CN210852857U - Bionic line-driven wrist cuttlefish - Google Patents

Abstract

The utility model discloses a bionical line drive wrist squid, including wrist squid body, wrist squid body includes that wrist squid carcass, wrist squid head, wrist squid touch wrist, wrist squid mantle, wrist squid carcass includes wrist squid carcass afterbody and wrist squid carcass truck, wrist squid carcass afterbody is conical structure support piece, wrist squid carcass truck comprises the vertical muscle of universal joint skeleton texture and carcass line drive, wrist squid tail end left and right sides is equipped with first actuating mechanism, second actuating mechanism respectively, wrist squid head passes through the vertical muscle of universal joint skeleton texture and carcass line drive and links to each other with wrist squid carcass afterbody, wrist squid touch the wrist pass through third actuating mechanism with wrist squid head the place ahead links to each other, wrist squid mantle is from wrist squid carcass afterbody toward lower cover. The utility model discloses can realize carrying on multiple underwater detector, different water depth nimble float and sink, realize functions such as software robot under water, carry out surveying and development to the ocean.

Description

A bionic wire-driven wrist squid

technical field

The utility model belongs to the technical field of underwater robots, in particular to a bionic wire-driven wrist squid.

Background technique

The 21st century is the century of the ocean. With the depletion of land resources, the development and utilization of marine resources and the demand for the blue economy are gradually increasing. Due to the harshness, complexity, high corrosiveness, strong pressure and opacity of the sensor in the water environment, the operation tasks in the water environment have undergone great changes, and the general diving technology has been unable to adapt to the modern high-depth comprehensive investigation. , research, and the need to complete a variety of assignments and applications. After a long period of natural selection, fish have evolved swimming functions and organs with complete performance, which provide an imitation object for humans to develop new underwater propulsion control systems. Since the 1990s, bionic robotic fish has become a key development target. Compared with ordinary underwater propulsion, the swimming of fish has the advantages of high propulsion efficiency, good maneuverability, and good concealment performance. As a combination of fish propulsion mechanism and robotic technology, bionic robotic fish provides a new idea for the development of new underwater vehicles, and has important research value and application prospects.

At present, underwater vehicles are generally divided into ROVs and bionic robotic fishes. Traditional ROVs are large in size, high in energy consumption, and have large environmental disturbances. The principle of bionic robotic fishes currently designed at home and abroad is basically modeled on the structure of robotic fish. The shape, its materials are mostly rigid materials and the main driving method is the propeller, the simulation effect is low, and the action posture is not flexible. The wire-driven bionic robotic fish has the advantages of high propulsion efficiency, good controllability and fast propulsion speed, but the swimming performance displayed by the current bionic robotic fish is far less than that of biological fish.

SUMMARY OF THE INVENTION

The purpose of the utility model is to provide a bionic wire-driven wrist squid, which has the advantages of abundant underwater movements, high bionic degree and strong flexibility.

The utility model is achieved through the following technical solutions:

A bionic wire-driven wrist squid, comprising a wrist squid body, the wrist squid body comprising a wrist squid carcass, a wrist squid head, a wrist squid tentacle, a wrist squid mantle, the wrist squid carcass comprising a wrist squid carcass tail and a wrist squid The squid carcass trunk, the tail of the wrist squid carcass is a conical structural support, the wrist squid carcass is composed of a universal joint skeleton structure and a carcass line-driven longitudinal muscle, and the left and right sides of the tail end of the wrist squid carcass are respectively provided with The first driving mechanism and the second driving mechanism, the head of the carpal squid is connected with the carcass tail of the squid carcass through the universal joint skeleton structure and the carcass line driving longitudinal muscle, and the tentacles of the squid carpal are connected to the carcass through the third driving mechanism. The front of the squid head is connected. The carcass mantle is a mantle covering the tail of the ketone body of the carpal squid and the cavity part of the carcass of the carcass squid, which is automatically filled with water when moving in water, and can form a fluid shape structure with a certain lift.

Further, the first driving mechanism, the second driving mechanism and the third driving mechanism respectively comprise a steering gear bracket and a steering gear arranged in the steering gear bracket, and the steering gears on the left and right sides of the tail of the wrist squid carcass are respectively connected with the steering gear. The inner driving carbon fiber plates on the left and right sides of the carcass of the carcass are connected with the inner driving carbon fiber plates, and form the driving structure of the carpal squid meat fins with the mantle of the carpal squid.

