CN209600192U - A kind of imitative die Schwimmhaut crawl stroke formula propulsion robot - Google Patents
A kind of imitative die Schwimmhaut crawl stroke formula propulsion robot Download PDFInfo
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- CN209600192U CN209600192U CN201920055404.9U CN201920055404U CN209600192U CN 209600192 U CN209600192 U CN 209600192U CN 201920055404 U CN201920055404 U CN 201920055404U CN 209600192 U CN209600192 U CN 209600192U
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- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 59
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Abstract
The utility model relates to robotic technology fields.Purpose is to provide a kind of imitative die Schwimmhaut crawl stroke formula propulsion robot, which should have the characteristics that mobility height and can meet to be promoted under the environment of two kinds of water route.Technical solution is: a kind of imitative die Schwimmhaut crawl stroke formula propulsion robot, it is characterised in that: the robot includes rack, the control module being arranged in rack, power supply and two motors, four Klann link mechanisms that rack surrounding is arranged in, the gear mechanism for transmitting motor power driving Klann connecting rod mechanism movement and the flippers being arranged on Klann link mechanism；The left and right sides of rack is respectively set in described two motors, and each motor drives former and later two Klann connecting rod mechanism movements by a gear mechanism simultaneously；The gear mechanism includes the driving gear fixed with motor output shaft and two driven gears for engaging and driving former and later two Klann link mechanisms with driving gear respectively.
Description
Technical field
The utility model relates to robotic technology field, specifically a kind of imitative die Schwimmhaut crawl stroke formula promotes robot.
Background technique
As the mankind continue to increase ocean development degree, the fields such as marine environmental protection, resource detection, exploitation are to water
Lower machine Man's Demands are also increasing.The development and application of underwater robot will become a big research hotspot.Presently, there are water
The movement of lower robot mostly uses propeller propulsion mode, and there are low efficiency, power consumption is big, noise is big, mobility is poor, hovering ability
The disadvantages of poor.
The biology of nature is evolved by long-term differentiation, so that itself produces very strong adaptability for environment.Water
Middle biology has outstanding sub-aqua sport ability, high-efficient, noise is small, maneuverability, therefore they become scientists development
The object of the waterproof underwater robot imitation of novel high speed, low noise, maneuverability, utilizes the trip promoted based on flippers in water
Motivation reason, can be realized in water and moves about, and have great adaptive capacity to environment.Organism in water has diversified travelling mode,
Swing method, stroke method, hydrofoil method and gunite etc. can be divided into roughly.
Ayer et al. has developed a imitative lobster crawl stroke formula robot, which realizes that land is transported using polypody mode
It is dynamic, realize that underwater travelling promotes using hydrofoil.In order to realize more natural sport efficiency, robot driver is shape memory
Alloy, to simulate the muscle of biological lobster, have the characteristics that efficiently, low noise, but that there are power consumptions is big, mobility is poor, hovering ability
The disadvantages of poor.
FESTO company equally has developed a kind of robot promoted using ray fish pectoral wave, imitates devil ray robot
Aqua_ray.In the wavy propulsion mode of pectoral fin, the hunting range of pectoral fin is smaller, is conducive to each system integration using covering mode
In inside, bionical effect with higher.The length and width dimensions of the robot are 610 × 960mm, and quality 10kg passes through a pair
The movement of pneumatic muscles driving pectoral fin bone.Flexible covering structure is installed outside bone, designs bone based on biological anatomical results
Repercussion effect between bone and flexible material simulates the swing mode of pectoral fin.The robot uses aquatic bio-propulsion side
Formula, propulsive efficiency with higher can work 30 minutes under water, be suitably applied a variety of underwater operation tasks.
The sub-aqua sport of the human simulations cuttlefish such as Wang Zhenlong of Harbin Institute of Technology has developed bionical cuttlefish underwater propulsion machine
Device people.Robot simulation cuttlefish completes to promote and realize by injection the Motion quickly propelled by the movement of fin.
