CN116252935A - Bionic machine penguin - Google Patents

Abstract

The invention provides a bionic robot penguin, which relates to the technical field of bionic robots and includes: a body, a flipper mechanism, a tail fin mechanism, a suction and drainage mechanism and a gravity center adjustment mechanism. The body is at least partially modeled on the body of a biological penguin; the number of flipper mechanisms is two, and the two flipper mechanisms are symmetrically arranged on the left and right sides of the body; the tail fin mechanism is connected to the tail end of the body; the suction and drainage mechanism Set inside the body, the suction and drainage mechanism is used to absorb the water outside the body to the inside of the body, and discharge the water inside the body to the outside of the body; the center of gravity adjustment mechanism is set inside the body, and the center of gravity adjustment mechanism is used to change the bionic robot penguin center of gravity position. As a result, the bionic penguin can achieve gliding motion in seawater. It adopts buoyancy-driven movement mode, consumes less energy, and has strong endurance. At the same time, it can adjust roll, yaw, and pitch attitudes in seawater. , with high flexibility.

Description

Bionic Robot Penguin

technical field

The invention relates to the technical field of bionic robots, in particular to a bionic robot penguin.

Background technique

The ocean accounts for 70.8% of the earth's surface area, and the ocean contains a variety of rich resources. With the development of science and technology, many existing artificial intelligence robots can solve some problems that humans cannot handle on land, but these robots will be limited when conducting deep sea exploration.

In recent years, with the development of marine development represented by seabed surveying, sampling, and seabed operations, and based on full consideration of the complex marine environment and the safety of manual operations, Autonomous Underwater Vehicles (AUVs for short) ) has been further developed.

In related technologies, traditional autonomous underwater vehicles mostly use propellers as propellers. Although these autonomous underwater vehicles have sufficient thrust, they are poor in concealment and low in operating efficiency, and the wakes they generate will cause serious damage to the marine environment. greater damage. On the other hand, by imitating the shape, swimming principle and swimming mode of real marine life, the bionic underwater robot has rich and flexible movement modes, and has obtained strong environmental adaptability, strong mobility, sensitive and efficient response, which makes it It has more advantages when performing tasks in complex marine environments.

However, the existing bionic robots, such as bionic fish, need to consume a lot of energy in their bionic swimming mode. In the real marine environment, they are easily limited by energy supply, resulting in insufficient battery life.

Contents of the invention

The invention provides a bionic robot penguin, which is used to solve the defect of insufficient battery life of the bionic robot in the prior art when performing tasks in the ocean.

The invention provides a bionic robot penguin, comprising:

a body constructed at least in part to resemble that of a biological penguin;

A flipper mechanism, the number of the flipper mechanisms is two, and the two flipper mechanisms are symmetrically arranged on the left and right sides of the body;

a caudal fin mechanism connected to the tail end of the body;

A suction and drainage mechanism, the suction and drainage mechanism is arranged inside the body, the suction and drainage mechanism is used to absorb the water outside the body into the body, and discharge the water inside the body to the body outside the body;

A center-of-gravity adjustment mechanism, the center-of-gravity adjustment mechanism is arranged inside the body, and the center-of-gravity adjustment mechanism is used to change the position of the center of gravity of the bionic robot penguin.

According to a bionic robot penguin provided by the present invention, the suction and drainage mechanism is located at the front end of the body, the front end of the body is provided with an opening, and the suction and drainage mechanism communicates with the outside of the body through the opening.

According to a bionic robot penguin provided by the present invention, the suction and drainage mechanism includes: a water storage bin, a piston and a drive assembly, one end of the water storage bin communicates with the opening, the piston is arranged in the water storage bin, and the drive assembly connected to the piston and capable of driving the piston to move in the water storage bin.

