CN111137421B - Bionic picoshrimp underwater rowing device based on motor drive - Google Patents
Bionic picoshrimp underwater rowing device based on motor drive Download PDFInfo
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- CN111137421B CN111137421B CN202010060662.3A CN202010060662A CN111137421B CN 111137421 B CN111137421 B CN 111137421B CN 202010060662 A CN202010060662 A CN 202010060662A CN 111137421 B CN111137421 B CN 111137421B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000003187 abdominal effect Effects 0.000 claims description 29
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 13
- 230000033001 locomotion Effects 0.000 abstract description 12
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 230000009182 swimming Effects 0.000 abstract description 2
- 241001275767 Stomatopoda Species 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 2
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
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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
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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
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- 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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- Ocean & Marine Engineering (AREA)
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Abstract
Description
技术领域Technical Field
本发明涉及机器人领域，具体涉及一种仿生皮皮虾的水下划行装置。The invention relates to the field of robots, and in particular to an underwater paddling device of a bionic mantis shrimp.
背景技术Background Art
近年来机器人领域发展迅猛，在航空和陆地都有十分显著的发展。而仿生机器人由于借助了大自然生物本身的特性，在研究和应用上有着不可比拟的优越性，因此，仿生机器人得到了许多学者和科研人士的深入研究。随着人们对于水域的探索欲不断增大，致使水下机器人的研究不断深入。In recent years, the field of robotics has developed rapidly, with significant developments in both aviation and land. Bionic robots have incomparable advantages in research and application due to the characteristics of natural organisms. Therefore, bionic robots have been deeply studied by many scholars and researchers. As people's desire to explore waters continues to increase, the research on underwater robots continues to deepen.
为了使水下机器人在水中实现运动从而探测海底，人们基于海底的生物在水中的划水方式设计了各种水下仿生机器人。目前，国内外对水下仿生机器人的研究，大多是对鱼的鱼鳍摆动进行仿生的机械装置，而对生物利用腹肢或游泳足进行的仿生机器人研究十分稀少。因此，水下仿生机器人的研究有待拓展和延伸。In order to enable underwater robots to move in water and explore the seabed, people have designed various underwater bionic robots based on the paddling methods of seabed creatures. At present, most of the research on underwater bionic robots at home and abroad is about mechanical devices that imitate the swinging of fish fins, while research on bionic robots that use ventral limbs or swimming feet of organisms is very rare. Therefore, the research on underwater bionic robots needs to be expanded and extended.
发明内容Summary of the invention
本发明的目的是克服上述背景技术的不足，提供一种基于电机驱动的仿生皮皮虾水下划行装置，该装置对皮皮虾在水中的划水动作进行了仿生，将电机驱动与皮皮虾仿生结构相结合，能够大大提高装置在水下划行的灵敏性，具有结构简单、运动灵活的特点。The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a bionic mantis shrimp underwater paddling device based on motor drive. The device simulates the paddling action of the mantis shrimp in the water, combines the motor drive with the bionic structure of the mantis shrimp, can greatly improve the sensitivity of the device in underwater paddling, and has the characteristics of simple structure and flexible movement.
