WO2023039724A1 - 一种仿生航行器 - Google Patents

一种仿生航行器 Download PDF

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Publication number
WO2023039724A1
WO2023039724A1 PCT/CN2021/118324 CN2021118324W WO2023039724A1 WO 2023039724 A1 WO2023039724 A1 WO 2023039724A1 CN 2021118324 W CN2021118324 W CN 2021118324W WO 2023039724 A1 WO2023039724 A1 WO 2023039724A1
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WO
WIPO (PCT)
Prior art keywords
base
joint
motor
biomimetic
bearing
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Application number
PCT/CN2021/118324
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English (en)
French (fr)
Inventor
李维
罗兵
崔维成
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西湖大学
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Publication date
Application filed by 西湖大学 filed Critical 西湖大学
Priority to PCT/CN2021/118324 priority Critical patent/WO2023039724A1/zh
Publication of WO2023039724A1 publication Critical patent/WO2023039724A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/08—Propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine

Definitions

  • the present disclosure relates to the field of aircraft devices mainly used in water, and particularly relates to a bionic aircraft.
  • the driving device and the moving device cannot be coordinated and controlled, resulting in the inability of the vehicle to realize complex movements or swings such as fish.
  • the purpose of the embodiments of the present disclosure is to provide a biomimetic aircraft to solve the problem in the prior art that the drive device and the motion device cannot be controlled in coordination with each other.
  • a biomimetic aircraft which includes a head and a body, the head includes a first housing, a motor part is set in the first housing, the motor part includes a plurality of motor assemblies, the body includes The second casing, in which a plurality of rotating joints corresponding to the plurality of motor assemblies are arranged, and the plurality of rotating joints are sequentially connected along the length direction of the biomimetic vehicle, and finally The downstream swivel joints are connected to the tail, and each motor assembly is connected to the corresponding swivel joints through two pull cords to drive the swivel joints to move.
  • the two pull cords are respectively located at the ends of the body sides.
  • the motor assembly includes a motor, a cable reel is sleeved on the output shaft of the motor, and the first end of each of the two pull cords is sleeved on the wire On the cable drum, the second end is connected with the corresponding said rotating joint.
  • a protruding part is provided on the end face of the output side of the motor, a first connection hole and a second connection hole are provided on the protruding part, and the second connecting holes of the two pull cords The ends respectively pass through the first connection hole and the second connection hole to connect with the corresponding rotation joints.
  • the rotary joint includes a U-shaped first base and a second base, and the first base and the second base are spliced together to form a base part, which is located on the first
  • the long side on one side of the base is spliced with the long side on the same side of the second base to form a first bearing
  • the long side on the other side of the first base is on the same side as the second base.
  • the long sides of the sides are spliced together to form a second bearing
  • the first bearing and the second bearing are arranged oppositely
  • a joint shaft is arranged between the first bearing and the second bearing, and the joint shaft is located at the between the first bearing and the second bearing.
  • the second end of the pull cord is sleeved on the joint shaft.
  • a joint connecting member is sheathed on the joint shaft, and the joint connecting member is used to connect the adjacent downstream rotating joint or the tail.
  • a first drawstring restraint part and a second drawstring restraint part are provided on the short sides of the first base and the second base respectively, and the first drawstring restraint part and the second drawstring restraint part
  • the second drawstring constraining parts protrude from the end surfaces of the first base and the second base respectively, and a plurality of channels are respectively arranged on the first drawcord constraining parts and the second drawcord constraining parts. hole, and the through hole is used for fixing or constraining the pull cord.
  • At least one through hole is respectively provided on the short side of the first base and the second base, and the through hole is used for fixing or constraining the pull cord.
  • the pull cord includes a wire tube and a cable, and a first wire tube cap and a second wire tube cap are respectively arranged at two ends of the wire tube, and the cable passes through the wire tube and Free to move in the conduit, the first conduit cap and the second conduit cap are fixed in the designated through holes.
  • the number of the motor assembly or the rotating joint is three.
  • the embodiment of the present disclosure reduces the inertia of the tail movement of the bionic vehicle on the one hand, and on the other hand, the overall The center of gravity is moved forward so as to reduce the swing motion of the head of the bionic vehicle during the driving process, realize the effect of flexible bionics, and improve the propulsion performance of the bionic vehicle.
  • FIG. 1 is a schematic structural view of a biomimetic aircraft according to an embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of a biomimetic aircraft according to an embodiment of the present disclosure
  • Fig. 3 is a structural sectional view of a biomimetic aircraft according to an embodiment of the present disclosure
  • Fig. 4 is a schematic structural diagram of a third motor assembly in a biomimetic vehicle according to an embodiment of the present disclosure
  • Fig. 5 is a schematic structural diagram of the first rotating joint in the wheel biomimetic vehicle according to the embodiment of the present disclosure
  • Fig. 6 is a schematic structural diagram of the first rotating joint in the wheel biomimetic vehicle according to the embodiment of the present disclosure
  • Fig. 7 is a schematic structural diagram of the second rotary joint in the wheel biomimetic vehicle according to the embodiment of the present disclosure.
  • Fig. 8 is a schematic structural diagram of the second rotary joint in the wheel biomimetic vehicle according to the embodiment of the present disclosure.
  • Fig. 9 is a schematic structural diagram of the third rotary joint in the wheel biomimetic vehicle according to the embodiment of the present disclosure.
  • Fig. 10 is a schematic structural diagram of the third rotating joint in the wheel biomimetic vehicle according to the embodiment of the present disclosure.