According to a bionic robot penguin provided by the present invention, the drive assembly includes: a rack structure, a gear structure and a suction and discharge steering gear, the gear structure is connected to the output end of the suction and discharge steering gear, and the suction and discharge steering gear The motor can drive the gear structure to rotate, one end of the rack structure is connected to the piston, and the other end is meshed with the gear structure.

According to a bionic robot penguin provided by the present invention, the center-of-gravity adjustment mechanism includes: a counterweight and a moving assembly, the counterweight is connected to the moving assembly, and the moving assembly can drive the counterweight at the Describes the internal movement of the body.

According to a bionic robot penguin provided by the present invention, the moving assembly includes: a mounting base, a driving wheel, a driven wheel, a transmission belt and a steering gear for adjusting the center of gravity, and the driving wheel and the driven wheel are both rotatably connected to the Mounting seat, the transmission belt is connected between the driving wheel and the driven wheel, the counterweight is fixedly connected to the transmission belt, the center of gravity adjustment steering gear is connected to the driving wheel and can drive the driving wheel The wheel turns.

According to the bionic robot penguin provided by the present invention, the gravity center adjustment mechanism is located above the suction and drainage mechanism.

According to a bionic robot penguin provided by the present invention, the flipper mechanism includes: a steering gear assembly, a transmission shaft and a bionic flipper, the steering gear assembly is arranged inside the body, and the bionic flipper The bionic flipper is arranged on the outside of the body, and the bionic flipper is connected to the steering gear assembly via the transmission shaft, and the steering gear assembly is used to drive the bionic flipper to move.

According to a bionic robot penguin provided by the present invention, the steering gear assembly includes: a longitudinal steering gear, a horizontal steering gear and an axial steering gear, and the longitudinal steering gear, the horizontal steering gear and the shaft The steering gear is connected in sequence, the axial steering gear is connected with the bionic flipper via the transmission shaft, the respective output shafts of the vertical steering gear, the horizontal steering gear and the axial steering gear The axial directions are perpendicular to each other.

According to a bionic robot penguin provided by the present invention, the tail fin mechanism includes: a tail steering gear and a bionic tail fin, the tail steering gear is arranged inside the body, and the bionic tail fin is arranged outside the body, so The tail steering gear is connected with the bionic tail fin, and the tail steering gear is used to drive the bionic tail fin to reciprocate.

The bionic robot penguin in the present invention includes a body, a flipper mechanism, a tail fin mechanism, a suction and drainage mechanism, and a center of gravity adjustment mechanism, wherein the suction and drainage mechanism and the center of gravity adjustment mechanism can adjust the buoyancy and the position of the center of gravity of the bionic robot penguin in sea water, so that The bionic robot penguin can realize gliding motion, and it adopts a buoyancy-driven motion mode, which consumes less energy and has strong battery life. The flipper mechanism and the tail fin mechanism can restore the movement mode of the biological penguin to a high degree, and can ensure the swimming speed of the bionic robot penguin in sea water. At the same time, through the cooperation between the flipper mechanism and the tail fin mechanism, it can Let the bionic penguin realize the adjustment of roll, yaw and pitch attitude in seawater, which has high flexibility. In addition, the bionic penguin can adopt a modular design, which is convenient for disassembly and maintenance.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is a schematic structural view of a bionic robot penguin according to an embodiment of the present invention;

Fig. 2 is a structural schematic diagram of the suction and drainage mechanism in the bionic robot penguin according to an embodiment of the present invention;

Fig. 3 is a structural schematic diagram of a center-of-gravity adjustment mechanism in a bionic robot penguin according to an embodiment of the present invention;

Fig. 4 is a structural schematic diagram of a flipper mechanism in a bionic robot penguin according to an embodiment of the present invention;

Fig. 5 is a structural schematic diagram of the caudal fin mechanism of the bionic robot penguin according to an embodiment of the present invention.

