CN209142363U - Simulate pectoral fin system and bionic underwater robot - Google Patents
Simulate pectoral fin system and bionic underwater robot Download PDFInfo
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- CN209142363U CN209142363U CN201821746127.8U CN201821746127U CN209142363U CN 209142363 U CN209142363 U CN 209142363U CN 201821746127 U CN201821746127 U CN 201821746127U CN 209142363 U CN209142363 U CN 209142363U
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- spoke
- pectoral fin
- wobble component
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Abstract
The utility model proposes a kind of simulation pectoral fin system and bionic underwater robots, wherein, the simulation pectoral fin system includes the wobble component that at least one level can produce pendulum motion, and every grade of wobble component includes an at least section spoke, and every section spoke is provided with the actuator that the spoke can be driven to swing；The bionic underwater robot is based on the simulation pectoral fin system.The utility model realizes the submissive swing of pectoral fin multistage, and generates biggish motive force.
Description
Technical field
The utility model belongs to aquatic bionic field more particularly to a kind of bionic underwater robot.
Background technique
In order to expand national marine interests, ensure marine territory safely, lead ocean science development, promote marine economy increase
Long, country proposes " transparent ocean " plan, very big demand is produced to underwater robot, at this stage the drive of underwater robot
Dynamic part can substantially be divided into propeller formula and two kinds of bionic type.Traditional propeller formula is to generate driving force by propeller, is driven
Power is limited, and biggish noise and spray can be generated when blade rotation, and due to not having practical aquatic organism using class
Like the traveling of propeller formula, the abnormal water flow that propeller generates is easy to be caught in.
A kind of multi-joint actuation skeleton imitating cow-nosed ray is disclosed in 102303701 B of Chinese utility model patent CN, the drive
Dynamic skeleton is made of a trunk and eight movable joints, and eight movable joints are symmetrically arranged with trunk.On movable joint
Tangential driving fin ray use independent servo driving, realize every fin ray hunting frequency, amplitude of fluctuation, phase angle etc. join
It is flexible controllable on number.
Although the forms of motion of above-mentioned existing patent can realize forward direction travelling, left-hand travelling, dextrad travelling, overturning travelling and
Pitching travelling, but in the existing patent, steering engine is used to rotate, because steering engine revolving speed high torque is low, and bionic underwater robot
The pectoral fin of such as bionical devil ray, hunting frequency is very low, and about in 1Hz or so, and amplitude of fluctuation is at ± 45 degree or so, so
It is required that so that major part power in steering engine is wasted, and this kind is more larger than the steering engine size of retarder with big retarding, and weight weight, valence
Lattice are expensive.And due to three joint sliding blocks-rocker device in the existing patent be mechanism with single degree of freedom, motion profile be it is certain,
Therefore relatively fixed by the outside fluctuation of pectoral fin, do not have flexibility.
Summary of the invention
To solve the above-mentioned problems, the utility model provides a kind of simulation pectoral fin system and bionic underwater robot,
The utility model realizes the submissive swing of pectoral fin multistage, and generates biggish motive force.
In order to achieve the above object, the technical solution adopted in the utility model are as follows:
A kind of simulation pectoral fin system can produce the wobble component of pendulum motion, every grade of swing group including at least one level
Part includes an at least section spoke, and every section spoke is provided with the actuator that the spoke can be driven to swing.
As advanced optimizing for the utility model, the actuator is motor or hydraulic cylinder.
As advanced optimizing for the utility model, the motor is linear motor.
As advanced optimizing for the utility model, the spoke is rigid.
A kind of bionic underwater robot, including ontology, and the simulation pectoral fin system being installed on the ontology, the mould
Quasi- pectoral fin system is simulation pectoral fin system described in any of the above-described embodiment.
As advanced optimizing for the utility model, the simulation pectoral fin system includes 6-10 grades of wobble components, and right
Claim the left and right sides for being set to the ontology.
As advanced optimizing for the utility model, the wobble component on ontology described in every side includes being located at medium position
Level-one wobble component, and be symmetrical with the level-one wobble component up and down two sides secondary wobble component, wherein level-one swing
Spoke quantity in component is more than the quantity of secondary wobble component.
As advanced optimizing for the utility model, the level-one wobble component includes three section spokes, on every section spoke
It is provided with the actuator that the spoke can be driven to swing.
As advanced optimizing for the utility model, the secondary wobble component includes at least one level wobble component.
It further comprise the crust being coated on outside bionic underwater robot as advanced optimizing for the utility model.
As advanced optimizing for the utility model, the crust is elastic material.
As advanced optimizing for the utility model, video camera is provided in the ontology.
As advanced optimizing for the utility model, the ontology and the simulation pectoral fin system in combination are formed as devil ray
Shape.
