CN114954875A - Frog-imitating underwater robot - Google Patents
Frog-imitating underwater robot Download PDFInfo
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- CN114954875A CN114954875A CN202210824379.2A CN202210824379A CN114954875A CN 114954875 A CN114954875 A CN 114954875A CN 202210824379 A CN202210824379 A CN 202210824379A CN 114954875 A CN114954875 A CN 114954875A
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 49
- 210000003414 extremity Anatomy 0.000 claims abstract description 47
- 210000003127 knee Anatomy 0.000 claims abstract description 36
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 53
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000006243 chemical reaction Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 2
- 210000003141 lower extremity Anatomy 0.000 abstract description 11
- 244000309466 calf Species 0.000 abstract description 10
- 210000003194 forelimb Anatomy 0.000 description 25
- 230000009182 swimming Effects 0.000 description 14
- 230000009471 action Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 9
- 239000011664 nicotinic acid Substances 0.000 description 7
- 210000003813 thumb Anatomy 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 210000001364 upper extremity Anatomy 0.000 description 5
- 238000007667 floating Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 241000251468 Actinopterygii Species 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
- 241000282412 Homo Species 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 210000003371 toe Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/32—Flaps, pistons, or the like, reciprocating in propulsive direction
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/14—Control of attitude or depth
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- 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
- B63G8/28—Arrangement of offensive or defensive equipment
- B63G8/34—Camouflage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
The invention discloses a frog-imitating underwater robot, wherein a control unit and a battery pack are arranged in a rack, a solar cell panel is arranged on the upper side of the rack, a camera is arranged on the lower side of the front end of the rack, a left front limb and a right front limb are respectively arranged on the left side and the right side of the front end of the rack and can swing and be positioned up and down, a left front thigh bar, a left knee, a left rear thigh bar and the rack in the left rear limb form a four-link structure, a left front calf bar, a left knee, a left rear calf bar and a left ankle joint form a four-link structure, a left sole is transversely arranged on the left ankle joint and can swing freely in a range of 0-70 degrees, and therefore, a left electric cylinder extends to enable the left sole to paddle backwards; the right front thigh rod, the right knee, the right rear thigh rod and the rack in the right hind limb form a four-bar structure, the right front calf rod, the right knee, the right rear calf rod and the right ankle joint form a four-bar structure, the right sole is transversely installed on the right ankle joint and can freely swing within the range of 0-70 degrees, and therefore the right electric cylinder extends to enable the right sole to paddle backwards.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a frog-imitating underwater robot.
Background
In recent years, in order to better adapt to different underwater environments and task requirements, research on the propulsion technology of the aquatic creatures is concerned by a plurality of scholars, and the successive research on the underwater bionic propulsion technology in different motion forms has very important research significance and practical value for continuously enriching and perfecting the underwater propulsion technology and widening the application range of the underwater robot. At present, various underwater robots simulating marine organisms are developed, however, most underwater robots still depend on propeller propulsion modes used by ships and the like, and the traditional propeller propulsion modes are large in propulsion noise, low in concealment and poor in environment adaptation capability. Many organisms in the nature undergo evolution for many years and elimination in the nature, and the motion mechanism of the organisms has incomparable advantages compared with the mechanical structure designed by human beings in the aspects of propulsion mode and propulsion efficiency. Therefore, the bionic robot using the creature as the prototype appears like a bamboo shoot in spring after rain. In the face of places where humans cannot easily arrive or are dangerous, if a robot can be used as a carrier of detection equipment, operation equipment, communication equipment and a weapon system while coping with a complex external environment, the robot can play an important role in the fields of military reconnaissance, energy exploration, anti-terrorism disaster relief, scientific research, meteorological detection and the like.