Reference signs:

10. Body; 20. Flipper mechanism; 21. Transmission shaft; 22. Bionic flipper; 23. Vertical steering gear; 24. Horizontal steering gear; 25. Axial steering gear; 30. Tail fin mechanism; 31 , tail steering gear; 32, bionic tail fin; 33, U-shaped positioning seat; 40, suction and drainage mechanism; 41, water storage bin; 42, piston; 43, rack structure; 44, gear structure; 45, suction and drainage steering gear; 50 51, the counterweight; 52, the mounting seat; 53, the driving wheel; 54, the driven wheel; 55, the transmission belt; 56, the center of gravity adjustment steering gear.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

In related research, underwater glider can use net buoyancy to achieve ascent or dive, and can achieve low energy consumption, so that the technical requirements for underwater glider to work continuously in the ocean for several months or even years can be realized. In order to enhance the endurance of the bionic underwater robot platform, the researchers found that the buoyancy driving mechanism of the underwater glider can be introduced into the bionic underwater robot platform, so that the bionic underwater robot platform has two motion modes of bionic swimming and gliding , to improve its usability.

Bionic underwater robots include bionic penguins developed with penguins as bionic objects. Bionic penguins have the characteristics of high maneuverability, low disturbance, and rich and flexible movement modes, which have received extensive attention.

Generally speaking, the bionic penguin has a gliding mode and a swimming mode. Among them, the swimming mode is divided into a body and/or caudal fin mode (Body and/or caudal fin, referred to as BCF) and a middle fin and a pair of fin mode (Median and fin mode). /or PairedFin, referred to as MPF). By combining rich motion modes, penguins can complete a variety of actions, which is more suitable for completing tasks in various complex underwater scenes.

According to one embodiment of the present invention, a bionic robot penguin is provided, which includes: a body, a flipper mechanism, a tail fin mechanism, a suction and drainage mechanism, and a center of gravity adjustment mechanism. Water is absorbed into the body of the bionic robot penguin, and the liquid water inside the body of the bionic robot penguin can also be discharged to the outside, thereby adjusting the weight of the entire bionic robot penguin, and then adjusting the net buoyancy of the bionic robot penguin in sea water. The center of gravity adjustment mechanism can By adjusting the position of the center of gravity of the entire bionic robot penguin, the flipper mechanism and the tail fin mechanism can adjust the yaw angle and gliding angle of the bionic robot penguin in sea water, so that the bionic robot penguin can realize gliding in the ocean. Moreover, the flipper mechanism and the tail fin mechanism can respectively perform reciprocating motions, thereby also enabling the bionic robot penguin to swim in sea water. The bionic robot penguin in this embodiment will be further described below in conjunction with FIGS. 1 to 5 .

As shown in FIG. 1 , the bionic robot penguin in this embodiment includes: a body 10 , a flipper mechanism 20 , a tail fin mechanism 30 , a suction and drainage mechanism 40 and a gravity center adjustment mechanism 50 .

Wherein, the body 10 is at least partly modeled on the body of a biological penguin.

It can be understood that in this embodiment, the body 10 of the bionic robot penguin can be bionically designed according to the body shape and skeletal characteristics of the penguin. It has a streamlined shape and can effectively reduce swimming resistance when swimming in water. Moreover, a cavity is formed inside the body of the bionic robot penguin for accommodating various electrical components.

Optionally, the hard shell part of the body 10 can be made of polyoxymethylene engineering plastic (POM) to enhance the pressure resistance and improve the diving depth of the bionic robot penguin.

There are two flipper mechanisms 20 , and the two flipper mechanisms 20 are symmetrically arranged on the left and right sides of the body 10 . The tail fin mechanism 30 is connected to the tail end of the body 10 .

It can be understood that in this embodiment, the two flipper mechanisms 20 correspond to the two flippers of a penguin. Moreover, the flipper mechanism 20 has multiple degrees of freedom, and it can realize reciprocating motion, thereby facilitating the movement of the bionic robot penguin in water.

Correspondingly, the tail fin mechanism 30 corresponds to the penguin's feet. Moreover, the tail fin mechanism 30 can also realize reciprocating motion, which can also facilitate the movement of the bionic robot penguin in water.