Compared with prior art, it the advantages of the utility model and has the active effect that
1, the simulation pectoral fin system of the utility model has the multistage wobble component formed by actuator connected spoke,
Wobble component includes an at least section, by the flexible of every level-one wobble component, submissive swing is generated to simulate pectoral fin, to generate
Biggish motive force.
2, the simulation pectoral fin system of the utility model, spoke use rigid spoke, and by controlling wobble components at different levels
The phase difference of middle actuator on the appearance opportunity for each step velocity maximum value that is staggered, significantly reduces the maximum speed of distal end.
3, the bionic underwater robot of the utility model, which employs the simulation pectoral fin systems of the utility model, realize
The submissive swing of bionic underwater robot.
4, the control method of the utility model bionic underwater robot, by controlling actuator in each section wobble component
Between phase difference, can produce approximate swing flexible, small to spoke intensity requirement, structure is simple.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram that the utility model simulates pectoral fin system；
Fig. 2 is the lines schematic diagram of the utility model bionic underwater robot；
Fig. 3 is the structural schematic diagram of the utility model bionic underwater robot；
Fig. 4 is the swing schematic diagram of the utility model bionic underwater robot.
In above each figure: 1, wobble component；11, spoke；12, actuator；2, ontology；3, crust；4, level-one oscillating rod group
Part；5, secondary wobble component.
Specific embodiment
In the following, the utility model is specifically described by illustrative embodiment.It should be appreciated, however, that not having
In the case where being further discussed below, element, structure and features in an embodiment can also be advantageously incorporated into other implementations
In mode.
In the description of the present invention, it should be understood that term " center ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this is practical
Novel limitation.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For
For those skilled in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As shown in Figure 1, the utility model provides a kind of simulation pectoral fin system, which includes at least one level
It can produce the wobble component 1 of pendulum motion, every grade of wobble component 1 includes an at least section spoke 11, and every section spoke 11 is arranged
There is the actuator 12 that the spoke 11 can be driven to swing.
In above scheme, pectoral fin, also, all spokes in the wobble component are simulated by setting at least one level wobble component
Item is correspondingly arranged on corresponding actuator and is driven, and can generate multistage submissive swing, and then form biggish promotion
Power.
Be further described: among the above, spoke 11 fixes the free cantilever beam in one end just as one end during the swing,
According to the intrinsic frequency calculation formula of Euler's Bernoulli Jacob's beam,With the increase of length l, intrinsic frequency will
Meeting rapid decrease is one meter of long and section for 10mm*10mm to choose spoke especially for the lesser flexible material of elasticity modulus
Rod piece for illustrate, first natural frequency is reduced near 1Hz, and near 6Hz, three rank intrinsic frequencies exist second order intrinsic frequency
16Hz or so, mode is still similar with the swing form of devil ray based on single order at this time, if spoke rises to two meters
Long, then the intrinsic frequency of three ranks falls below 4Hz or so, the swing of pectoral fin will be no longer smooth continuous.And pass through in the present embodiment
Each spoke is correspondingly arranged the segment type design of actuator, and one whole cantilever beam can be divided into three parts, swung respectively,
Intrinsic frequency is higher, is not in the disturbance of high order mode.
Further, the actuator described above 12 of the utility model is preferably motor or hydraulic cylinder, and wherein motor is preferred
For linear motor.
In addition, among the above, the spoke 11 is preferably rigid.
By above-mentioned simulation pectoral fin system, because the motive force of flexible spokes is low, when deformation occurs, spoke is contacted with water
Equivalent area reduce, water to pectoral fin motive force with regard to small, and by classification driving, be not present deformation, simply by linear motor
Drive is swung, the area ratio flexible pectoral fin between spoke it is bigger, motive force is stronger.When spoke is rigid structure, with
The increase of spoke size, the linear velocity of distalmost end increase, the resistance of water and the quadratic power of speed are directly proportional, will receive on spoke
One unusual reaction force, rigid structure cannot reduce this tip speed by deforming, so being easy to will appear disconnected
It splits or the problems such as plastic deformation, is staggered each by the rigid spoke of the utility model segment type by controlling phase difference at different levels
On the appearance opportunity of step velocity maximum value, the maximum speed of distal end can be significantly reduced.With specific embodiment explanation, for one
The spoke of 450mm long one, under conditions of 1Hz hunting frequency, pivot angle ± 45 degree, distalmost end linear velocity is 225 π mm/s, and
If the structure of the segment type using 3 150mm, and three-level phase difference is set as 60 degree, distalmost end linear speed isCompared to the linear velocity that integrated spoke about reduces 25%, being equivalent to water resistance reduces closely
50%, that is, same material, intensity, size can be done bigger, it will obtain bigger motive force.