Further, the third drive mechanism is connected with the arm squid tentacle to form a tentacle drive structure, and the arm squid tentacle is provided with a Nilon material inside, and the outside is wrapped by a soft silicone rubber material.

The mantle of the wrist squid is molded and cast by a silicone rubber material, and the outer part of the wrist squid is in a streamlined structure as a whole.

Further, the head of the wrist squid is provided with an electric control cabin, and four ups and downs control cabins are arranged around the electric control cabin. The front and rear of the electric control cabin are provided with threading grooves for combing the circuit.

Further, a microcomputer for controlling the circuit board is arranged in the electric control cabin, and the microcomputer drive board outputs corresponding electric control signals to control the steering gear and the water jet propeller, and the electric control cabin is provided with a power management board, a supply Lithium battery pack for electrical power.

Further, the mantle of the wrist squid is sleeved outside the carcass of the squid, and a water-filled cavity is formed around the torso of the squid carcass.

Further, the inside of the carcass of the wrist squid is provided with a flexible skeleton support structure composed of universal joints, so that when the wrist squid realizes the action group, the body can make a "bow" shape bending along the action direction, and the auxiliary action is completed.

Further, the carcass of the wrist squid is provided with sixteen elastic rope materials surrounding the universal joint frame along the chord direction, and the elastic rope materials are cast in the flexible silicone rubber material to form the carcass line driving longitudinal muscles.

Further, the upper end of the electric control cabin is provided with a watertight interface to be connected with the sensor group and the first drive mechanism and the second drive mechanism, for the output of the sensor signal and the data recovery and the signal output and control of the wrist squid meat fin drive structure; The lower end of the electric control cabin is provided with a watertight interface and is connected to the third driving structure, which is used for signal output and control of the driving structure of the arm squid tentacles.

Beneficial effects: the bionic wire-driven wrist squid of the utility model can realize the bending auxiliary action of the ketone body torso, the wire-driven tentacles have high control precision, strong propulsion efficiency, and the overall combination realizes that the bionic wire-driven wrist squid has abundant underwater movements. High bionic and flexible. The utility model can realize the functions of carrying various underwater detectors, flexibly floating and sinking in different water depths, and realizing underwater software robotic hands, and can carry out the detection and development of the ocean.

Description of drawings

1 is a schematic diagram of the overall structure of an embodiment of a bionic wire-driven wrist squid according to the present invention.

Fig. 2 is a schematic diagram of the carcass structure of the arm squid in an embodiment of the present invention.

3 is a schematic diagram of the head structure of the wrist squid in an embodiment of the present invention.

4 is a schematic diagram of the structure of the tentacles of the arm squid in an embodiment of the present invention.

5 is a schematic diagram of the structure of the mantle of the wrist squid in an embodiment of the present invention.

FIG. 6 is a schematic diagram of the drive structure of the carpal squid meat fin in an embodiment of the present invention.

7 is a schematic diagram of the drive structure of the arm squid tentacles in one embodiment of the present invention.

Each symbol represents: carpal squid body 1; carpal squid carcass 11; carpal squid head 12; carpal squid tentacles 13; carpal squid mantle 14; carpal squid carcass tail 111; carpal squid carcass 112; sonar echo sounder 1111; Universal joint skeleton structure 1121; Carcass line driving longitudinal muscle 1122; Elastic rope material 11221; Flexible silicone rubber material 11222; Electric control cabin 121; 131; Meat fin mantle 141; Carcass mantle 142; First drive mechanism 2; Second drive mechanism 3; Drive carbon brazing plate 4;

Detailed ways

Below in conjunction with the accompanying drawings, the embodiments of the present utility model are described in detail: the present embodiment is implemented on the premise of the technical solution of the present utility model, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present utility model is provided. It is not limited to the following examples.

As shown in FIGS. 1 , 2 and 6 , the figure includes a carpal squid body 1 , which includes a carpal squid carcass 11 , a carpal squid head 12 , a carpal squid tentacle 13 , and a carpal squid mantle 14 . The mantle 14 of the wrist squid is formed by molding and casting of silicone rubber material, and the outside of the wrist squid is in a streamlined structure as a whole. Due to the soft body shape of the whole body, the wrist squid has a reduced resistance in water and can swim freely, and the whole body soft body shape moves in the water. It will reduce the turbulence generated during movement and have the effect of reducing drag.