In this embodiment, the flipper mechanism 20 and the tail fin mechanism 30 jointly form the swimming module of the bionic robot penguin. When the bionic robot penguin is placed in seawater and needs to swim, the flipper mechanism 20 and the tail fin mechanism 30 can move together, so that the bionic robot penguin can move in seawater conveniently.

The suction and drainage mechanism 40 is disposed inside the body 10 , and the suction and drainage mechanism 40 is used to absorb water outside the body 10 into the body 10 and discharge water inside the body 10 to the outside of the body 10 . The center-of-gravity adjustment mechanism 50 is arranged inside the body 10, and the center-of-gravity adjustment mechanism 50 is used to change the position of the center of gravity of the bionic robot penguin.

It can be understood that in this embodiment, the suction and drainage mechanism 40 can adjust the weight of the entire bionic robot penguin by absorbing and discharging liquid water, thereby changing the buoyancy of the bionic robot penguin in seawater, thereby facilitating the bionic robot penguin to float in seawater and diving. The center-of-gravity adjustment mechanism 50 can change the position of the center of gravity of the bionic penguin, thereby changing the posture of the bionic penguin in seawater, and then adjusting the gliding angle of the bionic penguin in seawater.

In this embodiment, the suction and drainage mechanism 40 and the center-of-gravity adjustment mechanism 50 jointly form a gliding module of the bionic penguin. When the bionic robot penguin is placed in seawater and needs to float or dive, the suction and drainage mechanism 40 and the center of gravity adjustment mechanism 50 can respectively adjust the net buoyancy and posture of the bionic robot penguin, so that the bionic robot penguin can move in seawater conveniently .

In practical applications, for the bionic robot penguin in this embodiment, when the bionic robot penguin is placed in seawater and needs to float or dive, the suction and drainage mechanism 40 can adjust the life of the whole bionic robot penguin by absorbing and discharging seawater. The weight in seawater is used to adjust the net buoyancy, thereby controlling its rise or fall. The center of gravity adjustment mechanism 50 can adjust the position of the center of gravity of the bionic robot penguin, thereby changing the posture of the bionic robot penguin in seawater to adjust the gliding angle, thereby controlling its Ascent or descent speed, the two flipper mechanisms 20 can also adjust the yaw angle and gliding angle of the bionic robot penguin through reciprocating or asymmetrical motion, and the tail fin mechanism 30 can adjust the yaw angle of the bionic robot penguin by changing the predetermined angle. adjustment. In addition, when the bionic robot penguin is placed in seawater and needs to swim, the two flipper mechanisms 20 and the tail fin mechanism 30 can cooperate to move, so that the bionic robot penguin can swim in seawater.

Thus, compared with the traditional bionic robot based on bionic swimming mode, the bionic robot penguin in this embodiment can rise or fall in seawater by changing its own buoyancy and gliding angle. Effectively reduce energy consumption, improve battery life, and can work continuously in the ocean for months or even years. Moreover, the flipper mechanism 20 and the tail fin mechanism 30 can cooperate to move, which can ensure that the bionic robot penguin can swim in sea water.

Further, the suction and drainage mechanism 40 is located at the front end of the body 10 , an opening is provided at the front end of the body 10 , and the suction and drainage mechanism 40 communicates with the outside of the body 10 through the opening.

In this embodiment, taking the state characteristics of the penguin standing as a reference, the body 10 of the bionic robot penguin has a front end and a tail end in the height direction of the penguin, the suction and drainage mechanism 40 is located at the front end of the body 10, and the tail fin mechanism 30 is connected To the tail end of the body 10.

Moreover, the liquid water outside the body 10 can enter the suction and drainage mechanism 40 inside the body 10 through the opening at the front end of the body 10, so as to ensure that the liquid water can enter the suction and drainage mechanism 40 in time, and then effectively adjust the overall bionic penguin. weight.