  • Fig. 11 is a schematic structural view of the first pull rope in the biomimetic vehicle of the embodiment of the present disclosure.
  • An embodiment of the present disclosure provides a bionic vehicle, which is mainly used for navigating in water.
  • the front part of the biomimetic aircraft includes a first housing 10, and a motor part is arranged in the first housing 10, and the motor part includes at least one motor assembly.
  • the motor part includes The first motor assembly 11, the second motor assembly 12 and the third motor assembly 13; preferably, the third motor assembly 13 is located at the front of the head 1, the first motor assembly 11 and the first motor assembly 13
  • the two motor assemblies 12 are attached to each other and are located at the rear of the head 1 .
  • the main body part 2 includes a second housing, in which there is at least one rotating joint, and each of the rotating joints is in one-to-one correspondence with the motor assembly.
  • the second housing A first revolving joint 21, a second revolving joint 22 and a third revolving joint 23 are arranged in the body, wherein the first revolving joint 21, the second revolving joint 22 and the third revolving joint 23 are arranged along the The length direction of the biomimetic vehicle is sequentially connected, wherein the third rotating joint 23 is connected with the tail part 3 .
  • each of the motor assemblies is connected to the corresponding rotary joint through at least two pull cords and drives the rotary joints to move, and the two pull cords are respectively located on both sides of the main body.
  • the first motor assembly 11 is connected to the first rotary joint 21 through two first pull cords 31 and drives the first rotary joint 21 to move
  • the second motor assembly 12 is connected to the first rotary joint 21 through two
  • a second pull cord 32 is connected with the second rotary joint 22 and drives the second rotary joint 22 to move
  • the third motor assembly 13 is connected with the third rotary joint 23 through two third pull cords 33 And drive the third rotary joint 23 to move.
  • first motor assembly 11 the second motor assembly 12 and the third motor assembly 13 are substantially the same, and the specific structure will be described first by taking the third motor assembly 13 as an example.
  • the third motor assembly 13 includes a third motor 131, and a third cable reel 132 is sheathed on the output shaft of the third motor 131, and the third cable reel 132 follows the The output shaft of the third motor 131 rotates together; a third protrusion 135 is provided on the end face of the output side of the third motor 131, and the third protrusion 135 can be separately arranged on the third motor 131 It can also be formed integrally with the outer shell of the third motor 131 ; a first connecting hole 133 and a second connecting hole 134 are provided on the raised portion 135 .
  • the third motor assembly 13 Since the third motor assembly 13 is connected to the third rotary joint 23 through the third pull cord 33 and drives the third rotary joint 23 to move, the third pull cord 33 is sleeved on the third cable On the disk 132, the two ends of the third pull cord 33 pass through the first connection hole 133 and the second connection hole 134 respectively, and then connect with the third rotary joint 23 located in the body part 2. .
  • the first motor assembly 11 includes a first motor, and a first cable reel is sheathed on the output shaft of the first motor, and the first cable
  • the disc rotates together with the output shaft of the first motor; a first protruding part is provided on the end face of the output side of the first motor, and the first protruding part can be separately provided on the first motor
  • the end face may also be integrally formed with the outer casing of the first motor; a third connection hole and a fourth connection hole are provided on the first protrusion.
  • the first motor assembly 11 Since the first motor assembly 11 is connected to the first rotary joint 21 through the first pull cord 31 and drives the first rotary joint 21 to move, the first pull cord 31 is sleeved on the first cable On the plate, both ends of the first pull rope 31 pass through the third connection hole and the fourth connection hole respectively and connect to the first rotary joint 21 located in the body part 2 .
  • the second motor assembly 12 includes a second motor, and a second cable reel is sheathed on the output shaft of the second motor, and the second cable
  • the disc rotates together with the output shaft of the second motor; a second protruding part is provided on the end face of the output side of the second motor, and the second protruding part can be separately provided on the second motor
  • the end face may also be integrally formed with the outer casing of the second motor; a fifth connection hole and a sixth connection hole are provided on the second protrusion.
  • the second motor assembly 21 is connected to the second rotary joint 22 through the second pull cord 32 and drives the second rotary joint 22 to move
  • the second pull cord 32 is sleeved on the second cable
  • both ends of the second pull cord 32 respectively pass through the fifth connection hole and the sixth connection hole and are connected to the second rotary joint 22 located in the body part 2 .
  • the first rotating joint 21 includes a U-shaped first base 211 and a second base 212, the first base 211 and the second base 212 can be spliced together to form a first base part;
  • the long side on one side of the first base 211 and the long side on the same side of the second base 212 are spliced together to form the first bearing 213, and the long side on the other side of the first base 211 and
  • the long sides on the same side of the second base 212 are spliced together to form a second bearing 214, the first bearing 213 and the second bearing 214 are oppositely arranged, and the first bearing 213 and the second bearing
  • a first joint shaft 215 is arranged between the bearings 214, and the first joint shaft 215 can rotate between the first bearing 213 and the second bearing 214;
  • a joint connection part 216, the first joint connection part 216 is used to connect
  • FIG. 7 and FIG. 8 respectively show the structure of the second rotary joint 22 from two directions;
  • the second rotary joint 22 includes a U-shaped third base
  • the seat 221 and the fourth base 222, the third base 221 and the fourth base 222 can be spliced together to form a second base part, wherein the first joint connection part 216 and the second base
  • the seats are flexibly connected; the long side on one side of the third base 221 and the long side on the same side of the fourth base 222 are spliced together to form a third bearing 223, which is located on the other side of the third base 221
  • the long side on one side and the long side on the same side of the fourth base 222 are spliced together to form a fourth bearing 224.