The aquatic organisms have various swimming mechanisms and propulsion modes after hundreds of thousands of years of evolution, and the underwater propulsion modes inspired by the evolution are also numerous and countless. The frog body is flat, the head is slightly sharp, and the shape is favorable for reducing underwater resistance in the swimming process and realizing the forward movement after breaking water. Compared with the forelimb, the frog hind limb has large length in the whole proportion, the hind limb is large and strong, and the web is arranged between the toes, thereby increasing the drainage area and realizing quick swimming. The frog can freely swim on the water surface and the water bottom through the reciprocating stretching movement of the legs by means of the propulsion mechanism of the sole and the hind limbs with the web. Meanwhile, the frog moves in a double-limb cooperative motion mode, the problems of lateral force and heavy floating center deviation in the swing process of the fish tail are solved, the organism runs more stably, and meanwhile, the biological frog can reach higher motion speed in a shorter time, so that potential danger of an underwater environment is avoided. The existing frog-imitating jumping mechanism takes pneumatic muscles as a driver, each joint is driven by one pneumatic muscle and one reset spring, and actions such as bionic leg kicking, leg retracting and the like of a frog can be completed. However, the floating robot can only move in a state of floating on the water surface, and cannot perform complicated operations such as submergence and floating.
The bionic frog rowing propulsion is an underwater propulsion mode with unique motion mode and wide application prospect. If the smart biological structure of the biological frog can be used for reference, the high-efficiency underwater motion mode of the biological frog is simulated based on the swimming mechanism, the defects of large volume and weight and poor flexibility of the traditional underwater robot can be overcome, and the bionic underwater robot with stronger environmental adaptability is created.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide the frog-simulated underwater robot which can realize the swimming in water by depending on the biological principle of a frog, can realize the actions of steering, floating, diving and the like, and has stronger bionic property and concealment.
The technical scheme adopted by the invention is as follows: the utility model provides an imitative frog underwater robot which characterized in that: the intelligent control system can control the underwater robot to move according to the environment of the underwater robot and the instruction of a controller, the communication module can realize man-machine interaction between the underwater robot and the controller, a battery pack is arranged in the middle of the rack, a solar panel is arranged on the upper side of the rack and can convert illumination into electric energy and charge the battery pack, a camera is arranged on the lower side of the front end of the rack, and a motor mounting plate is further arranged at the front end of the interior of the rack; the left front limb and the right front limb are respectively arranged on the left side and the right side of the front end of the frame and can swing up and down and be positioned, the rotating shaft is transversely arranged in the front end of the frame and can rotate freely, two ends of the rotating shaft are respectively and fixedly connected with the left front limb and the right front limb, a transmission column is arranged in the middle of the rotating shaft, eight transmission balls are uniformly distributed at the right end of the transmission column in the circumferential direction, a front limb motor is fixedly arranged on a motor mounting plate, a plurality of shifting teeth are uniformly distributed on the shifting wheel in the circumferential direction, the shifting wheel is coaxially and fixedly connected with an output shaft of the front limb motor, and the shifting teeth on the shifting wheel can be meshed with the transmission balls for transmission; a left front thigh rod, a left knee, a left rear thigh rod and a rack in the left rear limb form a four-bar structure, a left front calf rod, a left knee, a left rear calf rod and a left ankle joint form a four-bar structure, a left electric cylinder is installed between the rack and the left front thigh rod, a left slider and the left rear thigh rod form a moving pair, a left inner connecting rod is installed between the rack and the left slider, a left outer connecting rod is installed between the left front calf rod and the left slider, and a left sole is transversely installed on the left ankle joint and can freely swing within the range of 0-70 degrees, so that the left sole can be backwardly paddled by extending the left electric cylinder; the right front thigh rod, the right knee, the right rear thigh rod and the rack in the right hind limb form a four-bar structure, the right front calf rod, the right knee, the right rear calf rod and the right ankle joint form a four-bar structure, the right electric cylinder is installed between the rack and the right front thigh rod, the right slider and the right rear thigh rod form a moving pair, the right inner connecting rod is installed between the rack and the right slider, the right outer connecting rod is installed between the right front calf rod and the right slider, the right sole is transversely installed on the right ankle joint and can freely swing within the range of 0-70 degrees, and therefore the right electric cylinder extends to enable the right sole to paddle backwards.