Further, in order to effectively adjust the buoyancy of the bionic penguin, as shown in Figure 2, in this embodiment, the suction and drainage mechanism 40 includes: a water storage bin 41, a piston 42 and a drive assembly, one end of the water storage bin 41 is connected to the opening, and the piston 42 Set in the water storage bin 41 , the driving assembly is connected to the piston 42 and can drive the piston 42 to move in the water storage bin 41 .

It can be understood that the piston 42 can move in the water storage bin 41 under the push of the driving assembly, so as to change the accommodating space in the water storage bin 41 for accommodating liquid water.

Exemplarily, when the bionic robot penguin is placed in seawater, the seawater can enter the water storage bin 41 through the opening at the front end of the body 10 . At this time, if the bionic robot penguin needs to dive, the piston 42 can be driven to move away from the opening to increase the accommodation space for liquid water in the water storage bin 41. For example, in FIG. 2, the piston 42 is controlled to move to the right to allow More seawater enters the water storage bin 41, thereby increasing the weight of the entire bionic robot penguin, and then allowing the bionic robot penguin to dive. Correspondingly, if the bionic robot penguin needs to be raised, the piston 42 can be driven to move towards the direction close to the opening to reduce the accommodation space for liquid water in the water storage bin 41. For example, in FIG. The seawater is discharged to the outside of the body 10, thereby reducing the weight of the entire bionic robot penguin, and then allowing the bionic robot penguin to rise.

Specifically, the drive assembly includes: a rack structure 43, a gear structure 44 and a suction and discharge steering gear 45, the gear structure 44 is connected to the output end of the suction and discharge steering gear 45, the suction and discharge steering gear 45 can drive the gear structure 44 to rotate, and the rack One end of the structure 43 is connected to the piston 42 and the other end meshes with the gear structure 44 .

Exemplarily, in this embodiment, as shown in FIG. 2 , when the suction and discharge steering gear 45 drives the gear structure 44 to rotate clockwise, the rack structure 43 can be moved to the left, thereby driving the piston 42 to move to the left. When the suction and discharge steering gear 45 drives the gear structure 44 to rotate counterclockwise, the rack structure 43 can be moved to the right, thereby driving the piston 42 to move to the right. Moreover, when the suction and discharge steering gear 45 stops running, the position of the piston 42 can be effectively limited by the engagement between the gear structure 44 and the rack structure 43, so that the water storage bin 41 can withstand liquid water of sufficient pressure.

Optionally, the suction and discharge steering gear 45 may be an electric steering gear, which can drive the gear structure 44 to rotate.

Of course, in other embodiments, the drive assembly can also be other structures to drive the piston to move. For example, the drive assembly can be a cylinder, and the output end of the cylinder can be connected to the piston. By changing the extended position of the output end of the cylinder, the piston can be adjusted. The location in the storage tank.

Further, in order to effectively adjust the position of the center of gravity of the bionic robot penguin, the center of gravity adjustment mechanism 50 includes: a counterweight 51 and a moving component, the counterweight 51 is connected to the moving component, and the moving component can drive the counterweight 51 inside the body 10 move.

Specifically, as shown in Figure 3, the mobile assembly includes: a mounting base 52, a driving wheel 53, a driven wheel 54, a transmission belt 55 and a steering gear 56 for adjusting the center of gravity, and the driving wheel 53 and the driven wheel 54 can be rotatably connected to the mounting base 52, the transmission belt 55 is connected between the driving wheel 53 and the driven wheel 54, the counterweight 51 is fixedly connected to the transmission belt 55, and the center of gravity adjustment steering gear 56 is connected to the driving wheel 53 and can drive the driving wheel 53 to rotate.

Exemplarily, the mounting seat 52 can be fixed inside the body 10 , and the transmission belt 55 can extend along the length direction of the body 10 , for example, the transmission belt 55 can extend from the front end of the body 10 toward the tail end.