Based on Fluid Mechanics Computation method, flow field tail information of the cuttlefish under two kinds of Motions is had studied, analyzes different motion plan
Promotion tactics slightly.Change fluid chamber volume using SMA as the movement in drive control fin face and contraction outer embrane, realizes
The underwater continuous movement of bionical cuttlefish and high-speed motion.
The country also achieves more achievement to the research of underwater bionic robot, bionical pushes away for aforementioned tool is distinctive
Into mode, the bio-robot research that the country is also responded, such as the imitative sea crab robot that Wang Hailong et al. is developed, it is exactly
The machinery foot of Land Movement is separately designed with the hydrofoil to move about under water, realizes crawl stroke formula motor pattern.Robot is adopted in each joint
It is controlled with steering engine, each system integration can be realized underwater self-movement in trunk seal box, and by hydrofoil pusher
The research of reason is patted parameter to optimal hydrofoil and is planned, underwater travelling experiment is completed.The crawl stroke formula of sea crab robot is transported
Dynamic model formula is designed with land propeller in water respectively, increases the uncertainty and the weight of robot of movement.
The travelling mode of duck in water is stroke method, and this mode is conducive to body and keeps movement posture, has simultaneously
Efficiently, low noise, it is simple, flexible the features such as, also make it have certain researching value.
Utility model content
The purpose of the utility model is to overcome the deficiencies in above-mentioned background technique, provide a kind of imitative die Schwimmhaut crawl stroke formula pusher
Device people, the robot should have the characteristics that mobility height and can meet to be promoted under the environment of two kinds of water route.
The technical solution of the utility model is:
A kind of imitative die Schwimmhaut crawl stroke formula propulsion robot, it is characterised in that: the robot includes rack, is arranged in rack
Control module, power supply and two motors, four Klann link mechanisms that rack surrounding is set, transmitting motor power driving
The gear mechanism of Klann connecting rod mechanism movement and the flippers being arranged on Klann link mechanism；
The left and right sides of rack is respectively set in described two motors, before each motor is driven simultaneously by a gear mechanism
Latter two Klann connecting rod mechanism movement；The gear mechanism include the driving gear fixed with motor output shaft and respectively with
Driving gear engages and drives two driven gears of former and later two Klann link mechanisms；
The Klann link mechanism include respectively rotationally hinged bottom rocking bar and top rocking bar on the rack, in
Portion is hinged with bottom rocking bar and one end hingedly and by the drive rod of driven gear driving and top with top is shaken with driven gear
Bar is hinged and the middle part leg link hinged with the other end of drive rod again；The bottom of leg link is arranged in the flippers；Institute
Stating flippers includes flippers skeleton, the fin being arranged in flippers skeleton and the driving for being swingably hinged on leg link bottom
The steering engine of flippers rotation；The control module connects motor and steering engine by conducting wire.
The both ends of the top rocking bar are rotationally hinged on respectively on the top and rack of leg link.
The flippers skeleton includes being located in the middle the first frame rod and being symmetricly set at left and right sides of the first frame rod
And the second frame rod that rear end is fixedly connected with the first skeleton rod rear end；Described two fins are arranged in the first frame rod and second
Between frame rod.
Described two fins are swingably hinged on the first frame rod, and the width of fin is greater than the first frame rod and second
The spacing of frame rod, and fin extends to the lower section of the second frame rod.
Second frame rod is tilted a certain angle with the first frame rod, so that the outer profile of flippers forms taper.
The rotation of the motor and the pivot center of steering engine output shaft, the pivot center of gear mechanism, Klann link mechanism
Axis is parallel to each other.