Preferably, the lens in the camera can swing up and down and rotate in the circumferential direction to increase the field of view. The camera can transmit the image information shot to the control personnel through the communication module, so that the control personnel can analyze the information, and the control personnel can control the moving of the underwater robot.
Preferably, the front ends of the left front limb and the right front limb are respectively provided with an upwards-bent cambered surface, when the underwater robot swims forwards, water flows through the lower sides of the two front limbs, and the lifting force of the underwater robot during swimming is favorably improved.
Preferably, the left end of the transmission column is provided with a rotary groove, and an output shaft of the forelimb motor is in contact with the rotary groove, so that the deflection deformation of the rotary shaft can be reduced to a certain extent.
Preferably, the rear sides of the left rear thigh rod and the right rear thigh rod are respectively provided with a guide rail, and the left slider and the right slider are respectively arranged on the corresponding guide rails and form a sliding pair.
Preferably, the front sides of the left sole and the right sole are convex cylindrical cambered surfaces, so that when the soles move forwards, water flows through the front sides of the soles and the soles swing clockwise, and water flow resistance is reduced; the rear sides of the left sole and the right sole are concave cylindrical surfaces, when the soles move backwards and push water, the soles swing anticlockwise under the reaction force of the water, water can flow towards two sides at the moment, turbulent flow formed by the fact that the water flows towards the periphery is avoided, and the underwater robot can move forwards by the aid of the reaction force of the water pushing while stability is improved.
The invention has the beneficial effects that:
(1) the appearance and the swimming posture of the underwater robot have strong frog bionic characteristics, the underwater robot cannot be easily found due to strong concealment, the special tasks such as military investigation and the like can be favorably completed, in addition, the underwater robot can not only turn left and right, but also float up and submerge, and the swimming efficiency and the swimming flexibility are high in water.
(2) The underwater robot upside is equipped with solar cell panel, and solar cell panel can turn into the electric energy and charge for the group battery with illumination to can effectively increase underwater robot's duration.
(3) The forelimb motor accessible thumb wheel and the meshing of transmission ball realize the luffing motion and the location of left forelimb and right forelimb, and the outer end of transmission ball is the smooth sphere of stereoplasm to the thumb wheel is the multiple spot contact with the meshing of transmission ball, thereby can avoid impurity such as aquatic earth or pasture and water to block the thumb wheel and the meshing of transmission ball, and the swing that makes two forelimbs can fix a position has higher reliability.
(4) The front sides of the left sole and the right sole are convex cylindrical cambered surfaces, so that when the soles move forwards, water flows through the front sides of the left sole and the right sole, the soles swing clockwise, and water flow resistance is reduced; the rear sides of the left sole and the right sole are concave cylindrical surfaces, when the soles move backwards and push water, the soles swing anticlockwise under the reaction force of the water, water can flow towards two sides at the moment, turbulent flow formed by the fact that the water flows towards the periphery is avoided, and the underwater robot can move forwards by the aid of the reaction force of the water pushing while stability is improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention in the upper right viewing direction.
Fig. 2 is a schematic view of the overall structure of the right lower viewing direction of the present invention.
FIG. 3 is a schematic top view of the cross-sectional structure of the present invention.
Fig. 4 is an enlarged partial cross-sectional view of the thumb wheel position.
FIG. 5 is an enlarged partial view of the left ball of the foot.
FIG. 6 is a schematic view of the present invention in a forward swimming position.
Fig. 7 is a schematic view showing a state in which the present invention floats upward.
