use solar energy and electric energy for hybrid power supply.

The utility model discloses when in-service use, can carry on various work sensors at the robot head, according to demand monitoring environment, regularly gather data and send for the terminal.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A bionic small underwater exploration robot based on Octopus ocellatus is characterized by comprising a robot front body and a tail propeller;

the robot front body comprises a closed structure and a propelling mechanism arranged in the closed structure, the propelling mechanism comprises a main board II, the main board II is provided with a motor I, a motor shaft of the motor I is connected with a cylindrical cam, and the inner surface of the cylindrical cam is connected with one end of a driving main shaft in a sliding manner;

the tail propeller comprises a first circular connecting piece and a second circular connecting piece, wherein the first circular connecting piece is sleeved outside the driving main shaft, the second circular connecting piece is fixedly arranged at the other end of the driving main shaft, at least 3 main blades are arranged on the first circular connecting piece in a circumferential rotation mode, and the main blades are rotatably connected with the second circular connecting piece through a third connecting rod.

2. The small octopus-based bionic underwater exploration robot as claimed in claim 1, wherein a steering mechanism is further arranged inside the closed structure, the steering mechanism comprises a first main board rotationally connected with a second main board, a steering engine is arranged on the first main board, and the steering engine is connected with one side of the second main board through a connecting rod mechanism.

3. The small octopus-based bionic underwater exploration robot as claimed in claim 2, wherein the connecting rod mechanism comprises a first connecting rod connected with the output end of the steering engine, the first connecting rod is rotatably connected with a second connecting rod, and the second connecting rod is connected with a second main board through a connecting pin.

4. The small-sized bionic underwater exploration robot based on the octopus ocellatus as claimed in claim 1 or 2, wherein a sinking and floating mechanism is further arranged inside the closed structure, the sinking and floating mechanism comprises a second motor, the output end of the second motor is connected with a screw rod, a weight is sleeved outside the screw rod, and the weight is slidably arranged in the guide rail.

5. The octopus variabilis bionic small underwater exploration robot as claimed in claim 1, wherein a sliding groove is formed in an inner surface of the cylindrical cam, and a cylindrical convex key is arranged on an outer wall of one end of the driving main shaft and moves along the sliding groove.

6. The octopus ocellatus-based bionic small underwater exploration robot according to claim 5, wherein the sliding groove comprises a quick closing section, a sliding idle section and a slow opening section, an included angle between the tangential direction of the quick closing section and the axial direction of the cylindrical cam is 7-90 degrees, an included angle between the tangential direction of the sliding idle section and the axial direction of the cylindrical cam is 90 degrees, and an included angle between the tangential direction of the slow opening section and the axial direction of the cylindrical cam is 45 degrees; the ratio of the angle formed by the connecting line of the projection point of each section in the same plane in the axial vertical direction with the cylindrical cam and the projection point of the center of the cylindrical cam in the plane in the quick closing section, the sliding idle section and the slow opening section is 3: 5: 8.

7. the octopus ocellatus-based bionic small underwater exploration robot as claimed in claim 1, wherein the cross-sectional profile of the driving spindle is square, and the driving spindle is connected with the second main board through the first circular connecting piece.

8. The octopus ocellatus-based bionic small underwater exploration robot as claimed in claim 1, wherein the main blade comprises an arc-shaped frame and a plurality of arc-shaped small blades arranged on the arc-shaped frame, the small blades are matched with the arc-shaped frame through a first rotating pair, and the arc-shaped frame is further provided with a limiting structure for limiting the opening angle of the small blades.

9. The octopus-based bionic small underwater exploration robot as claimed in claim 1, wherein the third connecting rod is matched with the main blade through a second revolute pair.

10. The octopus-based bionic small underwater exploration robot according to claim 2, wherein the closed structure is formed by enclosing an upper shell and a lower shell, and the lower shell is fixedly connected with the main board.

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