The beneficial effects of the utility model are:
1, using more bar foots end composite structure of leg propulsion mode, the propulsion under the environment of two kinds of water route can be met, very
Biological leg is reduced in big degree and is moving attitudes vibration when promoting, and keeps movement more intuitive and reliable；
2, power transmitting and release are carried out using Klann link mechanism, realize pedipulator under singly driving into structure,
Each rod piece, which chooses suitable length, can obtain biggish transmission ratio, and then motor power is maximumlly converted to the pendulum of connecting rod
It is dynamic；
3, flippers is imitative die Schwimmhaut structure, and the propeller in water with the two kinds of movements in land is combined, crawl stroke is simplified
The structure of formula propeller has the characteristics that mobility is high compared to empennage, can be moved in complicated ground；
3, flippers rack is the tip front foot equipped with point pawls, is avoided in the past because frictional force deficiency is led to the problem of, can be with
Guarantee in certain soft landform, such as muddy ground, sand ground etc. is moved；
4, flippers rack and fin increase power when propulsion by opening and closing, when reducing reset by articulated connection
The resistance overcome improves the sport efficiency of mechanism entirety.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model.
Fig. 2 is the schematic perspective view of the utility model middle gear mechanism Yu Klann link mechanism.
Fig. 3 is the schematic view of the front view of the utility model middle gear mechanism Yu Klann link mechanism.
Fig. 4 is the overlooking structure diagram of flippers in the utility model.
Fig. 5 is the overlooking structure diagram of flippers skeleton in the utility model.
Fig. 6 is the structural schematic diagram of flippers cross section in the utility model.
Fig. 7 is the movement locus schematic diagram of Klann link mechanism in the utility model.
Fig. 8 is the order of work schematic diagram of four Klann link mechanisms when utility model is mobile.
Specific embodiment
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model be not limited to
Lower embodiment.
As shown in Figure 1, a kind of imitative die Schwimmhaut crawl stroke formula promotes robot, which includes rack 16, and machine frame inside is equipped with
13, two motors 14 of control module and the power supply 15 for power supply, the outside of rack are set there are two gear mechanism and four
Klann link mechanism is also equipped with flippers on each Klann link mechanism.The control module can receive external control signal
(wired or wireless signal), control module will start motor and steering engine after receiving control signal, realize robot speed's regulation with
It turns to.The adoptable model of control module is STM32F103 cooperation ESP8266 wireless module.
Described two gear mechanisms are separately positioned on two side positions of rack, and Klann link mechanism is separately positioned on rack
Corner location, each motor drives two Klann connecting rod mechanism movements, then the cooperation for passing through flippers by gear mechanism
Realize the propulsion of robot.Two Klann link mechanisms of frame front are arranged in, and to stretching out in front of rack, (flippers is oriented to
The front of rack), two Klann link mechanisms that rack rear portion is arranged in are stretched out to rack rear.
The gear mechanism includes being rotatably positioned in the driving gear 5 of rack side and two driven gears 4, actively
Gear is fixed with motor output shaft, and two driven gears are engaged with driving gear simultaneously, to drive two of front and back arrangement respectively
Klann link mechanism.Wherein, as foreleg, two are stretched two Klann link mechanisms to stretching in front of rack to rack rear
Klann link mechanism out is as back leg；Therefore, each motor drives rack the same side (left or right side of rack) one simultaneously
A foreleg and a back leg.
The Klann link mechanism includes the rack being articulated as one, bottom rocking bar 9, drive rod 6, leg link 8 and top
Portion's rocking bar 12, in which: top rocking bar and bottom rocking bar arrange that the both ends of bottom rocking bar are rotationally hinged on transmission respectively up and down
On the middle part and rack of bar, the both ends of drive rod are rotationally hinged on respectively on the middle part and driven gear of leg link, top
The both ends of portion's rocking bar are rotationally hinged on respectively on the top and rack of leg link.
As shown in fig. 7, the foreleg (left side in figure) in the mechanism is respectively provided with back leg (right side in figure) when electric motor starting
Two extreme positions (extreme position of left and right two of leg link, indicated respectively with solid line and dotted line) in left and right；Wherein, foreleg leg
The motion profile S1 and back leg leg link bottom end M2 that portion connecting rod bottom end M1 is generated generate motion profile S2, obtain in water
Reaction force, can be decomposed into robot advance (left direction in figure) power and the lift that will not sink in water.
