CN217436030U

CN217436030U - Resonance driving type underwater detection robot

Info

Publication number: CN217436030U
Application number: CN202221208829.7U
Authority: CN
Inventors: 王鼎淳; 刘海洋; 赵子晗; 李伟铭; 甘悟
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-05-18
Filing date: 2022-05-18
Publication date: 2022-09-16
Anticipated expiration: 2032-05-18

Abstract

The utility model discloses a resonance drive formula underwater exploration robot, exploration robot's appearance is the bionic structure of imitative fish, include: anterior fish body structure and rear portion fish tail structure, anterior fish body structure and rear portion fish tail structure are connected through the pivot, and rear portion fish tail structure is equipped with the vibration drive structure and moves in order to drive the robot, is equipped with servo motor in the fish body shell of anterior fish body structure, servo motor's output shaft rear portion fish tail structure turns to with the drive robot. The detection robot is simple in structure, completes path detection by using machine vision, and drives the robot to move by using vibration.

Description

Resonance driving type underwater detection robot

Technical Field

The utility model belongs to the technical field of underwater detection device, a resonance drive formula underwater detection robot is related to.

Background

At present, the underwater detection means mainly depends on sonar, optical imaging and other forms to carry out large-range detection. The underwater detection robot is driven mainly by a propeller to push and simulate the advance of fishes. Most of the robots are complex in mechanism, prone to failure and not beneficial to repair. Therefore, the cost is high and the economic applicability is not strong.

SUMMERY OF THE UTILITY MODEL

For solving the complicated high-cost problem of current detection robot structure, the utility model provides a simple structure, good reliability, with low costs utilize resonance to drive, utilize machine vision to accomplish the underwater detection robot who surveys.

The utility model provides a resonance drive formula underwater exploration robot, exploration robot's appearance is the bionic structure of imitative fish, include: anterior fish body structure and rear portion fish tail structure, anterior fish body structure and rear portion fish tail structure are connected through the pivot, and rear portion fish tail structure is equipped with the vibration drive structure and moves in order to drive robot, is equipped with servo motor in the fish body shell of anterior fish body structure, servo motor's output shaft rear portion fish tail structure turns to with drive robot.

The utility model discloses an among the resonance drive formula underwater detection robot, rear portion fishtail structure still includes: the tail part shell and the metal fish tail, wherein the front end of the metal fish tail is fixed in the tail part shell, and the rear end of the metal fish tail extends out of the rear part of the tail part shell; the vibration driving structure is composed of two electromagnets arranged in the tail shell, the two electromagnets are respectively positioned at two sides of the metal fish tail and are not contacted with the metal fish tail, and two sides of the rear end of the metal fish tail are both provided with resonance structures to increase the swing amplitude of the metal fish tail; the tail shell is connected with the fish body shell through a rotating shaft, and the front part of the tail shell is connected with an output shaft of the servo motor.

In the resonance driving type underwater exploration robot, an Arduino singlechip, a Bluetooth communication module, an OPENMV machine vision module, a power module, a battery and a direct current amplifier are also arranged in the fish body shell; the battery is connected with a power module, the Arduino single chip microcomputer is communicated with a remote control terminal through a Bluetooth communication module, the Arduino single chip microcomputer is connected with two electromagnets through a direct current amplifier, and the Arduino single chip microcomputer is connected with a servo motor; the power supply module is respectively provided with an Arduino single-chip microcomputer, an OPENMV machine vision module and a servo motor; the OPENMV machine vision module is communicated with a remote control terminal through a built-in Bluetooth unit.

The utility model discloses an among the resonance drive formula underwater exploration robot, fish body shell and afterbody shell ABS plastics are made.

The utility model discloses an among the resonance drive formula underwater exploration robot, the metal fishtail adopts the 65Mn steel.