Reference numerals: 1 rack, 1.1 solar panel, 1.2 motor mounting plate, 2 right forelimb, 3 left forelimb, 4 left foreleg rod, 4.1 first connecting ear, 5 left knee, 6 left hind leg rod, 6.1 left guide rail, 7 left foreleg rod, 7.1 second connecting ear, 8 left outer connecting rod, 9 left hind leg rod, 10 left slider, 11 left inner connecting rod, 12 left sole, 12.1 first positioning surface, 12.2 second positioning surface, 13 left ankle joint, 13.1 third positioning surface, 13.2 fourth positioning surface, 14 right ankle joint, 15 right sole, 16 right hind leg rod, 17 right inner connecting rod, 18 right foreleg rod, 18.1 fourth connecting ear, 19 right slider, 20 right outer connecting rod, 21 right hind leg rod, 21.1 right guide rail, 22 right knee, 23 right foreleg rod, 23.1 third connecting ear, 24, 25 electric head, 29.26 electric cylinder, 29 electric cylinder driving head, 29.29 electric cylinder driving ball, 29.2 driving ball, motor driving unit, 29.1 electric cylinder driving ball, 29.2 driving ball unit, 29.1 driving ball, 29.3 rotary groove, 30 batteries and 31 right electric cylinder.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1 to 7, a frog-imitating underwater robot mainly comprises a frame 1, a right forelimb 2, a left forelimb 3, a left hind limb, a right hind limb, a camera 24, a forelimb motor 26, a dial wheel 27, a control unit 28, a rotating shaft 29 and a battery pack 30, wherein the frame 1 is a main structure of the underwater robot, the control unit 28 is arranged at the front end inside the frame 1, an intelligent control system and a communication module are integrated inside the control unit 28, the intelligent control system can control the swimming of the underwater robot according to the environment of the underwater robot and the instructions of a controller, the communication module can realize the man-machine interaction between the underwater robot and the controller, the battery pack 30 is arranged in the middle of the frame 1, the battery pack 30 can be charged and can provide electric energy for the underwater robot, a solar panel 1.1 is arranged on the upper side of the frame 1, the solar panel 1.1 can convert illumination into electric energy and charge the battery pack 30, thereby increasing the cruising ability of the underwater robot; the camera 24 is arranged at the lower side of the front end of the frame 1, and a lens in the camera 24 can swing up and down and rotate circumferentially to enlarge the visual field range; the front end in the frame 1 is also provided with a motor mounting plate 1.2.
As shown in fig. 2 and 3, the left front limb 3 is mounted on the left side of the front end of the frame 1 and can swing up and down, the front end of the left front limb 3 is provided with an upward curved surface, when the underwater robot moves forward, water flows through the lower side of the left front limb 3, so that the lifting force of the underwater robot during moving is favorably improved, and the right side surface of the left front limb 3 is an arc line attached to the frame 1, so that the area of the left front limb 3 is favorably increased; the right front limb 2 is arranged on the right side of the front end of the rack 1 and can swing up and down, the front end of the right front limb 2 is provided with an upward-bent cambered surface, when the underwater robot swims forwards, water flows through the lower side of the right front limb 2, so that the lifting force of the underwater robot during swimming is favorably improved, and the left side surface of the right front limb 2 is an arc line which is attached to the rack 1, so that the area of the right front limb 2 is favorably increased; the rotating shaft 29 is transversely installed in the front end of the frame 1 and can rotate freely, the left end of the rotating shaft 29 is fixedly connected with the rear end of the left front limb 3, and the right end of the rotating shaft 29 is fixedly connected with the rear end of the right front limb 2, so that the up-and-down swinging and positioning of the left front limb 3 and the right front limb 2 can be realized through the rotation of the rotating shaft 29.