In actual use, when the bionic robot penguin is placed in seawater, the bionic robot penguin can be in an upright initial state. If it is necessary to allow the bionic robot penguin to float up with an upward posture, the center of gravity can be adjusted to the steering gear 56 to drive the driving wheel 53 to rotate, so that the counterweight 51 is close to the tail of the body 10. At this time, the head of the bionic robot penguin is lighter , the tail is heavy, the bionic robot penguin will be in a state of tilting upwards, and then, by adjusting the buoyancy of the bionic robot penguin, it can be controlled to float up. If it is necessary to allow the bionic robot penguin to dive in an inclined downward posture, the center of gravity adjustment steering gear 56 can be made to drive the driving wheel 53 to rotate, so that the counterweight 51 is close to the head of the body 10. At this time, the bionic robot penguin's head The head is heavier and the tail is lighter, the bionic robot penguin will be in a state of tilting downward, and then, by adjusting the buoyancy of the bionic robot penguin, it can control its dive.

Optionally, the gravity center adjusting steering gear 56 may be an electric steering gear, which can drive the driving wheel 53 to rotate.

Of course, in other embodiments, the moving assembly can also be other structures to change the position of the counterweight. For example, the driving assembly can be a cylinder, and the counterweight 51 can be arranged at the output end of the cylinder. position, the position of the counterweight 51 in the body 10 can be adjusted.

Exemplarily, in this embodiment, the counterweight 51 has a certain weight, and the moving assembly can change the position of the counterweight 51 in the body 10, thereby adjusting the position of the center of gravity of the bionic robot penguin. For example, the counterweight 51 can Constructed from tungsten alloy.

Further, in order to facilitate the adjustment of the buoyancy and the position of the center of gravity of the entire bionic robot penguin, the center of gravity adjustment mechanism 50 may be located above the suction and drainage mechanism 40 .

In this embodiment, the flipper mechanisms 20 are arranged symmetrically on the left and right sides of the body 10 , and the two flipper mechanisms 20 can adjust the yaw angle and glide angle of the bionic robot penguin.

Specifically, the flipper mechanism 20 includes: a steering gear assembly, a transmission shaft 21 and a bionic flipper 22, the steering gear assembly is arranged inside the body 10, the bionic flipper 22 is arranged outside the body 10, and the bionic flipper 22 is arranged outside the body 10. The limb 22 is connected to the steering gear assembly via the transmission shaft 21, and the steering gear assembly is used to drive the bionic flipper 22 to move.

It can be understood that, as shown in FIG. 1 , two bionic flippers 22 are symmetrically arranged on the left and right sides of the body 10 , and the two bionic flippers 22 can move with multiple degrees of freedom driven by the steering gear assembly. , so that the bionic robot penguin can move forward, turn and retreat. Moreover, the two bionic flippers 22 can perform asymmetrical movements to adjust the yaw angle and glide angle of the bionic robot penguin.

In a specific embodiment, as shown in FIG. 4, the steering gear assembly includes: vertical steering gear 23, horizontal steering gear 24 and axial steering gear 25, vertical steering gear 23, horizontal steering gear 24 and shaft The steering gear 25 is connected in turn, the axial steering gear 25 is connected with the bionic flipper 22 via the transmission shaft 21, and the axial directions of the respective output shafts of the vertical steering gear 23, the horizontal steering gear 24 and the axial steering gear 25 are mutually mutually vertical.

Exemplarily, taking the state characteristics of a penguin standing as a reference, the direction from the front end to the tail end of the body 10 is the X-axis direction, the direction from the left side to the right side of the body 10 is the Y-axis direction, and the direction from the chest of the body 10 to the The direction of the back is the Z-axis direction, and the X-axis, Y-axis and Z-axis are perpendicular to each other in turn. In this embodiment, the axial direction of the output shaft of the vertical steering gear 23 is parallel to the X-axis direction, the axial direction of the output shaft of the horizontal steering gear 24 is parallel to the Z-axis direction, and the output shaft of the axial steering gear 25 is parallel to the Z-axis direction. The axial direction is parallel to the Y-axis direction. Thus, under the mutual cooperation of the longitudinal steering gear 23, the horizontal steering gear 24 and the axial steering gear 25, the bionic flipper 22 can realize three-degree-of-freedom movement, thereby more accurately and effectively adjusting the position of the bionic robot penguin. Yaw angle and glide angle.