The flippers be imitative die Schwimmhaut structure and be arranged in leg link bottom (i.e. the bottom end M1 of foreleg leg link,
And the bottom end M1 of back leg leg link), including flippers skeleton 1, fin 2 and steering engine 7.The flippers skeleton is swingably hinged
(articulated shaft is steering engine output shaft) can only swing certain angle (with flippers in progradation in leg link bottom
Constantly increase with the angle of the water surface, full swing angle can be to 30 °).
As seen from the figure: steering engine is fixed on flippers skeleton by holding screw, and steering engine output shaft and leg link bottom end are solid
Fixed (interference fit), the positive and negative anodes of steering engine are connected by conducting wire (not shown) with control module.When control module inputs positive electricity
When flowing signal, steering engine is rotated forward, and drives flippers stroke backward, is in water the posture that moves ahead, during moving ahead posture, flippers
With horizontal angle as the position of leg link constantly increases, to obtain suitable power and lift, angle maximum can be extremely
30°.When control module inputs negative current signal, steering engine is rotated backward, and drives flippers stroke forward, is at this time reset appearance in water
State.During resetting posture, flippers constantly reduces with horizontal angle, and when reaching reset state, flippers is horizontal
State.Obviously, during the motion, the hunting range of the flippers skeleton 1 is respectively positioned on horizontal plane or less (as shown in Figure 7), to obtain
Obtain power forwardly and upwardly.
Flippers skeleton is epsilon-type structure, including is located in the middle the first frame rod 1.1 and is arranged symmetrically in the first bone
Second frame rod 1.2 of (i.e. the two sides up and down of Fig. 5) at left and right sides of hack lever, the second skeleton rod rear end (i.e. the right end of Fig. 5) and the
One skeleton rod rear end is fixed as one, and the front end of the second frame rod is equipped with point pawls 1.3.Two fins are arranged in the first skeleton
Between bar and the second frame rod and side of two fins makes respectively to be had for hinged pin hole, so that two fins
It is hinged on the first intermediate frame rod with swinging (maximum can be opened to 60 ° in reseting procedure), the width of fin is greater than the first bone
The spacing of hack lever and the second frame rod, and fin extends to the lower section of the second frame rod, and the second frame rod can prevent fin
It digs upwards, guarantees that fin is swung below the second frame rod always.Shown in solid, the wing in state such as Fig. 6 when fin is closed
State when piece is opened is as shown in phantom in Figure 6, and maximum folding can be to 60 ° between fin and flippers skeleton.The steering engine is fixed on
For driving rotation of the flippers relative to leg link on flippers skeleton.
The control module connects motor and steering engine by conducting wire.Pivot center, the tooth of the motor and steering engine output shaft
Take turns the pivot center of driving gear and driven gear in mechanism, bottom rocking bar, drive rod, leg link in Klann link mechanism
It is parallel to each other with the pivot center of top rocking bar.
In the utility model: electric motor starting rear drive gear drives driven gear rotation, and driven gear drives drive rod pendulum
Dynamic, bottom rocking bar and top rocking bar carry out periodic wobble under the drive of drive rod, thus four Klann link mechanisms of driving
Movement, when Klann connecting rod mechanism movement, can drive flippers to swing backward, and simulate walking movement or arm stroke, realize machine
The movement of people.
In motion process, two Klann link mechanisms positioned at rack the same side alternately swing backward (operating frequency phase
Together), machine can be located at by adjusting the time interval (depending on according to the actual situation) that the angulation change of driven gear successively acts
The operating frequency of Klann link mechanism at left and right sides of frame and the time interval swung are controlled by two motors.
