CN108945360B - Hybrid drive imitation gold jellyfish marine organism observation monitoring robot - Google Patents

Abstract

A hybrid drive imitation golden jellyfish marine life observation and monitoring robot comprises a casing, a base, an observation and monitoring device, a propulsion drive device and a turning drive device, the casing is connected with the base through a pin shaft, and the observation and monitoring device comprises A wireless camera, a real-time locator, a lighting lamp, a power supply, a processor, a wireless receiving system and a control system, the wireless camera is connected to the control system through the processor, and transmits the observed video information of the seabed environment in real time, and the real-time locator is connected to the control system. The control system is connected to obtain the current position and attitude information of the robot, and the wireless receiving system is connected to the control system through the processor to obtain the remote control signal of the robot. The invention has the characteristics of strong obstacle surmounting ability, fast long-distance movement, wide range of activities, good concealment and high flexibility, and can realize observation and monitoring of marine organisms and complex seabed landforms.

Description

A hybrid-drive imitation golden jellyfish marine life observation and monitoring robot

technical field

The invention relates to the field of underwater robots, in particular to a hybrid drive imitation golden jellyfish marine biological observation and monitoring robot.

Background technique

The golden jellyfish can move in the water with the help of wind or water flow. Through the method of water jet propulsion, some special muscles expand and then quickly retract to expel the water in the body from the body. Driven by the reaction of the water flow, it can swim forward and turn. The golden jellyfish has the characteristics of high flexibility, high propulsion efficiency, and fast swimming speed, and can adapt to the movement of many complex seabed environments.

The seabed is a treasure with rich resources and a field full of magical colors. With the continuous development of science and technology, people's demand for new resources and new energy is increasing. Due to the complex environment under the seabed, the topography is unknown; marine life The population is diversified, and the exploration and research on the habits and characteristics of some organisms or some populations are not deep, so higher requirements are put forward for the observation and monitoring methods and methods of marine organisms and complex seabed landforms; the existing technology of underwater monitoring robots It is unable to carry out long-distance movement underwater, and has a small range of activities and poor ability to overcome obstacles, which cannot meet the requirements of tasks such as seabed observation and monitoring.

At present, there is no innovative invention design of a hybrid-driven golden jellyfish-like marine biological observation and monitoring robot with the characteristics of strong obstacle crossing ability, fast long-distance movement, wide range of activities, good concealment and high flexibility.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a hybrid driving imitation golden jellyfish marine organism observation and monitoring robot, which has the characteristics of strong obstacle crossing ability, fast long-distance movement, wide range of activities, good concealment and high flexibility, and can realize the detection of marine organisms. Observation and monitoring of complex seabed landforms, etc.

The technical scheme of the present invention is: a hybrid drive imitation golden jellyfish marine organism observation and monitoring robot, comprising a shell, a machine base, an observation and monitoring device, a propulsion drive device and a turning drive device, and the specific structure and connection relationship are:

The casing is a semi-circular arc transparent body, and the casing is fixedly connected with the machine base through a pin shaft. , the observation monitoring device includes a wireless camera, a real-time locator, a lighting lamp, a power supply, a processor, a wireless receiving system and a control system, the wireless camera is connected with the control system through the processor, and the real-time locator is connected with the control system through the processor, The wireless receiving system is connected with the control system through the processor, the propulsion drive device includes a servo motor, a worm gear mechanism, a crank rocker mechanism and a support frame, the servo motor is fixedly connected to the base, and the worm gear mechanism includes a first group of worm gears and worms mechanism, the second group of worm gear mechanisms, the third group of worm gear mechanisms, the fourth group of worm gear mechanisms, the fifth group of worm gear mechanisms and the sixth group of worm gear mechanisms, the first group of worm gear mechanisms includes two external meshing Worm gear, a crank rocker mechanism is connected to both sides of each group of worm gear and worm mechanisms, and the structure and connection relationship of other groups of worm gear and worm mechanisms are exactly the same as the first group of worm gear and worm mechanisms. The crank rocker mechanism includes the first group of crank rocker mechanism, the second group of crank-rocker mechanism, the third group of crank-rocker mechanism, the fourth group of crank-rocker mechanism, the fifth group of crank-rocker mechanism, the sixth group of crank-rocker mechanism, the seventh group of crank-rocker mechanism, The eighth group of crank-rocker mechanisms, the ninth group of crank-rocker mechanisms, the tenth group of crank-rocker mechanisms, the eleventh group of crank-rocker mechanisms and the twelfth group of crank-rocker mechanisms, the first group of crank-rocker mechanisms include Crank, connecting rod, rocker and long connecting rod, one end of the crank is connected with the worm wheel through a pin shaft, the other end of the crank is connected with the connecting rod chute through a pin shaft, and one end of the crank is connected with one end of the long connecting rod through a pin shaft, and the connecting rod includes The connecting rod chute, the first pin seat of the connecting rod and the second pin seat of the connecting rod, the connecting rod chute is connected with the crank and the long connecting rod through the moving pair, and the first pin seat of the connecting rod is connected with the support frame through the pin shaft , the second pin seat of the connecting rod is connected with the rocker through the pin, the rocker is connected with the long connecting rod through the pin, one end of the long connecting rod is connected with the crank through the pin, and the other end of the long connecting rod is connected with the rocker through the pin , the structure and connection relationship of other groups of crank-rocker mechanisms are exactly the same as the first group of crank-rocker mechanisms, the support frame connects two external meshing worm gears of the same size and the center is on the same horizontal line, and the turning drive device includes a first rudder engine, the second steering gear and the tail frame, the first steering gear is fixedly connected in the base and connected to the bottom of the U-shaped hinge through the pin shaft, and the second steering gear is fixedly connected in the protective shell and the tail frame through the pin shaft. The rotating shaft is connected, the tail frame includes a rotating shaft and eight evenly distributed guide vanes, and the tail frame is connected to the base through a U-shaped hinge.