In the flipper mechanism 20 of this embodiment, the bionic flipper 22 can reciprocate from the range of the flipper angle of attack -90 degrees to 90 degrees by means of the steering gear assembly, and the two flipper mechanisms 20 are independent of each other. , can make the bionic robot penguin realize pitching and rolling motions in the sea water, when the attack angles of the two bionic flippers 22 are in the same direction, the bionic robot penguin can make pitching motions, when the attack angles of the two bionic flippers 22 When the angle is reversed, the bionic robot penguin can be made to do a rolling motion.

It can be understood that the bionic flipper can approximate the flapping movement of the biological penguin's pectoral fins in seawater through the above-mentioned setting method, which facilitates the bionic robot penguin to swim in seawater.

Optionally, the vertical steering gear 23 , the horizontal steering gear 24 and the axial steering gear 25 are all electric steering gears, and their respective output shafts can rotate respectively.

In this embodiment, the tail fin mechanism 30 is arranged at the tail end of the body 10, and the tail fin mechanism 30 can adjust the yaw angle of the bionic robot penguin.

Specifically, the tail fin mechanism 30 includes: a tail steering gear 31 and a bionic tail fin 32, the tail steering gear 31 is arranged inside the body 10, the bionic tail fin 32 is arranged outside the body 10, the tail steering gear 31 is connected with the bionic tail fin 32, the tail tail The steering gear 31 is used to drive the bionic tail fin 32 to reciprocate.

In order to realize the reciprocating motion of the bionic caudal fin, in a specific embodiment, as shown in FIG. The groove of U-shaped positioning seat 33 is provided with a rotating shaft, and the two ends of the rotating shaft are rotatably connected to two opposite support plates in the U-shaped positioning seat 33 respectively, the bionic tail fin 32 is fixedly connected with the rotating shaft, and the tail steering gear The output shaft of 31 is connected with the rotating shaft via gear transmission.

Thus, when the output shaft of the tail steering gear 31 drives the rotating shaft to reciprocate, the bionic tail fin 32 can be driven to reciprocate.

It can be understood that, through the above arrangement, the bionic tail fin can approximate the swing motion of the bionic penguin tail fin in seawater, which facilitates the bionic robot penguin to swim in seawater.

In addition, in order to improve the waterproof performance of the entire bionic robot penguin and prevent external seawater from entering the interior of the body 10 through the flipper mechanism 20 and the tail fin mechanism 30, the bionic robot penguin in this embodiment can use Stern sealing technology to achieve waterproofing. seal. Compared with the traditional waterproof skin-wrapped seal, when the output shaft is in the process of rotating, due to the gap between the output shaft and the casing, it may cause leakage, and the higher the medium pressure and the higher the shaft speed, the more Leakage is easy to occur, and the combined sealing of the O-ring and the PTFE slip ring in the Ster seal dynamic sealing technology can effectively improve the waterproof sealing performance of the output shaft.