As shown in Figures 2 and 3, the utility model additionally provides a kind of bionic underwater robot, the bionic underwater robot
Including ontology 2, and the simulation pectoral fin system being installed on the ontology 2, the simulation pectoral fin system are any of the above-described kind of reality
Apply simulation pectoral fin system described in example.In addition, the bionic underwater robot further includes being coated on outside bionic underwater robot
Crust 3.Crust 3 is preferably the elastic material of waterproof, such as silicone rubber material, in order to protect the inside of bionic underwater robot
Circuit or structure etc..
The bionic underwater robot of the utility model is realized by installing the simulation pectoral fin system in above-described embodiment
The submissive swing of bionic underwater robot.
In detail as shown in figure 3, the simulation pectoral fin system includes 6-10 grades of wobble components 1, and it is symmetrically disposed on described
The left and right sides of ontology 2.Specifically, being illustrated for having 10 grades of wobble components, then ontology is each side distributed with 5 grades
Wobble component, and preferably every side oscillation component setting symmetrical above and below.This kind setting main purpose is simulation aquatic organism,
By taking devil ray as an example, middle part has biggish length, and two sides pectoral fin is symmetrical.
Continue as shown in figure 3, the wobble component 1 on ontology 2 described in every side includes the level-one swing at medium position
Component 4, and it is symmetrical with the secondary wobble component 5 of the level-one wobble component or more two sides, wherein in level-one wobble component 4
Spoke quantity be more than the quantity of secondary wobble component 5.In addition, the level-one wobble component 4 includes three section spokes 11, every section
The actuator 12 that the spoke can be driven to swing is provided on spoke 11.
Meanwhile secondary wobble component 5 described above includes at least one level wobble component 1, i.e., as shown in Figure 3, the secondary
Wobble component 5 may include the level Four wobble component 1 of setting symmetrical above and below, and every grade of wobble component 1 may include a section or more piece spoke.
As shown in figure 3, concrete example illustrates, which shares ten grades of wobble components, wherein being located at the institute at medium position
Stating level-one wobble component is longest, and every side all has three section actuators and spoke, and secondary wobble component is located at level-one swing group
The two sides up and down of part, which includes one group of wobble component with two section actuators and swing rod, and is located at most
Outside has the wobble component of a section actuator and swing rod.It is preferred that spoke is rigid material composition, by the elongation of actuator with
Shorten control pivot angle, can approximately think that the length variation of actuator is directly proportional to the angle change of swing rod, when actuator
When controlling signal in sin (ω t), swing rod generates the swing of near sinusoidal, when the latter of spoke on same level-one wobble component is driven
Moving part controls signal and previous signal there are a phase difference, i.e., the control signal of second actuator is in sin (ω t+
φ1), the control signal of third actuator is in sin (ω t+ φ1+φ2) when, spoke will generate one similar to devil ray along chest
The outside fluctuation of fin swings to bottom from the top to form pectoral fin.Speed, the amplitude swung by control can rely on
Water floats to the reaction force of pectoral fin, dive and turning.Although each section in spoke is all rigidity, each section is relied on
Between phase difference can produce approximate swing flexible, small to spoke intensity requirement, structure is simple.
Meanwhile the bionic underwater robot of the utility model, video camera is provided in the ontology 2, and the video camera is preferred
For binocular camera, in order to carry out binocular vision navigation.
As shown in connection with fig. 3, the bionic underwater robot of the utility model, preferably simulation devil ray, i.e., the described ontology 2 with it is described
Simulation pectoral fin system in combination is formed as devil ray shape.At this point, ontology 2 is sealed compartment, which is preferably aluminum alloy material, simulation
Pectoral fin symmetry system having symmetry is distributed in ontology two sides, and to form left and right pectoral fin, two sides pectoral fin is preferably bolted on anchor ear, embraces
Hoop clip fastens on sealed compartment, and integral outer is enclosed with water-proof elastic crust, and inside filling buoyant material particle provides buoyancy.
In the above-mentioned ontology 2 as sealed compartment can placing battery, sensor, control circuit etc., and regulating cell position can be passed through
Center-of-gravity regulating, front end are glass ball cover, and binocular camera and headlamp can work in sealed compartment, linear motor, and the underwater sound is logical
The power supply of news and operative sensor and signal in cabin with watertight connector by being transmitted.
In addition, the utility model additionally provides a kind of control method of bionic underwater robot, the control method is for controlling
Make above-mentioned bio-robot, specific steps are as follows: the actuator in every grade of wobble component of control is more when having in this grade of wobble component
It when saving spoke, sequentially controls from ontology to the external corresponding actuator of spoke, and controls later section actuator and the drive of previous section
There are phase differences between moving part.Preferably, it when having more piece spoke in wobble component, sequentially controls from ontology to external spoke
The corresponding actuator of item, and control between later section actuator and previous section actuator that there are odd number phase differences.Meanwhile the phase
Potential difference is preferably one.