The outstanding advantages of the present invention are:

1. Long-distance and large-scale movement is carried out on the seabed by the water jet propulsion of golden jellyfish, which can quickly move back and forth in different seabed areas to observe and monitor marine life.

2. Through the hybrid drive of the servo motor and the steering gear, the moving speed and direction of the robot can be flexibly controlled, and the robot can move flexibly in a complex seabed environment, with strong ability to avoid obstacles and good concealment.

3. The robot adopts six groups of worm gear and worm mechanism, which makes the structure have good rigidity and strength, can withstand strong vibration and shock loads, and can realize the observation and monitoring of marine life and complex seabed landforms.

Description of drawings

FIG. 1 is a schematic structural diagram of a hybrid drive imitation golden jellyfish marine organism observation and monitoring robot according to the present invention.

FIG. 2 is a top view of the structure of a hybrid drive imitation golden jellyfish marine organism observation and monitoring robot according to the present invention.

FIG. 3 is a front view of the structure of a hybrid drive imitation golden jellyfish marine organism observation and monitoring robot according to the present invention.

FIG. 4 is a schematic diagram of a worm gear and worm mechanism of a hybrid driving imitation golden jellyfish marine organism observation and monitoring robot according to the present invention.

FIG. 5 is a schematic diagram of a crank-rocker mechanism of a hybrid-driven imitation golden jellyfish marine organism observation and monitoring robot according to the present invention.

FIG. 6 is a schematic diagram of the connecting rod structure of a hybrid-driven imitation golden jellyfish marine biological observation and monitoring robot according to the present invention.

FIG. 7 is a schematic structural diagram of a propulsion driving device of a hybrid driving imitation golden jellyfish marine organism observation and monitoring robot according to the present invention.

FIG. 8 is a schematic structural diagram of the base of a hybrid-driven golden jellyfish-like marine organism observation and monitoring robot according to the present invention.

FIG. 9 is a schematic structural diagram of a support frame of a hybrid-driven golden jellyfish-like marine organism observation and monitoring robot according to the present invention.

FIG. 10 is a schematic structural diagram of the tail frame of a hybrid-driven golden jellyfish-like marine organism observation and monitoring robot according to the present invention.

FIG. 11 is a front view of a tail frame structure of a hybrid-driven imitation golden jellyfish marine organism observation and monitoring robot according to the present invention.

FIG. 12 is an effect diagram of a hybrid-drive imitation golden jellyfish marine organism observation and monitoring robot according to the present invention.

Marked as: 1. Shell, 2. Servo motor, 3. Base, 4. Wireless camera, 5. Real-time locator, 6. Lighting, 7. Power supply, 8. Wireless receiving system, 9. Control system , 10. Protective shell, 11. Worm gear, 12. Support frame, 13. U-shaped hinge, 14. Tail frame, 15. Guide vane, 16. First steering gear, 17. Second steering gear, 18. The first group of crank-rocker mechanism, 18-1, crank, 18-2. connecting rod, 18-3. rocker, 18-4. long connecting rod, 18-2-1 connecting rod chute, 18-2- 2 The first pin seat of the connecting rod, 18-2-3. The second pin seat of the connecting rod, 19. The second group of crank-rocker mechanism, 20. The third group of crank-rocker mechanism, 21. The fourth group of crank rocker Rod mechanism, 22. The fifth group of crank-rocker mechanism, 23. The sixth group of crank-rocker mechanism, 24. The seventh group of crank-rocker mechanism, 25. The eighth group of crank-rocker mechanism, 26. The ninth group of crank-rocker mechanism Rod mechanism, 27. The tenth group of crank-rocker mechanism, 28. The eleventh group of crank-rocker mechanism, 29. The twelfth group of crank-rocker mechanism, 30. The first group of worm gear and worm mechanism, 31. The second group of worm gear Worm mechanism, 32. The third group of worm gear and worm mechanism, 33. The fourth group of worm gear and worm mechanism, 34. The fifth group of worm gear and worm mechanism, 35. The sixth group of worm gear and worm mechanism, 36. Rotating shaft.