  • the third bearing 223 and the fourth bearing 224 are arranged oppositely. 223 and the fourth bearing 224 are provided with a second joint shaft 225, and the second joint shaft 225 can rotate between the third bearing 223 and the fourth bearing 224; 225 is sleeved with a second joint connection part 226, and the second joint connection part 226 is used to connect the third rotation joint 23; in addition, the third base 221 and the fourth base 222 A third drawstring constraining part 227 and a fourth drawcord constraining part 228 are respectively arranged on the short sides, and the third drawcord constraining part 227 and the fourth drawcord constraining part 228 respectively protrude from the third base 221 and the The end face of the fourth base 222 is set, and two through holes are respectively set on the third drawstring restraint part 227 and the fourth drawstring restraint part 228, and the two through holes are respectively the second fixed hole 44 and a third constraint hole 45, wherein the second fixing hole 44 is set close to the third base 221 and the fourth base 222,
  • FIG. 9 and FIG. 10 respectively show the structure of the third rotary joint 23 from two directions;
  • the second rotary joint 23 includes a U-shaped fifth base
  • the seat 231 and the sixth base 232, the fifth base 231 and the sixth base 232 can be spliced together to form a third base part, wherein the second joint connection part 226 and the third base
  • the seat is movably connected; the long side on one side of the fifth base 231 and the long side on the same side of the sixth base 232 are spliced together to form a fifth bearing 233, which is located on the other side of the fifth base 231
  • the long side on one side and the long side on the same side of the sixth base 232 are spliced together to form the sixth bearing 234.
  • the fifth bearing 233 and the sixth bearing 234 are arranged oppositely. 233 and the sixth bearing 234 are provided with a third joint shaft 235, and the third joint shaft 235 can rotate between the fifth bearing 233 and the sixth bearing 234; 235 is sleeved with a third joint connecting piece 236, and the third joint connecting piece 236 is used to connect the tail part 3; in addition, on the short sides of the fifth base 231 and the sixth base 232 One through hole is respectively provided, which is the third fixing hole 46 .
  • the first motor assembly 11 is connected to the first rotary joint 21 through the first pull cord 31 and drives the first rotary joint 21 to move, wherein the first pull cord 31 is sleeved on the On the first cable reel 112 on the first motor 111, its two ends pass through the third connection hole 113 and the fourth connection hole 114 on the first protrusion 115 on the first motor 111 respectively, and respectively Pass through the first fixing hole 41 on the first rotating joint 21 , so as to be sleeved on the first joint rotating shaft 215 on the first rotating joint 21 .
  • the second motor assembly 12 is connected to the second rotary joint 22 through the second pull cord 32 and drives the second rotary joint 22 to move, wherein the second pull cord 32 is sleeved on the On the second cable reel 122 on the second motor 121, its two ends respectively pass through the fifth connection hole 123 and the sixth connection hole 114 on the second protrusion 125 on the second motor 121, and respectively passing through the first constraint hole 42 on the first rotary joint 21 and the second fixing hole 44 on the second rotary joint 22 , so that all the on the second joint shaft 225.
  • the third motor assembly 13 is connected to the third rotary joint 23 through a third pull cord 33 and drives the third rotary joint 23 to move, wherein the third pull cord 33 is sleeved on the On the third cable reel 132 on the third motor 131, its two ends pass through the first connection hole 133 and the second connection hole 134 on the third protrusion 135 on the third motor 131 respectively, and respectively Through the second constraint hole 43 on the first rotary joint 21, the third constraint hole 45 on the second rotary joint 22, and finally through the third constraint hole 45 on the third rotary joint 23
  • the third fixing hole 46 is sleeved on the third joint rotating shaft 235 on the third rotating joint 23 .
  • the first pull cord 31 includes a first wire tube 311 and a first cable 312, and a first wire tube cap 313 and a second wire tube cap 314 are arranged at both ends of the first wire tube 311, respectively.
  • the cables 312 are arranged through the first wire tube 311 .
  • first pipe caps 313 of the two first pull cords 31 on both sides are respectively fixed in the third connection hole and the fourth connection hole, and the two first pull cords 31
  • the second cable tube caps are respectively fixed in the two first fixing holes 41 of the first base, so that the first cable 312 can move freely in the first cable tube 311 .
  • the second pull cord 32 includes a second wire tube and a second cable, and a third wire tube cap and a fourth wire tube cap are respectively arranged at both ends of the second wire tube, and the second cable is passed through set through the second wire tube; wherein, the third wire tube caps of the two second pull cords 32 on both sides are respectively fixed in the fifth connection hole and the sixth connection hole, and the two The fourth wire tube caps of the second pull cord 32 are respectively fixed in the two second fixing holes 44 of the second base, so that the second cable can move freely in the second wire tube .
  • the third pull cord 33 includes a third wire tube and a third cable, a fifth wire tube cap and a sixth wire tube cap are respectively arranged at both ends of the third wire tube, and the third cable passes through the
  • the third wire pipe is provided, wherein, the fifth wire pipe caps of the two third pull cords 33 located on both sides are respectively fixed in the first connection hole and the second connection hole, and the two third pull cords 33 are respectively fixed in the first connection hole and the second connection hole.