Said arm squid carcass 11 includes arm squid carcass tail 111 and arm squid carcass trunk 112, said arm squid carcass tail 111 is a conical structural support, said arm squid carcass 112 is composed of a universal joint skeleton structure 1121 and a carcass line. Drive longitudinal muscle 1122 composition. A first drive mechanism 2 and a second drive mechanism 3 are respectively provided on the left and right sides of the rear end of the carcass 11 of the carcass squid, and the head 12 of the carpal squid drives the longitudinal muscles 1122 and the carpal squid through the universal joint skeleton structure 1121 and the carcass line. The carcass tail 111 is connected.

The steering gear of the wrist squid head 12 and the tail 111 of the wrist squid carcass swings at the same frequency. When the tentacle servo is opened and the fins are up at 2.5 times the average speed, the bionic wire drives the arm squid to achieve a straight motion group. The steering gears on both sides of the tail of the main body are differentially driven, and at the same time, the gathering direction of the arm steering gear is changed from the middle axis to the axis inclined to the left. reason. Because the body shape of the bionic wire-driven arm squid is a biconvex airfoil with a certain lift-to-drag ratio, when its movement speed reaches a certain critical value, the body as a whole overcomes the gravity, and the bionic wire-driven arm squid realizes the floating action group. , When the speed is reduced, the bionic line drives the wrist squid to realize the diving action group.

As shown in Figures 1, 5 and 7, the wrist squid tentacle 13 is connected to the front of the wrist squid head 12 through the third drive mechanism 5, and the wrist squid mantle 14 is covered from the carcass tail 111 of the wrist squid, Wrap the carcass 11 of the carpal squid to the tail end of the head 12 of the carpal squid.

The mantle 14 of the carpal squid includes a flesh fin mantle 141 and a carcass mantle 142. The carcass mantle 142 is a mantle wrapped around the tail of the carpal squid ketone body and the cavity part of the carcass of the squid carcass. It is automatically filled with water when moving in water, and can form a fluid shape structure with a certain lift. The sarcophagus mantle 141 includes upper and lower layers, and a first driving mechanism 2 and a second driving mechanism 3 are arranged in the middle of the two layers of the meat fin mantle 141. The first driving mechanism 2 and the second driving mechanism 3 are composed of left, The right steering gear is connected to the steering gear bracket, and the first driving mechanism 2 and the second driving mechanism 3 are supported by a carbon fiber board skeleton connected to the steering gear bracket.

As shown in Figures 1, 2, 4, 6, and 7, the first driving mechanism 2, the second driving mechanism 3, and the third driving mechanism 5 respectively comprise a steering gear bracket and a steering gear arranged in the steering gear bracket The steering gears on the left and right sides of the tail 111 of the wrist squid carcass are respectively connected with the inner driving carbon fiber plates on the left and right sides of the tail 111 of the wrist squid carcass, and form the wrist squid meat fin drive structure with the mantle 14 of the wrist squid.

The third drive mechanism 5 is connected to the wrist squid tentacle 13 to form a tentacle drive structure. The wrist squid tentacle 13 is internally provided with a Nilon material 131, and the outside is wrapped by a soft silicone rubber material, and the flexible soft body does not lose elasticity under the shape. The swimming waveform is delivered intact.

The driving carbon fiber board is made of semi-flexible carbon fiber material, and the semi-flexible carbon fiber material has a certain rigidity and toughness, so that the wrist squid meat fin driving structure has a certain degree of flexible wave transmission under the condition of high-precision control. effect.

The third driving mechanism 5 is connected to the wrist squid tentacle 13 to form a tentacle driving structure. The wrist squid tentacle 13 is provided with a Nilon material 131 inside, and the external soft silicone rubber material is wrapped, and the flexible software shape does not lose elasticity, The swimming waveform is delivered intact. The silicone rubber material has high linear shrinkage rate and good chemical stability, and is used for high corrosion resistance in fresh water or even sea water, so that the service life of the cast tentacles is long. Moreover, the arm squid tentacles 13 made of the flexible silicone rubber material 11222 are fully flexible swinging in water, and have a high degree of biomimeticity. The silicone rubber tentacle has a built-in nylon material 131, and the nylon material 131 has a certain binding and pulling effect on the fully flexible silicone rubber during movement, so that the fully flexible silicone rubber tentacle has high control accuracy.