Detailed ways

The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

As shown in Fig. 1 to Fig. 12, a hybrid drive imitation golden jellyfish marine organism observation and monitoring robot according to the present invention includes a casing 1, a machine base 3, an observation and monitoring device, a propulsion drive device and a turning drive device. The specific structure and the connection relationship is:

The casing 1 is a semi-circular arc transparent body, and the casing 1 is fixedly connected to the base 3 through a pin shaft. The base 3 is a double-layer disc connection base, and there are multiple groups of arrangement rules distributed on the upper and lower discs. The pin shaft hole, the observation monitoring device includes a wireless camera 4, a real-time locator 5, a lighting lamp 6, a power supply 7, a processor, a wireless receiving system 8 and a control system 9, and the wireless camera 4 is connected with the control system 9 through the processor. , the real-time locator 5 is connected with the control system 9 through the processor, the wireless receiving system 8 is connected with the control system 9 through the processor, and the propulsion drive device includes a servo motor 2, a worm gear mechanism, a crank rocker mechanism and a support frame 12, The servo motor 2 is fixedly connected to the base 3, and the worm gear mechanism includes a first group of worm gear mechanisms 30, a second group of worm gear mechanisms 31, a third group of worm gear mechanisms 32, a fourth group of worm gear mechanisms 33, and a fifth group of worm gear mechanisms. The worm gear mechanism 34 and the sixth group of worm gear mechanism 35, the first group of worm gear mechanism 30 includes two external meshing worm gears 11, each group of worm gear mechanism is connected to both sides of a crank rocker mechanism, and the other groups of worm gear mechanism The structure and connection relationship are exactly the same as those of the first group of worm gear and worm mechanisms 30. The crank-rocker mechanism includes the first group of crank-rocker mechanisms 18, the second group of crank-rocker mechanisms 19, the third group of crank-rocker mechanisms 20, and the fourth group of crank-rocker mechanisms. Group crank-rocker mechanism 21, fifth group of crank-rocker mechanism 22, sixth group of crank-rocker mechanism 23, seventh group of crank-rocker mechanism 24, eighth group of crank-rocker mechanism 25, ninth group of crank-rocker mechanism 26. The tenth group of crank-rocker mechanism 27, the eleventh group of crank-rocker mechanism 28 and the twelfth group of crank-rocker mechanism 29, the first group of crank-rocker mechanism 18 includes crank 18-1, connecting rod 18-2 , rocker 18-3 and long connecting rod 18-4, one end of the crank 18-1 is connected with the worm gear 11 through the pin, the other end of the crank 18-1 is connected with the connecting rod chute 18-2-1 through the pin, and the crank One end of 18-1 is connected to one end of the long connecting rod 18-4 through a pin, and the connecting rod 18-2 includes a connecting rod chute 18-2-1, a first connecting rod pin seat 18-2-2 and a second connecting rod The pin shaft seat 18-2-3, the connecting rod chute 18-2-1 is connected with the crank 18-1 and the long connecting rod 18-4 through the moving pair, and the first pin shaft seat 18-2-2 of the connecting rod passes through the pin shaft Connected with the support frame 12, the second pin seat 18-2-3 of the connecting rod is connected with the rocker 18-3 through the pin, the rocker 18-3 is connected with the long connecting rod 18-4 through the pin, and the long connecting rod 18 -4 One end is connected with the crank 18-1 through the pin, the other end of the long connecting rod 18-4 is connected with the rocker 18-3 through the pin, and the structure and connection relationship of the other groups of crank-rocker mechanisms are the same as those of the first group of crank-rocker mechanisms The mechanism 18 is exactly the same. The support frame 12 connects two external meshing worm gears 11 with the same size and the center on the same horizontal line. The turning drive device includes a first steering gear 16, a second steering gear 17 and a tail frame 14. The first steering gear 16 is fixedly connected in the base 3 with the bottom of the U-shaped hinge 13 through a pin, and the second steering gear 17 is connected by a pin The shaft is fixedly connected in the protective shell 10 and is connected to the rotating shaft 36 on the tail frame 14. The tail frame 14 includes the rotating shaft 36 and eight evenly distributed guide vanes 15. The tail frame 14 passes through the U-shaped hinge 13 Connect to base 3.