  • the sixth wire tube caps of the pull cord 33 are respectively fixed in the two third fixing holes 46 of the third base, so that the third cable can move freely in the third wire tube.
  • each wire tube here ensures that the pull cord structure can adapt to the deformation movement of, for example, the 3 joints at the tail, and the cables in the wire tube can slide freely inside the wire tube, thereby accurately transmitting the motion of the driving motor to each rotating joint.
  • the rotating shaft realizes the precise control of the rotating shaft.
  • each joint in the body part and the tail part of the bionic aircraft in the embodiment of the present disclosure is driven by the motor part located in the head 1 as the driving device, specifically, the first motor assembly 11,
  • the second motor assembly 12 and the third motor assembly 13 independently drive the first rotary joint through the first pull cord 31 , the second pull cord 32 and the third pull cord 33 respectively.
  • the movement of the second rotary joint 22 and the third rotary joint 23 so as to realize the swing of the biomimetic aircraft, for example, to simulate fish.
  • the embodiment of the present disclosure through the corresponding arrangement of the motor at the head and the rotating joint at the middle and the multi-joint transmission mode, on the one hand reduces the inertia of the tail motion of the bionic aircraft, and on the other hand moves the overall center of gravity forward to reduce bionic navigation.
  • the swing movement of the head during the driving process of the bionic vehicle can realize the effect of flexible bionics and improve the propulsion performance of the bionic vehicle.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)

Abstract

一种仿生航行器，其包括头部（1）和本体部（2），头部（1）包括第一壳体（10），在第一壳体（10）内设置电机部，电机部包括多个电机组件（11，12，13），本体部（2）包括第二壳体，在第二壳体中设置与多个电机组件（11，12，13）对应的多个转动关节（21，22，23），多个转动关节（21，22，23）在沿着仿生航行器的长度方向上依次连接，最下游的转动关节（23）与尾部（3）连接，每个电机组件（11，12，13）通过两条拉绳（31，32，33）与对应的转动关节（21，22，23）连接并驱动转动关节（21，22，23）运动，两条拉绳（31，32，33）分别位于本体部（2）的两侧。

Description

一种仿生航行器 技术领域
本公开涉及主要用于水中的航行器装置领域，特别涉及一种仿生航行器。
背景技术
在现有的用于水下的航行器的结构中，往往驱动装置和运动装置不能协调控制，导致不能使得航行器实现例如鱼类的复杂的运动或者摆动。
发明内容
本公开实施例的目的在于提供一种仿生航行器，以解决现有技术中存在的驱动装置不能和运动装置相互协调控制的问题。
为了解决上述技术问题，本公开的实施例采用了如下技术方案：
一种仿生航行器，其包括头部和本体部，所述头部包括第一壳体，在所述第一壳体内设置电机部，所述电机部包括多个电机组件，所述本体部包括第二壳体，在所述第二壳体中设置与多个所述电机组件对应的多个转动关节，多个所述转动关节在沿着所述仿生航行器的长度方向上依次连接，最下游的所述转动关节与尾部连接，每个所述电机组件通过两条拉绳与对应的所述转动关节连接并驱动所述转动关节运动，两条所述拉绳分别位于所述本体部的两侧。
在一些实施例中，所述电机组件包括电机，在所述电机的输出轴上套设线缆盘，两条所述拉绳中每条所述拉绳的第一端套设在所述线缆盘上，第二端与对应的所述转动关节连接。