It can be seen that the bionic robot penguin in this embodiment has the following advantages:

The bionic robot penguin in this embodiment includes a body, a flipper mechanism, a tail fin mechanism, a suction and drainage mechanism, and a center of gravity adjustment mechanism, wherein the suction and drainage mechanism and the center of gravity adjustment mechanism can adjust the buoyancy and center of gravity position of the bionic robot penguin in sea water, This enables the bionic penguin to realize gliding motion, which adopts a buoyancy-driven motion mode, consumes less energy, and has strong battery life. The flipper mechanism and the tail fin mechanism can restore the movement mode of the biological penguin to a high degree, and can ensure the swimming speed of the bionic robot penguin in sea water. At the same time, through the cooperation between the flipper mechanism and the tail fin mechanism, it can Let the bionic penguin realize the adjustment of roll, yaw and pitch attitude in seawater, which has high flexibility. In addition, the bionic penguin can adopt a modular design, which is convenient for disassembly and maintenance.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. A biomimetic robotic penguin, comprising:

a body configured at least partially to resemble a body of a biological penguin;

the fin-shaped limb mechanisms are symmetrically arranged on the left side and the right side of the body;

a skeg mechanism connected to a tail end of the torso;

the water absorbing and draining mechanism is arranged in the body and is used for absorbing water outside the body into the body and draining the water inside the body out of the body;

the gravity center adjusting mechanism is arranged in the body and used for changing the gravity center position of the penguin of the bionic machine.

2. The biomimetic robotic penguin of claim 1, wherein the water suction and drainage mechanism is located at a front end of the body, the front end of the body being provided with an opening, the water suction and drainage mechanism being communicated to an exterior of the body via the opening.

3. The biomimetic robotic penguin as in claim 2, wherein said water intake and drainage mechanism comprises: the device comprises a water storage bin, a piston and a driving assembly, wherein one end of the water storage bin is communicated with the opening, the piston is arranged in the water storage bin, and the driving assembly is connected to the piston and can drive the piston to move in the water storage bin.

4. A biomimetic robotic penguin as in claim 3, wherein said drive assembly comprises: the hydraulic steering engine comprises a rack structure, a gear structure and a water suction and drainage steering engine, wherein the gear structure is connected to the output end of the water suction and drainage steering engine, the water suction and drainage steering engine can drive the gear structure to rotate, one end of the rack structure is connected to the piston, and the other end of the rack structure is meshed with the gear structure.

5. The biomimetic robotic penguin as in claim 1, wherein said center of gravity adjustment mechanism comprises: the balancing weight and remove the subassembly, the balancing weight is connected to remove the subassembly, remove the subassembly can drive the balancing weight is in the inside of body is removed.

6. The biomimetic robotic penguin of claim 5, wherein said moving assembly comprises: the steering wheel is adjusted to mount pad, action wheel, follow driving wheel, drive belt and focus, the action wheel with follow the driving wheel all rotationally is connected to the mount pad, the drive belt is connected the action wheel with follow between the driving wheel, balancing weight fixed connection to the drive belt, focus adjusts the steering wheel and is connected to the action wheel and can drive the action wheel rotates.

7. The biomimetic robotic penguin of claim 1, wherein said center of gravity adjustment mechanism is located above said water intake and drainage mechanism.

8. The biomimetic robotic penguin of claim 1, wherein said flipper mechanism comprises: steering wheel subassembly, transmission shaft and bionical fin form limb, steering wheel subassembly sets up the inside of body, bionical fin form limb sets up the outside of body, bionical fin form limb via the transmission shaft with steering wheel subassembly is connected, steering wheel subassembly is used for the drive bionical fin form limb motion.

9. The biomimetic robotic penguin of claim 8, wherein said steering engine assembly comprises: the steering engine comprises a longitudinal steering engine, a transverse steering engine and an axial steering engine, wherein the longitudinal steering engine is connected with the transverse steering engine and the axial steering engine in sequence, the axial steering engine is connected with the bionic fin-shaped limb through a transmission shaft, and the longitudinal steering engine is perpendicular to the axial direction of the output shafts of the longitudinal steering engine and the transverse steering engine.

10. The biomimetic robotic penguin of claim 1, wherein said skeg mechanism comprises: the tail steering engine is arranged in the body, the bionic tail fin is arranged outside the body, the tail steering engine is connected with the bionic tail fin, and the tail steering engine is used for driving the bionic tail fin to reciprocate.

Images