本发明提供的技术方案是：The technical solution provided by the present invention is:
一种基于电机驱动的仿生皮皮虾水下划行装置，其特征在于：该装置包括主体框架、传动组件、划行组件和驱动组件；A bionic mantis shrimp underwater paddling device based on motor drive, characterized in that: the device comprises a main frame, a transmission component, a paddling component and a driving component;
所述主体框架包括相互平行且沿前后方向呈一字型排列的若干外壳以及用于固定连接相邻外壳的若干连接柱；每节外壳内壁的左右两侧对称设置有一组所述传动组件；The main frame includes a plurality of shells that are parallel to each other and arranged in a straight line along the front-to-back direction, and a plurality of connecting columns for fixing adjacent shells; a group of the transmission components are symmetrically arranged on the left and right sides of the inner wall of each shell;
所述传动组件包括由驱动组件驱动的大齿轮以及可转动地定位在外壳内壁并分别设置在大齿轮前后两侧与大齿轮啮合传动的两个小齿轮；所有外壳中，位于外壳内壁同侧的大齿轮均铰接连接同一长连杆，以保证同侧的大齿轮同步转动；每个小齿轮均连接一组所述划行组件；The transmission assembly includes a large gear driven by the driving assembly and two small gears rotatably positioned on the inner wall of the housing and respectively arranged on the front and rear sides of the large gear to mesh with the large gear for transmission; in all housings, the large gears located on the same side of the inner wall of the housing are hingedly connected to the same long connecting rod to ensure that the large gears on the same side rotate synchronously; each small gear is connected to a set of the rowing assemblies;
所述划行组件包括短连杆、摆杆和仿生腹肢；所述短连杆的一端铰接在小齿轮的偏心位置处；所述摆杆设置成V型且摆杆中部的折角处可转动地定位在外壳内壁上；所述摆杆一端铰接短连杆的另一端，摆杆的另一端铰接仿生腹肢；所述摆杆上设置有单向抵顶仿生腹肢的凸块，从而对仿生腹肢的摆动角度进行限位；The rowing assembly includes a short connecting rod, a swing rod and a bionic abdominal limb; one end of the short connecting rod is hinged at an eccentric position of a pinion; the swing rod is arranged in a V shape, and the angle of the middle part of the swing rod is rotatably positioned on the inner wall of the shell; one end of the swing rod is hinged to the other end of the short connecting rod, and the other end of the swing rod is hinged to the bionic abdominal limb; the swing rod is provided with a convex block for unidirectionally abutting against the bionic abdominal limb, so as to limit the swing angle of the bionic abdominal limb;
所述驱动组件包括安装在其中一节外壳的左右两侧并分别驱动该外壳上的两个大齿轮转动的两个电机、安装在该外壳上并与两个电机电连接以控制两个电机转速的控制器以及与控制器电连接以提供工作电源的锂电池。The driving assembly includes two motors installed on the left and right sides of one of the shells and respectively driving two large gears on the shell to rotate, a controller installed on the shell and electrically connected to the two motors to control the rotation speed of the two motors, and a lithium battery electrically connected to the controller to provide working power.
所述外壳设置成圆拱形。The housing is configured to be in a circular arch shape.
外壳和连接柱均采用硬质材料。The housing and connecting posts are made of hard materials.
所述外壳和连接柱均采用铝材。The shell and the connecting column are both made of aluminum.
所述仿生腹肢设置成V型。The bionic abdominal limb is arranged in a V shape.
本发明的有益效果是：The beneficial effects of the present invention are:
1)本发明中，位于外壳内壁同侧的大齿轮固定连接同一长连杆，可保证同一侧每节的大齿轮转速相同，进而实现同一侧仿生腹肢摆动速度的一致性。1) In the present invention, the large gears on the same side of the inner wall of the shell are fixedly connected to the same long connecting rod, which can ensure that the rotation speed of the large gears in each section on the same side is the same, thereby achieving consistency in the swinging speed of the bionic abdominal limbs on the same side.
2)本发明可通过控制器对两个电机的转速进行控制，当两个电机转速相同时，该装置向前运动；当两个电机的转速不同时，该装置进行转向运动，控制简单，运动灵活。2) The present invention can control the rotation speed of the two motors through a controller. When the rotation speeds of the two motors are the same, the device moves forward; when the rotation speeds of the two motors are different, the device performs a steering movement. The control is simple and the movement is flexible.
3)本发明中的摆杆上设置有与仿生腹肢单向抵顶的凸块，当仿生腹肢正向划水时，凸块抵顶仿生腹肢使得仿生腹肢产生较大的划水动力；当仿生腹肢反向划水时，凸块与仿生腹肢脱开以减小仿生腹肢与水的作用力；从而实现仿生腹肢在连续的往复运动过程中带动装置向前运动，保证装置的设计合理化。3) The rocker arm in the present invention is provided with a protrusion that presses against the bionic abdominal limb in one direction. When the bionic abdominal limb is paddling in the forward direction, the protrusion presses against the bionic abdominal limb, so that the bionic abdominal limb generates a greater paddling power; when the bionic abdominal limb is paddling in the reverse direction, the protrusion is disengaged from the bionic abdominal limb to reduce the force between the bionic abdominal limb and water; thereby, the bionic abdominal limb drives the device forward in the continuous reciprocating motion process, thereby ensuring the rationality of the design of the device.