The utility model discloses an among the resonance drive formula underwater detection robot, resonance structure includes: the device comprises a sleeve, a spring and a mass block, wherein one end of the spring is fixed on the metal fishtail, the other end of the spring is connected with the mass block, and the sleeve is sleeved outside the spring and the mass block.

The utility model discloses an among the resonance drive formula underwater detection robot, remote control terminal is the cell-phone.

The utility model discloses a resonance drive formula underwater detection robot uses simple resonance principle to realize the drive for the robot structure is extremely simple, and to a great extent has improved the reliability of robot. Meanwhile, the cost of the underwater detection robot is greatly reduced.

Drawings

Fig. 1 is an external view of a resonance drive type underwater exploration robot according to the present invention;

fig. 2 is an exploded view of the resonant driven underwater exploration robot of the present invention;

fig. 3 is an internal schematic view of a resonance drive type underwater exploration robot of the present invention;

fig. 4 is a control block diagram of the resonance drive type underwater exploration robot of the present invention.

Detailed Description

As shown in fig. 1, the utility model discloses a resonance drive formula underwater exploration robot, the appearance is the bionic structure of imitative fish, include: anterior fish body structure 10 and rear portion fish tail structure 20, anterior fish body structure 10 and rear portion fish tail structure 20 are connected through pivot 30, and rear portion fish tail structure 20 is equipped with the vibration drive structure and moves in order to drive the robot, is equipped with servo motor 12 in the fish body shell 11 of anterior fish body structure 10, servo motor 12's output shaft rear portion fish tail structure 20 turns to with the drive robot.

As shown in fig. 2 and 3, the rear fish tail structure 20 further includes: a tail shell 21 and a metal fish tail 22, wherein the front end of the metal fish tail 22 is fixed in a fixing groove 212 in the tail shell 21, and the rear end of the metal fish tail 22 extends out of the rear part of the tail shell 21. The vibration driving structure is composed of two electromagnets 23 arranged in the tail shell 21, the two electromagnets 23 are respectively positioned at two sides of the metal fishtail 22 and are not in contact with the metal fishtail 22, and two sides of the rear end of the metal fishtail 22 are both provided with resonance structures 24 to increase the swing amplitude of the metal fishtail 22. The tail shell 21 is connected with the fish body shell 11 through the rotating shaft 30, and the front connecting end 211 of the tail shell 21 is connected with the output shaft 121 of the servo motor 12. The resonance structure 24 includes: the spring comprises a sleeve 241, a spring 242 and a mass 243, wherein one end of the spring 242 is fixed on the metal fishtail 22, the other end of the spring 242 is connected with the mass 243, and the sleeve 241 is sleeved outside the spring 242 and the mass 243.

As shown in fig. 4, an Arduino single-chip microcomputer 13, a Bluetooth communication module 14, an OPENMV machine vision module 15, a power module 16, a battery and a direct current amplifier are further arranged in the fish body shell 11. The batteries are arranged in a battery compartment 17, and the batteries are connected to the power supply module 16. Arduino singlechip 13 carries out radio communication through bluetooth communication module 14 and remote control terminal to receive the control command that remote control terminal sent. Arduino singlechip 13 passes through direct current amplifier and connects two electro-magnets 23, and Arduino singlechip 13 exports high-low level signal in order to control corresponding 23 break-make of electro-magnets according to remote control terminal's control command. The metal fish tail 22 swings at a certain frequency under the magnetic force of the electromagnet, and the resonance structure 24 of the metal fish tail 22 is matched to realize resonance, so that the metal fish tail swings to a large extent. Arduino singlechip 13 connects servo motor 12, and Arduino singlechip 13 controls servo motor 12 corresponding angle of rotation in working range according to control command to drive the synchronous rotation of metal fish tail 22, in order to realize the control of robot direction of motion. The power module supplies power to the Arduino single-chip microcomputer 13, the OPENMV machine vision module 15 and the servo motor 12 respectively. The OPENMV machine vision module 15 is disposed at the bottom of the front fish body structure 10, and communicates with the remote control terminal through a built-in bluetooth unit to send the acquired real-time image to the remote control terminal, so as to detect underwater conditions and control the moving direction of the robot.