The utility model is controlled by the sinusoidal signal successively lagged to actuator, to produce the wave along body backward
Dynamic, the reaction force of water pushes robot to advance forward, meanwhile, as shown in figure 4, every spoke lags behind previous spoke, produce
The raw similar fluctuation tried to be the first.
The utility model bionic underwater robot, can be under the compound action of left side pectoral fin system and right side pectoral fin system
Realize the motion controls such as the underwater pitching, turning, rolling of underwater robot；Meanwhile it can be bowed by adjusting whole center of gravity
Face upward the adjustment of posture；It may be implemented to turn by the differential motion that two pectoral fins of left and right fluctuate backward；It is lifted and is taken by pectoral fin
Differential motion generate uneven reaction force may be implemented to roll.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with the power
Subject to the protection scope that benefit requires.
Claims (13)
1. a kind of simulation pectoral fin system, it is characterised in that: can produce the wobble component of pendulum motion, every grade of institute including at least one level
Stating wobble component includes an at least section spoke, and every section spoke is provided with the actuator that the spoke can be driven to swing.
2. simulation pectoral fin system according to claim 1, it is characterised in that: the actuator is motor or hydraulic cylinder.
3. simulation pectoral fin system according to claim 2, it is characterised in that: the motor is linear motor.
4. simulation pectoral fin system according to any one of claim 1-3, it is characterised in that: the spoke is rigid material
Matter.
5. a kind of bionic underwater robot, it is characterised in that: including ontology, and the simulation pectoral fin system being installed on the ontology
System, the simulation pectoral fin system are simulation pectoral fin system of any of claims 1-4.
6. bionic underwater robot according to claim 5, it is characterised in that: the simulation pectoral fin system includes 6-10
Grade wobble component, and it is symmetrically disposed on the left and right sides of the ontology.
7. bionic underwater robot according to claim 6, it is characterised in that: the wobble component packet on ontology described in every side
The level-one wobble component being located at medium position is included, and is symmetrical with the secondary swing group of the level-one wobble component or more two sides
Part, wherein the spoke quantity in level-one wobble component is more than the quantity of secondary wobble component.
8. bionic underwater robot according to claim 7, it is characterised in that: the level-one wobble component includes three sections
Spoke is provided with the actuator that the spoke can be driven to swing on every section spoke.
9. bionic underwater robot according to claim 8, it is characterised in that: the secondary wobble component includes at least one
Grade wobble component.
10. bionic underwater robot according to claim 5, it is characterised in that: further comprise be coated on it is bionical underwater
Crust outside robot.
11. bionic underwater robot according to claim 10, it is characterised in that: the crust is elastic material.
12. bionic underwater robot according to claim 5, it is characterised in that: be provided with video camera in the ontology.
13. the bionic underwater robot according to any one of claim 5-12, it is characterised in that: the ontology with it is described
Simulation pectoral fin system in combination is formed as devil ray shape.
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| CN201821746127.8U CN209142363U (en) | 2018-10-25 | 2018-10-25 | Simulate pectoral fin system and bionic underwater robot |
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| CN201821746127.8U CN209142363U (en) | 2018-10-25 | 2018-10-25 | Simulate pectoral fin system and bionic underwater robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576957A (en) * | 2019-09-17 | 2019-12-17 | 西北工业大学 | multi-skeleton simulated bat pectoral fin propulsion mechanism with controllable span-wise bending and chord-wise swinging |
| CN111746783A (en) * | 2020-07-01 | 2020-10-09 | 西湖大学 | A flank structure and navigation ware for navigation ware |
| CN113619758A (en) * | 2021-08-02 | 2021-11-09 | 诺非(北京)技术有限公司 | Bionic driving device |
| CN114771176A (en) * | 2022-05-31 | 2022-07-22 | 重庆大学 | Ray-imitating amphibious robot |
-
2018
- 2018-10-25 CN CN201821746127.8U patent/CN209142363U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576957A (en) * | 2019-09-17 | 2019-12-17 | 西北工业大学 | multi-skeleton simulated bat pectoral fin propulsion mechanism with controllable span-wise bending and chord-wise swinging |
| CN110576957B (en) * | 2019-09-17 | 2020-09-22 | 西北工业大学 | Multi-skeleton simulated bat pectoral fin propulsion mechanism with controllable span-wise bending and chord-wise swinging |
| CN111746783A (en) * | 2020-07-01 | 2020-10-09 | 西湖大学 | A flank structure and navigation ware for navigation ware |
| CN113619758A (en) * | 2021-08-02 | 2021-11-09 | 诺非(北京)技术有限公司 | Bionic driving device |
| CN113619758B (en) * | 2021-08-02 | 2022-11-18 | 诺非(北京)技术有限公司 | Bionic driving device |
| CN114771176A (en) * | 2022-05-31 | 2022-07-22 | 重庆大学 | Ray-imitating amphibious robot |
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