As shown in fig. 3 and 4, a transmission column 29.1 is arranged in the middle of the rotating shaft 29, a rotary groove 29.3 is arranged at the left end of the transmission column 29.1, eight transmission balls 29.2 are uniformly distributed at the right end of the transmission column 29.1 in the circumferential direction, the outer end of each transmission ball is a hard smooth spherical surface, and each smooth spherical surface is connected with the transmission column 29.1 through a hard rod; the forelimb motor 26 is of a waterproof structure, a brake structure and an encoder are integrated in the forelimb motor 26, the brake structure can realize power-off locking of the forelimb motor 26 and realize locking and positioning of a motor output shaft, the encoder can record the rotation angle of the motor output shaft, and the forelimb motor 26 is fixedly mounted on the motor mounting plate 1.2 through screws; a plurality of shifting teeth are uniformly distributed on the shifting wheel 27 in the circumferential direction, the shifting wheel 27 is coaxially and fixedly connected with an output shaft of the front limb motor 26, the shifting teeth on the shifting wheel 27 can be meshed with the transmission ball 29.2 for transmission, and meanwhile, the front end of the output shaft of the front limb motor 26 is positioned in the rotary groove 29.3, so that the front limb motor 26 can realize the up-and-down swinging and positioning of the left front limb 3 and the right front limb 2 through the rotating shaft 29; the output shaft of the forelimb motor 26 is in contact with the rotary slot 29.3, so that the deflection deformation of the rotary shaft 29 can be reduced to a certain extent.
As shown in fig. 3, the left rear limb is mounted at the rear end of the left side of the underwater robot, and comprises a left front thigh rod 4, a left knee 5, a left rear thigh rod 6, a left front shank rod 7, a left outer connecting rod 8, a left rear shank rod 9, a left slider 10, a left inner connecting rod 11, a left sole 12, a left ankle joint 13 and a left electric cylinder 25, wherein a first connecting lug 4.1 is arranged at the front side of the right end of the left front thigh rod 4, and the right end of the left front thigh rod 4 is rotatably connected with the left side of the rear end of the frame 1; the left electric cylinder 25 is of a waterproof structure, an encoder is integrated in the left electric cylinder 25, the encoder can detect the elongation of the left electric cylinder 25, the front end of the left electric cylinder 25 is rotatably connected with the left side in the rack 1, and the rear end of the left electric cylinder 25 is rotatably connected with the first connecting lug 4.1; the left knee 5 is of a triangular structure, and the left end of the left front thigh rod 4 is rotatably connected with the front end of the left knee 5; the rear side of the left rear thigh rod 6 is provided with a left guide rail 6.1, the right end of the left rear thigh rod 6 is rotatably connected with the left side of the rear end of the frame 1, and the left end of the left rear thigh rod 6 is rotatably connected with the right end of the left knee 5, so that the left front thigh rod 4, the left knee 5, the left rear thigh rod 6 and the frame 1 form a four-bar linkage structure; the left front shank 7 is of a bent curved rod structure, a second connecting lug 7.1 is arranged on the front side of the front end of the left front shank 7, the front end of the left front shank 7 is rotatably connected with the right end of the left knee 5, and the rear end of the left front shank 7 is rotatably connected with the left ankle joint 13; the left rear shank rod 9 is of a curved rod structure the same as the left front shank rod 7, the front end of the left rear shank rod 9 is rotatably connected with the rear end of the left knee 5, and the rear end of the left rear shank rod 9 is rotatably connected with the left ankle joint 13, so that the left front shank rod 7, the left knee 5, the left rear shank rod 9 and the left ankle joint 13 form a four-bar structure; the left sliding block 10 is arranged on the left guide rail 6.1 and forms a moving pair; the left end of the left outer connecting rod 8 is rotationally connected with the second connecting lug 7.1, and the right end of the left outer connecting rod 8 is rotationally connected with the left sliding block 10; the left end of the left inner connecting rod 11 is rotatably connected with the left sliding block 10, and the right end of the left inner connecting rod 11 is rotatably connected with the left side of the rear end of the rack 1.
Therefore, when the left electric cylinder 25 extends, the left front thigh rod 4 can swing anticlockwise, so that the left knee 5 moves backwards, the left knee 5 drives the left rear thigh rod 6 to swing anticlockwise, the left slider 10 moves leftwards on the left guide rail 6.1 under the pushing action of the left inner connecting rod 11, the left outer connecting rod 8 pushes the left front shank rod 7 to rotate clockwise relative to the left knee 5, and finally the effect that the left ankle joint 13 moves backwards is achieved; when the left electric cylinder 25 is contracted, the left ankle joint 13 can be moved forward.