在一些实施例中，在所述电机的输出侧的端面上设置凸起部，在所述凸起部上设置第一连接孔和第二连接孔，两条所述拉绳的所述第二端分别穿过所述第一连接孔和所述第二连接孔与对应的所述转动关节连接。
在一些实施例中，所述转动关节包括呈U型的第一基座和第二基座， 所述第一基座和所述第二基座相互拼接形成基座部，位于所述第一基座一侧的长边和位于所述第二基座同一侧的长边相互拼接后形成第一轴承，位于所述第一基座另一侧的长边和位于所述第二基座同一侧的长边相互拼接后形成第二轴承，所述第一轴承和所述第二轴承相对设置，在所述第一轴承和所述第二轴承之间设置关节转轴，所述关节转轴在所述第一轴承和所述第二轴承之间转动。
在一些实施例中，所述拉绳的所述第二端套设在所述关节转轴上。
在一些实施例中，在所述关节转轴上套设有关节连接件，所述关节连接件用于连接相邻的位于下游的所述转动关节或者所述尾部。
在一些实施例中，在所述第一基座和所述第二基座的短边上分别设置第一拉绳约束部和第二拉绳约束部，所述第一拉绳约束部和所述第二拉绳约束部分别突出所述第一基座和所述第二基座的端面设置，在所述第一拉绳约束部和所述第二拉绳约束部上分别设置多个通孔，所述通孔用于固定或者约束所述拉绳。
在一些实施例中，在所述第一基座和所述第二基座的短边上分别设置至少一个通孔，所述通孔用于固定或者约束所述拉绳。
在一些实施例中于，所述拉绳包括线管和线缆，在所述线管的两端分别设置第一线管帽和第二线管帽，所述线缆穿过所述线管并在所述线管中自由移动，所述第一线管帽和所述第二管线帽固定在指定的所述通孔中。
在一些实施例中，所述电机组件或者所述转动关节的数量为3个。
与现有技术相比，本公开实施例通过位于头部的电机与位于中部的转动关节的对应布置以及多关节的传动方式，一方面降低仿生航行器的尾部运动的惯性，另一方面将整体重心前移从而降低仿生航行器在驱动过程中头部的摆动运动，实现灵活仿生的效果，且改善仿生航行器的推进性能。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得 其他的附图。
图1为本公开实施例的仿生航行器的结构示意图；
图2为本公开实施例的仿生航行器的结构示意图；
图3为本公开实施例的仿生航行器的结构剖视图；
图4为本公开实施例的轮仿生航行器中第三电机组件的结构示意图；
图5为本公开实施例的轮仿生航行器中第一转动关节的的结构示意图；
图6为本公开实施例的轮仿生航行器中第一转动关节的的结构示意图；
图7为本公开实施例的轮仿生航行器中第二转动关节的的结构示意图；
图8为本公开实施例的轮仿生航行器中第二转动关节的的结构示意图；
图9为本公开实施例的轮仿生航行器中第三转动关节的的结构示意图；
图10为本公开实施例的轮仿生航行器中第三转动关节的的结构示意图；
图11为本公开实施例的轮仿生航行器中第一拉绳的结构示意图。
附图标记：
1-头部；11-第一电机组件；12-第二电机组件；13-第三电机组件；131-第三电机；132-第三线缆盘；133-第一连接孔；134-第二连接孔；135-凸起部；2-本体部；21-第一转动关节；211-第一基座；212-第二基座；213-第一轴承；214-第二轴承；215-第一关节转轴；216-第一关节连接件；217-第一拉绳约束部；218-第二拉绳约束部；22-第二转动关节；221-第三基座；222-第四基座；223-第三轴承；224-第四轴承；225-第二关节转轴；226-第二关节连接件；227-第三拉绳约束部；228-第四拉绳约束部；23-第三转动关节；231-第五基座；232-第六基座；233-第五轴承；234-第六轴承；235-第三关节转轴；236-第三关节连接件；3-尾部；31-第一拉绳；32-第二拉绳；33-第三拉绳；41-第一固定孔；42-第一约束孔；43-第二约束孔；44-第二固定孔；45-第三约束孔；46-第三固定孔。
具体实施方式
此处参考附图描述本公开的各种方案以及特征。
应理解的是，可以对此处申请的实施例做出各种修改。因此，上述说明书不应该视为限制，而仅是作为实施例的范例。本领域的技术人员将想到在本公开的范围和精神内的其他修改。
包含在说明书中并构成说明书的一部分的附图示出了本公开的实施例，并且与上面给出的对本公开的大致描述以及下面给出的对实施例的详细描述一起用于解释本公开的原理。
通过下面参照附图对给定为非限制性实例的实施例的优选形式的描述，本公开的这些和其它特性将会变得显而易见。
还应当理解，尽管已经参照一些具体实例对本公开进行了描述，但本领域技术人员能够确定地实现本公开的很多其它等效形式，它们具有如权利要求所述的特征并因此都位于借此所限定的保护范围内。
当结合附图时，鉴于以下详细说明，本公开的上述和其他方面、特征和优势将变得更为显而易见。
此后参照附图描述本公开的具体实施例；然而，应当理解，所申请的实施例仅仅是本公开的实例，其可采用多种方式实施。熟知和/或重复的功能和结构并未详细描述以避免不必要或多余的细节使得本公开模糊不清。因此，本文所申请的具体的结构性和功能性细节并非意在限定，而是仅仅作为权利要求的基础和代表性基础用于教导本领域技术人员以实质上任意合适的详细结构多样地使用本公开。
本说明书可使用词组“在一种实施例中”、“在另一个实施例中”、“在又一实施例中”或“在其他实施例中”，其均可指代根据本公开的相同或不同实施例中的一个或多个。
本公开实施例提供一种仿生航行器，其主要用于水中航行，如图1-图3所示，所述仿生航行器包括头部1和本体部2，其中，所述头部1位于所述仿生航行器的前部，其包括第一壳体10，在所述第一壳体10内设置电机部，所述电机部包括至少一个电机组件，在本实施例中，所述电机部包括第一电机组件11、第二电机组件12以及第三电机组件13；优选的是，所述第三电机组件13位于所述头部1的前部，所述第一电机组件11和所述第二电机组件12相互贴合设置并位于所述头部1的后部。