4)本发明中外壳和连接柱均采用铝材制成，可大大减小装置在水中的阻力，提高装置运动的灵活性。4) The housing and the connecting column in the present invention are both made of aluminum, which can greatly reduce the resistance of the device in water and improve the flexibility of the device movement.
5)本发明整体结构简单，构思合理，能够保证装置整体的灵活性和敏捷性，实现装置在水下平稳快捷地游动。5) The overall structure of the present invention is simple and the design is reasonable, which can ensure the overall flexibility and agility of the device and enable the device to swim smoothly and quickly underwater.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明的立体结构示意图。FIG1 is a schematic diagram of the three-dimensional structure of the present invention.
图2为本发明的部分剖面结构示意图(主视方向)。FIG. 2 is a partial cross-sectional structural schematic diagram of the present invention (front view direction).
图3为本发明所述电机的安装位置示意图。FIG. 3 is a schematic diagram of the installation position of the motor according to the present invention.
图4为本发明的右视结构示意图。FIG. 4 is a schematic diagram of the structure of the present invention from the right side.
图5为图4的A部放大结构示意图。FIG. 5 is an enlarged structural schematic diagram of portion A of FIG. 4 .
图6为本发明所述仿生腹肢正向划水时的状态示意图。FIG. 6 is a schematic diagram of the state of the bionic abdominal limb of the present invention when paddling forward.
图7为本发明所述仿生腹肢反向划水时的状态示意图。FIG. 7 is a schematic diagram of the state of the bionic abdominal limb of the present invention when paddling in the reverse direction.
附图说明：Description of the drawings:
1、外壳；2、连接柱；3、大齿轮；4、小齿轮；5、长连杆；6、短连杆；7、摆杆；8、仿生腹肢；9、电机；10、控制器；11、通槽；12、凸块；13、摆杆铰接轴。1. Outer shell; 2. Connecting column; 3. Large gear; 4. Small gear; 5. Long connecting rod; 6. Short connecting rod; 7. Rocker arm; 8. Bionic abdominal limb; 9. Motor; 10. Controller; 11. Through slot; 12. Bump; 13. Rocker arm hinge shaft.
具体实施方式DETAILED DESCRIPTION
以下结合附图所示的实施例进一步说明。The following is a further description with reference to the embodiments shown in the accompanying drawings.
为描述方便，以图2的右侧为前，图2的左侧为后，图2垂直纸面向内的方向为左，图2垂直纸面向外的方向为右。For the convenience of description, the right side of Figure 2 is the front, the left side of Figure 2 is the back, the direction inward perpendicular to the paper plane of Figure 2 is the left, and the direction outward perpendicular to the paper plane of Figure 2 is the right.
如图1所示的基于电机驱动的仿生皮皮虾水下划行装置，包括主体框架、传动组件、划行组件和驱动组件。The motor-driven bionic mantis shrimp underwater paddling device shown in FIG1 includes a main frame, a transmission assembly, a paddling assembly and a driving assembly.
所述主体框架包括若干(图中为五节)外壳1和若干连接柱2。所述外壳设置成圆拱形，若干外壳相互平行并沿前后方向呈一字型排列；两节相邻外壳之间采用所述连接柱固定连接。外壳和连接柱均采用硬质材料，优选铝材，以减小整体装置在水下运动的阻力，使装置的柔性和灵敏性更加优化，实现装置在水中的灵活运动。The main frame includes a plurality of (five in the figure) shells 1 and a plurality of connecting columns 2. The shells are arranged in a circular arch shape, and the plurality of shells are parallel to each other and arranged in a straight line along the front-back direction; two adjacent shells are fixedly connected by the connecting columns. The shells and connecting columns are made of hard materials, preferably aluminum, to reduce the resistance of the entire device in underwater movement, optimize the flexibility and sensitivity of the device, and realize flexible movement of the device in water.