As shown in fig. 5 and 6, a smooth round hole is transversely formed at the rear end of the left ankle joint 13, a third positioning surface 13.1 and a fourth positioning surface 13.2 are arranged at the right end of the smooth round hole, and an included angle between the third positioning surface 13.1 and the fourth positioning surface 13.2 is 110 degrees; the right end of the upper side of the left sole 12 is provided with a round shaft, the round shaft is installed in a smooth round hole at the rear end of the left ankle joint 13 and can rotate freely, the right end of the round shaft is also provided with a first positioning surface 12.1 and a second positioning surface 12.2, and the first positioning surface 12.1 and the second positioning surface 12.2 are positioned on the same plane, so that the left sole 12 can swing within the range of 0-70 degrees; the front side of the left sole 12 is a convex cylindrical cambered surface, when the left sole 12 moves forwards, water flow can flow through the front side of the left sole 12, the left sole 12 swings clockwise to a position of 70 degrees, the first positioning surface 12.1 is in contact with the third positioning surface 13.1, and water flow resistance can be reduced; the rear side of the left sole 12 is a concave cylindrical surface, when the left sole 12 moves backwards and pushes water, under the reaction force of the water, the left sole 12 swings anticlockwise to a position of 0 degrees, the second positioning surface 12.2 is in contact with the fourth positioning surface 13.2, the water can flow to two sides, turbulence is prevented from being formed when the water flows around, and the underwater robot can move forwards by utilizing the reaction force of pushing the water while the stability is improved.
As shown in fig. 3, the rear right end of the right side of the underwater robot is provided with a rear right limb, the rear right limb comprises a right ankle joint 14, a right sole 15, a rear right lower leg rod 16, a right inner connecting rod 17, a right front lower leg rod 18, a right slider 19, a right outer connecting rod 20, a right rear upper leg rod 21, a right knee 22, a right front upper leg rod 23 and a right electric cylinder 31, wherein the front left side of the front left end of the right front upper leg rod 23 is provided with a third connecting lug 23.1, and the left end of the right front upper leg rod 23 is rotatably connected with the right side of the rear end of the frame 1; the right electric cylinder 31 is of a waterproof structure, an encoder is integrated in the right electric cylinder 31, the encoder can detect the elongation of the right electric cylinder 31, the front end of the right electric cylinder 31 is rotatably connected with the right side in the rack 1, and the rear end of the right electric cylinder 31 is rotatably connected with the third connecting lug 23.1; the right knee 22 is of a triangular structure, and the right end of the right front thigh rod 23 is rotatably connected with the front end of the right knee 22; a right guide rail 21.1 is arranged on the rear side of the right rear thigh rod 21, the left end of the right rear thigh rod 21 is rotatably connected with the right side of the rear end of the rack 1, and the right end of the right rear thigh rod 21 is rotatably connected with the left end of the right knee 22, so that the right front thigh rod 23, the right knee 22, the right rear thigh rod 21 and the rack 1 form a four-bar linkage structure; the right front shank 18 is of a bent curved rod structure, a fourth connecting lug 18.1 is arranged on the front side of the front end of the right front shank 18, the right end of the right front shank 18 is rotatably connected with the left end of a right knee 22, and the rear end of the right front shank 18 is rotatably connected with the right ankle joint 14; the right rear shank 16 is a curved rod structure the same as the right front shank 18, the front end of the right rear shank 16 is rotatably connected with the rear end of the right knee 22, and the rear end of the right rear shank 16 is rotatably connected with the right ankle joint 14, so that the right front shank 18, the right knee 22, the right rear shank 16 and the right ankle joint 14 form a four-bar linkage structure; the right sliding block 19 is arranged on the right guide rail 21.1 and forms a moving pair; the right end of the right outer connecting rod 20 is rotationally connected with the fourth connecting lug 18.1, and the left end of the right outer connecting rod 20 is rotationally connected with the right sliding block 19; the right end of the right inner connecting rod 17 is rotatably connected with the right sliding block 19, and the left end of the right inner connecting rod 17 is rotatably connected with the right side of the rear end of the frame 1.