所述本体部2包括第二壳体，在所述第二壳体中至少一个转动关节，每个所述转动关节与所述电机组件一一对应，在本实施例中，所述第二壳体中设置第一转动关节21、第二转动关节22以及第三转动关节23，其中，所述第一转动关节21、所述第二转动关节22以及所述第三转动关节23在沿着所述仿生航行器的长度方向上依次连接，其中，所述第三转动关节 23与尾部3连接。
进一步地，每个所述电机组件通过至少两条拉绳与对应的所述转动关节连接并驱动所述转动关节运动，两条所述拉绳分别位于所述本体部的两侧。在本实施例中，所述第一电机组件11通过两个第一拉绳31与所述第一转动关节21连接并驱动所述第一转动关节21运动，所述第二电机组件12通过两个第二拉绳32与所述第二转动关节22连接并驱动所述第二转动关节22运动，所述第三电机组件13通过两个第三拉绳33与所述第三转动关节23连接并驱动所述第三转动关节23运动。
进一步地，所述第一电机组件11、所述第二电机组件12以及所述第三电机组件13的结构大致相同，首先以所述第三电机组件13为例介绍具体结构。
如图4所示，所述第三电机组件13包括第三电机131，在所述第三电机131的输出轴上套设第三线缆盘132，所述第三线缆盘132随着所述第三电机131的输出轴共同转动；在所述第三电机131的输出侧的端面上设置第三凸起部135，所述第三凸起部135可以单独设置在所述第三电机131的端面上，也可以与所述第三电机131的外壳体一体形成；在所述凸起部135上设置第一连接孔133和第二连接孔134。由于所述第三电机组件13通过第三拉绳33与所述第三转动关节23连接并驱动所述第三转动关节23运动，所述第三拉绳33套设在所述第三线缆盘132上，所述第三拉绳33的两端分别穿过所述第一连接孔133和所述第二连接孔134后与位于所述本体部2中的所述第三转动关节23连接。
同样地，参照所述第三电机组件13的结构，所述第一电机组件11包括第一电机，在所述第一电机的输出轴上套设第一线缆盘，所述第一线缆盘随着所述第一电机的输出轴共同转动；在所述第一电机的输出侧的端面上设置第一凸起部，所述第一凸起部可以单独设置在所述第一电机的端面上，也可以与所述第一电机的外壳体一体形成；在所述第一凸起部上设置第三连接孔和第四连接孔。由于所述第一电机组件11通过第一拉绳31与所述第一转动关节21连接并驱动所述第一转动关节21运动，所述第一拉绳31套设在所述第一线缆盘上，所述第一拉绳31的两端分别穿过所述第三连接孔和所述第四连接孔后与位于所述本体部2中的所述第一转动关节21连接。
同样地，参照所述第三电机组件13的结构，所述第二电机组件12包括第二电机，在所述第二电机的输出轴上套设第二线缆盘，所述第二线缆盘随着所述第二电机的输出轴共同转动；在所述第二电机的输出侧的端面上设置第二凸起部，所述第二凸起部可以单独设置在所述第二电机的端面上，也可以与所述第二电机的外壳体一体形成；在所述第二凸起部上设置第五连接孔和第六连接孔。由于所述第二电机组件21通过第二拉绳32与所述第二转动关节22连接并驱动所述第二转动关节22运动，所述第二拉绳32套设在所述第二线缆盘上，所述第二拉绳32的两端分别穿过所述第五连接孔和所述第六连接孔后与位于所述本体部2中的所述第二转动关节22连接。
进一步地，如图5和图6所示，图5和图6分别从两个方向示出了所述第一转动关节21的结构。所述第一转动关节21包括呈U型的第一基座211和第二基座212，所述第一基座211和所述第二基座212可以相互拼接形成第一基座部；位于所述第一基座211一侧的长边和位于所述第二基座212同一侧的长边相互拼接后形成第一轴承213，位于所述第一基座211另一侧的长边和位于所述第二基座212同一侧的长边相互拼接后形成第二轴承214，所述第一轴承213和所述第二轴承214相对设置，在所述第一轴承213和所述第二轴承214之间设置第一关节转轴215，所述第一关节转轴215可以在所述第一轴承213和所述第二轴承214之间转动；在所述第一关节转轴215上套设有第一关节连接件216，所述第一关节连接件216用于连接所述第二转动关节22；此外，在所述第一基座211和所述第二基座212的短边上分别设置第一拉绳约束部217和第二拉绳约束部218，所述第一拉绳约束部217和所述第二拉绳约束部218分别突出所述第一基座211和所述第二基座212的端面设置，在所述第一拉绳约束部217和所述第二拉绳约束部218上分别设置三个通孔，三个所述通孔分别是第一固定孔41、第一约束孔42和第二约束孔43，其中，所述第一固定孔41靠近所述第一基座211和所述第二基座212设置，所述第一约束孔42和所述第二约束孔43靠近所述第一拉绳约束部217或者所述第二拉绳约束部218的外侧设置。
进一步地，如图7和图8所示，图7和图8分别从两个方向示出了所述第二转动关节22的结构；所述第二转动关节22包括呈U型的第三基座 221和第四基座222，所述第三基座221和所述第四基座222可以相互拼接形成第二基座部，其中，所述第一关节连接件216与所述第二基座部活动连接；位于所述第三基座221一侧的长边和位于所述第四基座222同一侧的长边相互拼接后形成第三轴承223，位于所述第三基座221另一侧的长边和位于所述第四基座222同一侧的长边相互拼接后形成第四轴承224，所述第三轴承223和所述第四轴承224相对设置，在所述第三轴承223和所述第四轴承224之间设置第二关节转轴225，所述第二关节转轴225可以在所述第三轴承223和所述第四轴承224之间转动；在所述第二关节转轴225上套设有第二关节连接件226，所述第二关节连接件226用于连接所述第三转动关节23；此外，在所述第三基座221和所述第四基座222的短边上分别设置第三拉绳约束部227和第四拉绳约束部228，所述第三拉绳约束部227和所述第四拉绳约束部228分别突出所述第三基座221和所述第四基座222的端面设置，在所述第三拉绳约束部227和所述第四拉绳约束部228上分别设置两个通孔，两个所述通孔分别是第二固定孔44和第三约束孔45，其中，所述第二固定孔44靠近所述第三基座221和所述第四基座222设置，所述第三约束孔45分别靠近所述第三拉绳约束部227或者所述第四拉绳约束部228的外侧设置。