每节外壳内壁的左右两侧对称设置有一组所述传动组件。如图2所示，每组传动组件均包括一个大齿轮3和两个小齿轮4。所述大齿轮由驱动组件进行驱动；两个小齿轮可转动地定位在外壳内壁且分别设置在大齿轮的前后两侧，以便与大齿轮啮合传动。所有外壳中，位于外壳内壁同侧的大齿轮固定连接同一长连杆5，从而保证同侧的大齿轮同步转动。A set of transmission components is symmetrically arranged on the left and right sides of the inner wall of each shell. As shown in FIG2 , each set of transmission components includes a large gear 3 and two small gears 4. The large gear is driven by the driving assembly; the two small gears are rotatably positioned on the inner wall of the shell and are respectively arranged on the front and rear sides of the large gear so as to mesh with the large gear for transmission. In all shells, the large gears on the same side of the inner wall of the shell are fixedly connected to the same long connecting rod 5, so as to ensure that the large gears on the same side rotate synchronously.
每个小齿轮均连接一组所述划行组件。每组划行组件包括短连杆6、摆杆7和仿生腹肢8；所述短连杆的一端铰接在小齿轮的偏心位置处；所述摆杆设置成V型且摆杆中部的折角处通过摆杆铰接轴13可转动地定位在外壳内壁上(见图5)；所述摆杆一端铰接短连杆的另一端，摆杆的另一端铰接仿生腹肢；所述摆杆上设置有与仿生腹肢单向抵顶连接的凸块12(见图6、图7)，使得仿生腹肢在往复运动过程中，当仿生腹肢正向划水(即沿图2的逆时针方向运动)时，仿生腹肢在水的反作用力下与凸块抵顶，迫使仿生腹肢与摆杆一起逆时针摆动，以保证仿生腹肢产生足够的带动装置向前运动的动力；当仿生腹肢反向划水(即沿图2的顺时针方向运动)时，仿生腹肢在水的反作用力下与凸块脱开，从而减小仿生腹肢与水的作用力，从而减少装置向前运动所受到的运动阻力，保证装置设计的合理化。所述仿生腹肢设置成V型，仿生腹肢的V型角开口角度略大于100°，以通过模仿皮皮虾身体的腹肢结构进行摆动，来实现更快更敏捷的划水动作。Each pinion is connected to a group of the rowing components. Each group of rowing components includes a short connecting rod 6, a swing rod 7 and a bionic abdominal limb 8; one end of the short connecting rod is hinged at the eccentric position of the pinion; the swing rod is arranged in a V shape and the angle in the middle of the swing rod is rotatably positioned on the inner wall of the housing through a swing rod hinge shaft 13 (see Figure 5); one end of the swing rod is hinged to the other end of the short connecting rod, and the other end of the swing rod is hinged to the bionic abdominal limb; the swing rod is provided with a convex block 12 (see Figures 6 and 7) that is unidirectionally abutted against the bionic abdominal limb, so that the bionic abdominal limb is in a reciprocating motion process. When the ventral limbs are paddling forward (i.e., moving in the counterclockwise direction of FIG. 2 ), the bionic ventral limbs are pressed against the bumps under the reaction force of the water, forcing the bionic ventral limbs to swing counterclockwise together with the swing rod, so as to ensure that the bionic ventral limbs generate sufficient power to drive the device forward; when the bionic ventral limbs are paddling backward (i.e., moving in the clockwise direction of FIG. 2 ), the bionic ventral limbs are disengaged from the bumps under the reaction force of the water, thereby reducing the force between the bionic ventral limbs and the water, thereby reducing the motion resistance encountered by the device moving forward, and ensuring the rationality of the device design. The bionic ventral limbs are arranged in a V-shape, and the V-angle opening angle of the bionic ventral limbs is slightly greater than 100°, so as to achieve faster and more agile paddling action by swinging by imitating the ventral limb structure of the mantis shrimp body.