In specific implementation, the fish body shell 11 and the tail shell 21 are both made of ABS plastic, and the metal fish tail 22 is made of 65Mn steel.

In specific implementation, the remote control terminal is a mobile phone.

When the method is specifically implemented, the detection robot can be controlled through the mobile phone APP.

(1) The electromagnet 23 can be controlled by the Arduino single-chip microcomputer 13 to be alternately powered on and powered off, so that the fishtail starts to vibrate, and the robot moves forwards.

(2) The accessible Arduino singlechip 13 control 23 lose the electricity of electro-magnet, and the vibration stops, and the robot will stop motion.

(3) The servo motor can be controlled by the Arduino single-chip microcomputer 13 to rotate leftwards or rightwards for a certain angle, and the robot can continue to rotate leftwards after being continuously clicked, so that the advancing direction of the robot can be controlled.

(4) The output shaft rotation angle of servo motor is controlled to accessible Arduino singlechip 13, and then the direction of accurate control robot.

The utility model discloses a detection robot during operation floats the surface of water, does not relate to the come-up function of sinking, and OPENMV machine vision module 15 arranges the bottom in and accomplishes the underwater detection function.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the spirit of the present invention, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a resonance drive formula underwater detection robot, its characterized in that, the appearance of detection robot is the bionic structure of imitative fish, includes: anterior fish body structure and rear portion fish tail structure, anterior fish body structure and rear portion fish tail structure are connected through the pivot, and rear portion fish tail structure is equipped with the vibration drive structure and moves in order to drive the robot, is equipped with servo motor in the fish body shell of anterior fish body structure, servo motor's output shaft rear portion fish tail structure turns to with the drive robot.

2. The resonant driven underwater exploration robot of claim 1, said rear fishtail structure further comprising: the tail part shell and the metal fish tail, wherein the front end of the metal fish tail is fixed in the tail part shell, and the rear end of the metal fish tail extends out of the rear part of the tail part shell; the vibration driving structure is composed of two electromagnets arranged in the tail shell, the two electromagnets are respectively positioned at two sides of the metal fish tail and are not contacted with the metal fish tail, and two sides of the rear end of the metal fish tail are both provided with resonance structures to increase the swing amplitude of the metal fish tail; the tail shell is connected with the fish body shell through a rotating shaft, and the front part of the tail shell is connected with an output shaft of the servo motor.

3. The resonance-driven underwater detection robot as claimed in claim 1, wherein an Arduino single chip microcomputer, a bluetooth communication module, an OPENMV machine vision module, a power supply module, a battery and a dc amplifier are further arranged in the fish body housing; the battery is connected with a power supply module, the Arduino single chip microcomputer is communicated with the remote control terminal through the Bluetooth communication module, the Arduino single chip microcomputer is connected with the two electromagnets through the direct current amplifier, and the Arduino single chip microcomputer is connected with the servo motor; the power supply module is respectively provided with an Arduino single-chip microcomputer, an OPENMV machine vision module and a servo motor; the OPENMV machine vision module is communicated with a remote control terminal through a built-in Bluetooth unit.

4. The resonant driven underwater detection robot of claim 2, wherein the fish body housing and the tail housing are made of ABS plastic.

5. The resonant driven underwater exploration robot of claim 2, wherein the metal fishtail is 65Mn steel.

6. A resonant driven underwater detection robot as claimed in claim 2 wherein the resonant structure comprises: the device comprises a sleeve, a spring and a mass block, wherein one end of the spring is fixed on the metal fishtail, the other end of the spring is connected with the mass block, and the sleeve is sleeved outside the spring and the mass block.

7. A resonance-driven underwater detection robot as claimed in claim 3, wherein said remote control terminal is a mobile phone.