进一步地，如图9和图10所示，图9和图10分别从两个方向示出了所述第三转动关节23的结构；所述第二转动关节23包括呈U型的第五基座231和第六基座232，所述第五基座231和所述第六基座232可以相互拼接形成第三基座部，其中，所述第二关节连接件226与所述第三基座部活动连接；位于所述第五基座231一侧的长边和位于所述第六基座232同一侧的长边相互拼接后形成第五轴承233，位于所述第五基座231另一侧的长边和位于所述第六基座232同一侧的长边相互拼接后形成第六轴承234，所述第五轴承233和所述第六轴承234相对设置，在所述第五轴承233和所述第六轴承234之间设置第三关节转轴235，所述第三关节转轴235可以在所述第五轴承233和所述第六轴承234之间转动；在所述第三关节转轴235上套设有第三关节连接件236，所述第三关节连接件236用于连接所述尾部3；此外，在所述第五基座231和所述第六基座232的短边上分别设置一个通孔，所述通孔是第三固定孔46。
如上所述，所述第一电机组件11通过第一拉绳31与所述第一转动关 节21连接并驱动所述第一转动关节21运动，其中，所述第一拉绳31套设在所述第一电机111上的第一线缆盘112上，其两端分别穿过所述第一电机111上的第一突起部115上的第三连接孔113和第四连接孔114，并分别穿过所述第一转动关节21上的所述第一固定孔41，从而套设在所述第一转动关节21上的所述第一关节转轴215上。
同理地，所述第二电机组件12通过第二拉绳32与所述第二转动关节22连接并驱动所述第二转动关节22运动，其中，所述第二拉绳32套设在所述第二电机121上的第二线缆盘122上，其两端分别穿过所述第二电机121上的第二突起部125上的第五连接孔123和第六连接孔114，并分别穿过所述第一转动关节21上的所述第一约束孔42以及所述第二转动关节22上的所述第二固定孔44，从而套设在所述第二转动关节22上的所述第二关节转轴225上。
同理地，所述第三电机组件13通过第三拉绳33与所述第三转动关节23连接并驱动所述第三转动关节23运动，其中，所述第三拉绳33套设在所述第三电机131上的第三线缆盘132上，其两端分别穿过所述第三电机131上的第三突起部135上的第一连接孔133和第二连接孔134，并分别穿过所述第一转动关节21上的所述第二约束孔43、所述第二转动关节22上的所述第三约束孔45，最后穿过所述第三转动关节23上的所述第三固定孔46，从而套设在所述第三转动关节23上的所述第三关节转轴235上。
进一步地，如图11所示，所述第一拉绳31、所述第二拉绳32以及所述第三拉绳33的结构相同，下面以所述第一拉绳31为例介绍其具体结构。所述第一拉绳31包括第一线管311和第一线缆312，在所述第一线管311的两端分别设置第一线管帽313和第二线管帽314，所述第一线缆312穿过所述第一线管311设置。其中，位于两侧的两个所述第一拉绳31的第一线管帽313分别固定在所述第三连接孔和所述第四连接孔中，两个所述第一拉绳31的第二线管帽分别固定在所述第一基座的两个所述第一固定孔41中，这样，所述第一线缆312在所述第一线管311中可以自由移动。
同理地，所述第二拉绳32包括第二线管和第二线缆，在所述第二线管的两端分别设置第三线管帽和第四线管帽，所述第二线缆穿过所述第二 线管设置；其中，位于两侧的两个所述第二拉绳32的第三线管帽分别固定在所述第五连接孔和所述第六连接孔中，两个所述第二拉绳32的第四线管帽分别固定在所述第二基座的两个所述第二固定孔44中，这样，所述第二线缆在所述第二线管中可以自由移动。
所述第三拉绳33包括第三线管和第三线缆，在所述第三线管的两端分别设置第五线管帽和第六线管帽，所述第三线缆穿过所述第三线管设置，其中，位于两侧的两个所述第三拉绳33的第五线管帽分别固定在所述第一连接孔和所述第二连接孔中，两个所述第三拉绳33的第六线管帽分别固定在所述第三基座的两个所述第三固定孔46中，这样，所述第三线缆在所述第三线管中可以自由移动。
这样，这里的每个线管保证拉绳结构能够适应例如尾部3关节的变形运动，在线管内的线缆可在线管内部自由滑动，从而将驱动的电机的运动精准传递到每个转动关节上的转轴，实现转轴精准控制。
本公开实施例的所述仿生航行器的本体部以及尾部中各关节的运动都是通过位于所述头部1中的电机部作为驱动装置进行驱动，具体地，所述第一电机组件11、所述第二电机组件12以及所述第三电机组件13分别通过所述第一拉绳31、所述第二拉绳32以及所述第三拉绳33分别实现独立驱动所述第一转动关节21、所述第二转动关节22以及所述第三转动关节23的运动，从而实现仿生航行器例如实现模拟鱼类的摆动。
本公开实施例通过位于头部的电机与位于中部的转动关节的对应布置以及多关节的传动方式，一方面降低仿生航行器的尾部运动的惯性，另一方面将整体重心前移从而降低仿生航行器在驱动过程中头部的摆动运动，实现灵活仿生的效果，且改善仿生航行器的推进性能。
以上描述仅为本公开的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本公开中所涉及的公开范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述公开构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。
尽管已经采用特定于结构特征和/或方法逻辑动作的语言描述了本主题，但是应当理解所附权利要求书中所限定的主题未必局限于上面描述的 特定特征或动作。相反，上面所描述的特定特征和动作仅仅是实现权利要求书的示例形式。