所述驱动组件安装在其中一节外壳上(优选最前方的一节外壳)，包括两个电机9、控制器10和锂电池(图中未显示)。两个电机设置在外壳的左右两侧并分别驱动该外壳上的两个大齿轮转动。所述控制器与两个电机电连接，以控制两个电机的转速；控制器优选stm32单片机。所述锂电池与控制器电连接，以便为控制器提供工作电源。外壳上设置有用于放置电机、控制器和锂电池的放置平台。如图3所示，本实施例中的外壳内壁上开有通槽11，电机安装在通槽中并且电机的电机轴与大齿轮固定连接，以驱动大齿轮转动；如图1所示，控制器和锂电池安装在外壳的外壁，以避免干涉仿生腹肢的运动。The drive assembly is installed on one of the outer shells (preferably the frontmost outer shell), and includes two motors 9, a controller 10 and a lithium battery (not shown in the figure). The two motors are arranged on the left and right sides of the outer shell and respectively drive the two large gears on the outer shell to rotate. The controller is electrically connected to the two motors to control the rotation speed of the two motors; the controller is preferably an stm32 single-chip microcomputer. The lithium battery is electrically connected to the controller to provide working power for the controller. A placement platform for placing the motor, controller and lithium battery is provided on the outer shell. As shown in Figure 3, a through groove 11 is opened on the inner wall of the outer shell in this embodiment, and the motor is installed in the through groove and the motor shaft of the motor is fixedly connected to the large gear to drive the large gear to rotate; as shown in Figure 1, the controller and the lithium battery are installed on the outer wall of the outer shell to avoid interfering with the movement of the bionic abdominal limb.
上述所有部件均进行防水处理(现有技术，如在装置外部填充防水材料)，以提高装置的工作寿命。All the above components are waterproofed (existing technology, such as filling waterproof materials outside the device) to increase the working life of the device.
本发明中仿生腹肢的运动原理如下：The motion principle of the bionic abdominal limb in the present invention is as follows:
工作时，控制器控制电机进行转动，电机驱动对应的大齿轮转动，在长连杆的带动下，同侧的所有大齿轮同步转动，进而带动同侧的所有小齿轮同步转动，小齿轮又通过短连杆和摆杆带动同侧的所有仿生腹肢实现同步划水动作，带动装置整体在水中进行运动。When working, the controller controls the motor to rotate, and the motor drives the corresponding large gear to rotate. Driven by the long connecting rod, all the large gears on the same side rotate synchronously, and then drive all the small gears on the same side to rotate synchronously. The small gear drives all the bionic abdominal limbs on the same side through the short connecting rod and the rocker arm to achieve synchronous paddling action, driving the device as a whole to move in the water.
本发明的工作方式如下：The working mode of the present invention is as follows:
初始状态时，装置在水中静止，其中外壳顶端微微露出水面，其余部分位于水面以下；然后控制器控制两个电机转动，当两个电机转速相同时，装置向前运动；当两个电机的转速不同时，装置进行转向运动(本实施例中，左侧电机转速大于右侧电机转速时，装置右转；左侧电机转速小于右侧电机转速时，装置左转)。In the initial state, the device is stationary in the water, with the top of the shell slightly exposed above the water surface and the rest of the shell below the water surface; then the controller controls the two motors to rotate, and when the speeds of the two motors are the same, the device moves forward; when the speeds of the two motors are different, the device turns (in this embodiment, when the speed of the left motor is greater than that of the right motor, the device turns right; when the speed of the left motor is less than that of the right motor, the device turns left).
最后，需要注意的是，以上列举的仅是本发明的具体实施例。显然，本发明不限于以上实施例，还可以有很多变形。本领域的普通技术人员能从本发明公开的内容中直接导出或联想到的所有变形，均应认为是本发明的保护范围。Finally, it should be noted that the above examples are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and many variations are possible. All variations that can be directly derived or associated with the content disclosed by a person skilled in the art should be considered as the protection scope of the present invention.
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| CN112549881A (en) * | 2020-12-03 | 2021-03-26 | 浙江海洋大学 | Amphibious agricultural machine |
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| CN113772059B (en) * | 2021-10-27 | 2022-07-12 | 东北大学 | An underwater multi-degree-of-freedom motion robot imitating Leysquid and Shrimp |
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