The effect (referring to Fig. 8) specifically generated is: start starting when if it is right front foot a (i.e. Klann link mechanism, the same below) first to
Before open step (A figure) in Fig. 8, cornerwise left foot c, which just will be slow, and then moves forward (the B figure in Fig. 8), followed by left front foot
B moves forward (the C figure in Fig. 8), and besides right metapedes d, which is followed, moves forward (the D figure in Fig. 8), thus completes one and follows
Ring.And be another time right front foot forward, left back heel forward, left front foot forward, follow by right metapedes, continues cycling through down
It goes, just forms a continuous movement.
The equal buyable of each component of the utility model obtains.
The concrete operating principle of the utility model is:
1, when the utility model moves in water, the angle of steering engine real-time control leg link and flippers skeleton；Robot
During advance, when Klann link mechanism drive flippers swing backward struck when, steering engine control flippers skeleton simultaneously to
After swing, be buckled under the drag effect of water on the second frame rod at this time, with flippers skeleton be closed, the contact area of flippers and water
Become larger, to produce maximum thrust, when Klann link mechanism drives flippers to swing forward, steering engine controls flippers skeleton
Simultaneously swing forward, at this time fin by water resistance and open, maximum can be opened to 60 °, and the contact area of flippers and water becomes smaller,
(fin still retains certain angle to advance resistance to reduce robot when opening, two fins can be just when guaranteeing to reset
Normally closed conjunction)；Four Klann link mechanisms successively drive flippers to carry out elliptical motion, drive to continuously generate thrust
Mobile robot advances；
2, when land moves, steering engine remains stationary the utility model, so that the angle of leg link and flippers skeleton
Position is fixed；Two sides motor successively starts, so that the Klann link mechanism of two sides is alternately taken a step, flippers successively contiguously face mould
The athletic posture of quasi- walking, the point pawls of flippers front end of rack can obtain biggish frictional force, overcome in certain extreme terrains
Such as hypodynamic problem of sand ground, mire friction, can also cross over certain smaller barriers；It is needed when robot encounters larger obstacle
When turning to, by reducing the motor speed of steering direction side, making left and right sides Klann link mechanism, there are speed difference realizations
It turns to, after completing steering procedure, two sides motor speed is consistent, and robot moves on.
Claims (6)
1. a kind of imitative die Schwimmhaut crawl stroke formula promotes robot, it is characterised in that: the robot includes rack (16), is arranged in rack
Control module (13), power supply (15) and two motors (14), four Klann link mechanisms that rack surrounding is set, transmitting
The gear mechanism of motor power driving Klann connecting rod mechanism movement and the flippers being arranged on Klann link mechanism；
The left and right sides of rack is respectively set in described two motors, and each motor drives front and back two by a gear mechanism simultaneously
A Klann connecting rod mechanism movement；The gear mechanism include the driving gear (5) fixed with motor output shaft and respectively with master
Moving gear engages and drives two driven gears (4) of former and later two Klann link mechanisms；
The Klann link mechanism include respectively rotationally hinged bottom rocking bar (9) and top rocking bar (12) on the rack,
Middle part is hinged with bottom rocking bar and one end is hinged with driven gear and by the drive rod (6) of driven gear driving and top and top
Portion's rocking bar (12) is hinged and the middle part leg link (8) hinged with the drive rod other end again；The flippers is arranged in leg link
Bottom；The flippers includes the flippers skeleton (1) for being swingably hinged on leg link bottom, is arranged in flippers skeleton
Fin (2) and the steering engine (7) of driving flippers rotation；The control module connects motor and steering engine by conducting wire.
2. a kind of imitative die Schwimmhaut crawl stroke formula according to claim 1 promotes robot, it is characterised in that: the top rocking bar
Both ends are rotationally hinged on respectively on the top and rack of leg link.
3. a kind of imitative die Schwimmhaut crawl stroke formula according to claim 2 promotes robot, it is characterised in that: the flippers skeleton packet
It includes and is located in the middle the first frame rod (1.1) and is symmetricly set at left and right sides of the first frame rod and rear end and the first frame rod
The second frame rod (1.2) that rear end is fixedly connected；Described two fins are arranged between the first frame rod and the second frame rod.