以上对本公开多个实施例进行了详细说明，但本公开不限于这些具体的实施例，本领域技术人员在本公开构思的基础上，能够做出多种变型和修改实施例，这些变型和修改都应落入本公开所要求保护的范围。

Claims (10)

  1. 一种仿生航行器，其包括头部和本体部，其特征在于，所述头部包括第一壳体，在所述第一壳体内设置电机部，所述电机部包括多个电机组件，所述本体部包括第二壳体，在所述第二壳体中设置与多个所述电机组件对应的多个转动关节，多个所述转动关节在沿着所述仿生航行器的长度方向上依次连接，最下游的所述转动关节与尾部连接，每个所述电机组件通过至少两条拉绳与对应的所述转动关节连接并驱动所述转动关节运动，两条所述拉绳分别位于所述本体部的两侧。
  2. 根据权利要求1所述的仿生航行器，其特征在于，所述电机组件包括电机，在所述电机的输出轴上套设线缆盘，两条所述拉绳中每条所述拉绳的第一端套设在所述线缆盘上，第二端与对应的所述转动关节连接。
  3. 根据权利要求2所述的仿生航行器，其特征在于，在所述电机的输出侧的端面上设置凸起部，在所述凸起部上设置第一连接孔和第二连接孔，两条所述拉绳的所述第二端分别穿过所述第一连接孔和所述第二连接孔与对应的所述转动关节连接。
  4. 根据权利要求2所述的仿生航行器，其特征在于，所述转动关节包括呈U型的第一基座和第二基座，所述第一基座和所述第二基座相互拼接形成基座部，位于所述第一基座一侧的长边和位于所述第二基座同一侧的长边相互拼接后形成第一轴承，位于所述第一基座另一侧的长边和位于所述第二基座同一侧的长边相互拼接后形成第二轴承，所述第一轴承和所述第二轴承相对设置，在所述第一轴承和所述第二轴承之间设置关节转轴，所述关节转轴在所述第一轴承和所述第二轴承之间转动。
  5. 根据权利要求4所述的仿生航行器，其特征在于，所述拉绳的所述第二端套设在所述关节转轴上。
  6. 根据权利要求4所述的仿生航行器，其特征在于，在所述关节转轴上套设有关节连接件，所述关节连接件用于连接相邻的位于下游的所述转动关节或者所述尾部。
  7. 根据权利要求4所述的仿生航行器，其特征在于，在所述第一基座和所述第二基座的短边上分别设置第一拉绳约束部和第二拉绳约束部，所述第一拉绳约束部和所述第二拉绳约束部分别突出所述第一基座和所述第二基座的端面设置，在所述第一拉绳约束部和所述第二拉绳约束部上分别设置多个通孔，所述通孔用于固定或者约束所述拉绳。
  8. 根据权利要求4所述的仿生航行器，其特征在于，在所述第一基座和所述第二基座的短边上分别设置至少一个通孔，所述通孔用于固定或者约束所述拉绳。
  9. 根据权利要求7或8所述的仿生航行器，其特征在于，所述拉绳包括线管和线缆，在所述线管的两端分别设置第一线管帽和第二线管帽，所述线缆穿过所述线管并在所述线管中自由移动，所述第一线管帽和所述第二管线帽固定在指定的所述通孔中。
  10. 根据权利要求1所述的仿生航行器，其特征在于，所述电机组件或者所述转动关节的数量为3个。
PCT/CN2021/118324 2021-09-14 2021-09-14 一种仿生航行器 WO2023039724A1 (zh)

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GB126231A (en) * 1918-09-10 1919-05-08 Thomas Leask New or Improved Means for the Propulsion of Boats and similar Vessels.
CN102815388A (zh) * 2012-08-27 2012-12-12 百力科技有限公司 线驱动多关节仿鱼尾水下推进装置及其仿生机构
CN106143851A (zh) * 2016-07-05 2016-11-23 杭州畅动智能科技有限公司 仿生机器鱼
CN106697240A (zh) * 2016-12-27 2017-05-24 中电科海洋信息技术研究院有限公司 一种仿生鱼型机器人推进系统及仿生鱼型机器人
CN109110095A (zh) * 2018-08-09 2019-01-01 哈尔滨工业大学 一种张拉整体式摆动推进机构
CN110937092A (zh) * 2019-12-12 2020-03-31 华南理工大学 一种多模态仿生拉线机器鱼的cpg控制方法及机器鱼
CN214165269U (zh) * 2021-01-18 2021-09-10 兰州交通大学 一种拉线式机器鱼多关节机构

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB126231A (en) * 1918-09-10 1919-05-08 Thomas Leask New or Improved Means for the Propulsion of Boats and similar Vessels.
CN102815388A (zh) * 2012-08-27 2012-12-12 百力科技有限公司 线驱动多关节仿鱼尾水下推进装置及其仿生机构
CN106143851A (zh) * 2016-07-05 2016-11-23 杭州畅动智能科技有限公司 仿生机器鱼
CN106697240A (zh) * 2016-12-27 2017-05-24 中电科海洋信息技术研究院有限公司 一种仿生鱼型机器人推进系统及仿生鱼型机器人
CN109110095A (zh) * 2018-08-09 2019-01-01 哈尔滨工业大学 一种张拉整体式摆动推进机构
CN110937092A (zh) * 2019-12-12 2020-03-31 华南理工大学 一种多模态仿生拉线机器鱼的cpg控制方法及机器鱼
CN214165269U (zh) * 2021-01-18 2021-09-10 兰州交通大学 一种拉线式机器鱼多关节机构

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