Working principle and process:

As shown in Figure 1 to Figure 3, when the servo motor 2 of the propulsion drive device drives the worm to rotate, it drives the six groups of worm gear mechanisms to rotate, and the worm gear 11 rotates in a circle to drive a total of twelve groups of externally connected crank-rocker mechanisms to synchronize. Circular rotation, at this time, the entire robot can perform reciprocating stretching or contracting motion to achieve the forward movement behavior of the robot. Different moving speeds can be adjusted according to different seabed observation and monitoring tasks, and the observation and monitoring device can complete the relevant tasks on the seabed; when installed When the first steering gear 16 in the base 3 is working, the tail frame 14 is driven to rotate; when the second steering gear 17 installed in the protective shell 10 is working, the tail frame 14 is driven to swing; When the two steering gears work at the same time, the tail frame 14 is driven to rotate at different angles, and the guide vanes 15 distributed on the tail frame 14 distribute the water flow to achieve the purpose of turning, so that the robot can move flexibly in the complex seabed environment.

Claims (1)

1. a hybrid drive imitation golden jellyfish marine biological observation monitoring robot, comprising shell, machine base, observation monitoring device, propulsion drive device and turning drive device, it is characterized in that: The casing is a semi-circular arc transparent body, and the casing is fixedly connected with the machine base through a pin shaft. , the observation monitoring device includes a wireless camera, a real-time locator, a lighting lamp, a power supply, a processor, a wireless receiving system and a control system, the wireless camera is connected with the control system through the processor, and the real-time locator is connected with the control system through the processor, The wireless receiving system is connected with the control system through the processor, the propulsion drive device includes a servo motor, a worm gear mechanism, a crank rocker mechanism and a support frame, the servo motor is fixedly connected to the base, and the worm gear mechanism includes a first group of worm gears and worms mechanism, the second group of worm gear mechanisms, the third group of worm gear mechanisms, the fourth group of worm gear mechanisms, the fifth group of worm gear mechanisms and the sixth group of worm gear mechanisms, the first group of worm gear mechanisms includes two external meshing Worm gear, a crank rocker mechanism is connected to both sides of each group of worm gear and worm mechanisms, and the structure and connection relationship of other groups of worm gear and worm mechanisms are exactly the same as the first group of worm gear and worm mechanisms. The crank rocker mechanism includes the first group of crank rocker mechanism, the second group of crank-rocker mechanism, the third group of crank-rocker mechanism, the fourth group of crank-rocker mechanism, the fifth group of crank-rocker mechanism, the sixth group of crank-rocker mechanism, the seventh group of crank-rocker mechanism, The eighth group of crank-rocker mechanisms, the ninth group of crank-rocker mechanisms, the tenth group of crank-rocker mechanisms, the eleventh group of crank-rocker mechanisms and the twelfth group of crank-rocker mechanisms, the first group of crank-rocker mechanisms include Crank, connecting rod, rocker and long connecting rod, one end of the crank is connected with the worm wheel through a pin shaft, the other end of the crank is connected with the connecting rod chute through a pin shaft, and one end of the crank is connected with one end of the long connecting rod through a pin shaft, and the connecting rod includes The connecting rod chute, the first pin seat of the connecting rod and the second pin seat of the connecting rod, the connecting rod chute is connected with the crank and the long connecting rod through the moving pair, and the first pin seat of the connecting rod is connected with the support frame through the pin shaft , the second pin seat of the connecting rod is connected with the rocker through the pin, the rocker is connected with the long connecting rod through the pin, one end of the long connecting rod is connected with the crank through the pin, and the other end of the long connecting rod is connected with the rocker through the pin , the structure and connection relationship of other groups of crank-rocker mechanisms are exactly the same as the first group of crank-rocker mechanisms, the support frame connects two external meshing worm gears of the same size and the center is on the same horizontal line, and the turning drive device includes a first rudder engine, second steering gear and tail frame, the first steering gear is fixedly connected to the bottom of the double-layer disc frame through pins and connected to the bottom of the U-shaped hinge, and the tail frame is driven by the first steering gear to rotate. The second steering gear is fixedly connected in the protective shell through the pin shaft and is connected to the rotating shaft on the tail frame. The tail frame includes the rotating shaft and eight evenly distributed guide vanes. The tail frame is connected to the engine through U-shaped hinges. seat connection.

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