4. a kind of imitative die Schwimmhaut crawl stroke formula according to claim 3 promotes robot, it is characterised in that: described two fins can
It is swingingly hinged on the first frame rod, the width of fin is greater than the spacing of the first frame rod and the second frame rod, and fin
Extend to the lower section of the second frame rod.
5. a kind of imitative die Schwimmhaut crawl stroke formula according to claim 4 promotes robot, it is characterised in that: second frame rod
It is tilted a certain angle with the first frame rod, so that the outer profile of flippers forms taper.
6. a kind of imitative die Schwimmhaut crawl stroke formula according to claim 5 promotes robot, it is characterised in that: the motor and steering engine
The pivot center of output shaft, the pivot center of gear mechanism, the pivot center of Klann link mechanism are parallel to each other.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920055404.9U CN209600192U (en) | 2019-01-14 | 2019-01-14 | A kind of imitative die Schwimmhaut crawl stroke formula propulsion robot |
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| CN201920055404.9U CN209600192U (en) | 2019-01-14 | 2019-01-14 | A kind of imitative die Schwimmhaut crawl stroke formula propulsion robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733136A (en) * | 2019-01-14 | 2019-05-10 | 浙江理工大学 | A kind of imitative die Schwimmhaut crawl stroke formula propulsion robot |
| CN111688893A (en) * | 2020-05-27 | 2020-09-22 | 西安交通大学 | Pneumatic drive stingray-imitating wave-propelling soft robot and manufacturing method thereof |
| CN112298507A (en) * | 2020-10-16 | 2021-02-02 | 哈尔滨工业大学（威海） | Robot in liquid environment lower pipe based on duck foot web imitating type active steering |
| CN113325859A (en) * | 2021-06-10 | 2021-08-31 | 西北工业大学 | Control method for vertically climbing and walking of walking hybrid underwater robot along inclined plane |
| CN114248888A (en) * | 2021-11-22 | 2022-03-29 | 杭州电子科技大学 | Water-catching type underwater bionic robot and driving method thereof |
| CN115258110A (en) * | 2022-06-20 | 2022-11-01 | 东北大学 | Boston-imitated lobster underwater movement mechanism |
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2019
- 2019-01-14 CN CN201920055404.9U patent/CN209600192U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733136A (en) * | 2019-01-14 | 2019-05-10 | 浙江理工大学 | A kind of imitative die Schwimmhaut crawl stroke formula propulsion robot |
| CN111688893A (en) * | 2020-05-27 | 2020-09-22 | 西安交通大学 | Pneumatic drive stingray-imitating wave-propelling soft robot and manufacturing method thereof |
| CN111688893B (en) * | 2020-05-27 | 2021-05-28 | 西安交通大学 | Pneumatic drive stingray-imitating wave-propelling soft robot and manufacturing method thereof |
| CN112298507A (en) * | 2020-10-16 | 2021-02-02 | 哈尔滨工业大学（威海） | Robot in liquid environment lower pipe based on duck foot web imitating type active steering |
| CN112298507B (en) * | 2020-10-16 | 2022-06-07 | 哈尔滨工业大学（威海） | Robot in liquid environment lower pipe based on duck foot web imitating type active steering |
| CN113325859A (en) * | 2021-06-10 | 2021-08-31 | 西北工业大学 | Control method for vertically climbing and walking of walking hybrid underwater robot along inclined plane |
| CN114248888A (en) * | 2021-11-22 | 2022-03-29 | 杭州电子科技大学 | Water-catching type underwater bionic robot and driving method thereof |
| CN114248888B (en) * | 2021-11-22 | 2022-10-21 | 杭州电子科技大学 | Water-catching type underwater bionic robot and driving method thereof |
| CN115258110A (en) * | 2022-06-20 | 2022-11-01 | 东北大学 | Boston-imitated lobster underwater movement mechanism |
| CN115258110B (en) * | 2022-06-20 | 2024-04-19 | 东北大学 | Boston-imitating lobster underwater movement mechanism |
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