Therefore, when the right electric cylinder 31 extends, the right front thigh rod 23 can swing clockwise, so that the right knee 22 moves backwards, the right knee 22 drives the right rear thigh rod 21 to swing clockwise, the right slider 19 moves rightwards on the right guide rail 21.1 under the pushing action of the right inner connecting rod 17, the right outer connecting rod 20 pushes the right front thigh rod 18 to rotate anticlockwise relative to the right knee 22, and finally, the effect that the right ankle joint 14 moves backwards is achieved; when right electric cylinder 31 contracts, right ankle joint 14 may move forward.
The structure of the right ankle joint 14 and the left ankle joint 13 are in left-right mirror symmetry, the structure of the right sole 15 and the left sole 12 are in left-right mirror symmetry, and the installation and limiting principles of the right sole 15 and the left ankle joint 13 are the same as those of the left sole 12 and the left ankle joint 13; when the right sole 15 moves forward, the water flow flows through the front side of the right sole and makes the right sole 15 swing clockwise to the position of 70 degrees, and the water flow resistance can be reduced; when the right sole 15 moves backwards and pushes water, the right sole 15 swings anticlockwise to the position of 0 degree under the reaction force of the water, at the moment, the water can flow to two sides, turbulence caused by the fact that the water flows around is avoided, stability is improved, and meanwhile the underwater robot can move forwards by the reaction force of pushing the water.
The swimming method of the underwater robot comprises the following steps:
when the underwater robot swims forwards, the left electric cylinder 25 and the right electric cylinder 31 extend simultaneously, so that the left sole 12 and the right sole 15 can be pushed backwards, and the underwater robot swims forwards under the action of water flow reaction force; the left electric cylinder 25 and the right electric cylinder 31 extend and contract in a reciprocating manner, so that the underwater robot can continuously move forwards;
when the underwater robot turns to the left, the right electric cylinder 31 independently extends and retracts in a reciprocating mode, so that the right sole 15 independently paddles backwards, and the underwater robot rotates to the left under the action of water flow reaction force;
when the underwater robot rotates rightwards, the left electric cylinder 25 independently extends and retracts in a reciprocating mode, so that the left sole 12 independently paddles backwards, and the underwater robot rotates rightwards under the action of water flow reaction force;
when the underwater robot floats upwards, as shown in fig. 7, the forelimb motor 26 drives the thumb wheel 27 to rotate clockwise, so that the front ends of the left forelimb 3 and the right forelimb 2 swing upwards, and therefore, in the process of swimming forwards, water flows through the lower sides of the left forelimb 3 and the right forelimb 2, and the underwater robot gradually floats upwards under the action of the water flow reaction force;
when the underwater robot dives deeply, the forelimb motor 26 drives the thumb wheel 27 to rotate anticlockwise, so that the front ends of the left forelimb 3 and the right forelimb 2 swing downwards, and therefore in the process that the underwater robot swims forwards, water flows through the upper sides of the left forelimb 3 and the right forelimb 2, and the underwater robot dives gradually under the action of the reaction force of the water flow.
Claims (6)
1. The utility model provides an imitative frog underwater robot which characterized in that mainly includes:
the intelligent control system can control the underwater robot to move according to the environment of the underwater robot and the instruction of a controller, the communication module can realize man-machine interaction between the underwater robot and the controller, a battery pack is arranged in the middle of the frame, a solar panel is arranged on the upper side of the frame and can convert illumination into electric energy and charge the battery pack, a camera is arranged on the lower side of the front end of the frame, and a motor mounting plate is further arranged at the front end inside the frame;
the left front limb and the right front limb are respectively arranged on the left side and the right side of the front end of the frame and can swing up and down and be positioned, the rotating shaft is transversely arranged in the front end of the frame and can rotate freely, two ends of the rotating shaft are respectively and fixedly connected with the left front limb and the right front limb, a transmission column is arranged in the middle of the rotating shaft, eight transmission balls are uniformly distributed at the right end of the transmission column in the circumferential direction, a front limb motor is fixedly arranged on a motor mounting plate, a plurality of shifting teeth are uniformly distributed on the shifting wheel in the circumferential direction, the shifting wheel is coaxially and fixedly connected with an output shaft of the front limb motor, and the shifting teeth on the shifting wheel can be meshed with the transmission balls for transmission;
the left rear limb, wherein a left front thigh rod, a left knee, a left rear thigh rod and the rack form a four-bar linkage structure, a left front shank rod, a left knee, a left rear shank rod and a left ankle joint form a four-bar linkage structure, a left electric cylinder is arranged between the rack and the left front thigh rod, a left slider and the left rear thigh rod form a moving pair, a left inner connecting rod is arranged between the rack and the left slider, a left outer connecting rod is arranged between the left front shank rod and the left slider, and a left sole is transversely arranged on the left ankle joint and can freely swing within the range of 0-70 degrees, so that the left electric cylinder extends to enable the left sole to paddle backwards;
the right rear limb, wherein the right front thigh rod, the right knee, the right rear thigh rod and the frame form a four-bar linkage structure, the right front shank rod, the right knee, the right rear shank rod and the right ankle joint form a four-bar linkage structure, the right electric cylinder is arranged between the frame and the right front thigh rod, the right slider and the right rear thigh rod form a moving pair, the right inner connecting rod is arranged between the frame and the right slider, the right outer connecting rod is arranged between the right front shank rod and the right slider, the right sole is transversely arranged on the right ankle joint and can freely swing within the range of 0-70 degrees, and therefore the right electric cylinder extends to enable the right sole to paddle backwards.
2. The frog-imitating underwater robot as claimed in claim 1, wherein: the lens in the camera can swing up and down and rotate in the circumferential direction to enlarge the visual field range.
3. The frog-imitating underwater robot as claimed in claim 1, wherein: the front ends of the left front limb and the right front limb are respectively provided with an upward-bent cambered surface, when the underwater robot moves forwards, water flows through the lower sides of the two front limbs, and the lifting force of the underwater robot during moving is improved.
4. The frog-imitating underwater robot as claimed in claim 1, wherein: the left end of the transmission column is provided with a rotary groove, and an output shaft of the front limb motor is in contact with the rotary groove, so that the deflection deformation of the rotary shaft can be reduced to a certain extent.
5. The frog-imitating underwater robot as claimed in claim 1, wherein: the rear sides of the left rear thigh rod and the right rear thigh rod are respectively provided with a guide rail, and the left slider and the right slider are respectively arranged on the corresponding guide rails and form a moving pair.
6. The frog-imitating underwater robot as claimed in claim 1, wherein: the front sides of the left sole and the right sole are convex cylindrical cambered surfaces, so that when the soles move forwards, water flows through the front sides of the left sole and the right sole, the soles swing clockwise, and water flow resistance is reduced; the rear sides of the left sole and the right sole are concave cylindrical surfaces, when the soles move backwards and push water, the soles swing anticlockwise under the reaction force of the water, water can flow towards two sides at the moment, turbulent flow formed by the fact that the water flows towards the periphery is avoided, and the underwater robot can move forwards by the aid of the reaction force of the water pushing while stability is improved.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210824379.2A CN114954875A (en) | 2022-07-14 | 2022-07-14 | Frog-imitating underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210824379.2A CN114954875A (en) | 2022-07-14 | 2022-07-14 | Frog-imitating underwater robot |
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