The wrist squid mantle 14 is sleeved on the outside of the wrist squid carcass 11, and a water-filled cavity is formed around the trunk 112 of the wrist squid carcass. Flat structure, the cavity is filled with water during the swimming process of the arm squid, and due to the support of the carcass 111 of the arm squid, a biconvex airfoil side fluid structure is formed independently, and the lift-to-drag ratio provided by the arm squid can make the arm squid in the water. When the swimming speed is fast, it shows an upward trend, and when the wrist squid swims at a slow speed, it shows a downward trend. At a certain critical time, the movement can be maintained at a certain height.

The wrist squid carcass body 112 is provided with a flexible skeleton support structure composed of universal joints, so that the wrist squid body can make a "bow" shape bending along the action direction when the arm squid realizes the action group, and the auxiliary action is completed.

The wrist squid carcass body 112 has sixteen elastic rope materials 11221 surrounding the universal joint frame along the chord direction. The elastic rope materials 11221 are cast in the flexible silicone rubber material 11222 to form the carcass line driving longitudinal muscles 1122. The line-driven longitudinal muscle 1122 can restrain the carpal squid under a certain elastic limit when the body is bent, so that the body can maintain the elongated chordwise elongated tapered streamline shape under the condition of flexibility. The carcass line driving longitudinal muscle 1122 connects the carpal squid head 12 and the carpal squid carcass tail 111, the presence of the carcass line driving longitudinal muscle 1122 can support the entire length of the torso of the carpal squid, making the irregular swing of the gimbal Indirectly controlled by a wrist squid drive.

The carcass line-driven longitudinal muscle 1122 will also play an auxiliary action when the wrist squid is doing a turning movement. Taking the left turning movement of the wrist squid as an example, when the wrist squid turns left, the meat fins drive. In the mechanism, the steering gears on both sides of the arm squid carcass tail 111 are reversely differentially driven, and at the same time, the gathering direction of the arm squid steering gear is changed from the middle axis to the axis inclined to the left, and the arm squid carcass tail 111 is deflected to the left. At the same time, the carcass line drives the longitudinal muscle 1122 to drive the carcass squid body to bend to the left, and the carcass line drives the longitudinal muscle 1122. The elasticity of the external silicone rubber material cooperates with the wrist squid tentacle steering action group, so that the entire carcass can quickly adjust the posture , the steering action is realized, and the auxiliary function of the carcass line driving the longitudinal muscle 1122 is the same when turning right. When the carcass body 112 of the carpal squid is bent, due to the restraining force generated by the Nilon material 131 in the opposite direction of the bending direction in the carcass line driving longitudinal muscle 1122, the carcass carcass 112 of the carpus squid will not be bent excessively, so that The control accuracy is kept within a constant range.

The upper end of the electric control cabin 121 is provided with a watertight interface to be connected with the sensor group, the first drive mechanism 2, and the second drive mechanism 3, and is used for the output of the sensor signal and the data recovery and the signal output and control of the wrist squid fin drive structure; The lower end of the electric control cabin 121 is provided with a watertight interface which is connected to the third drive structure, and is used for signal output and control of the arm squid tentacle drive structure.

As shown in FIGS. 1 and 3 , the wrist squid head 12 is provided with an electric control cabin 121 , four ups and downs control cabins 122 are arranged around the electric control cabin 121 , and there are fixed control circuits in the electric control cabin 121 The board and circuit are fixed in the cabin, and the electric control cabin 121 is provided with a threading slot for combing the circuit at the front and rear.

The top of the wrist squid tail is provided with a camera group 123 coupled to the control module in the electric control cabin 121, and the bottom surface of the bionic wrist squid head 12 is provided with a temperature depth integrated sensor, a nine-axis attitude meter, and a sound pressure detection module. , in the wrist squid electric control cabin 121, the wrist squid tail end is provided with an infrared obstacle avoidance sensor, the bottom of the tail end is provided with a sonar echo sounder, and the wrist squid head 12 is provided with a water jet in front of the head 124. The electric control cabin 121 is provided with a microcomputer that controls the circuit board, and the drive board outputs corresponding electric control signals to control the steering gear and the water jet 124. The electric control cabin 121 is provided with a power management board and a supply of electrical appliances. Powered lithium battery pack.

The ups and downs control cabin 122 is provided with an adjustment slot for adjusting the ups and downs of the arm squid swimming, so that the arm squid swims more flexibly in the water. The electric control cabin 121 is provided with a control circuit board Raspberry Pi, the central processing unit sends instructions to the corresponding executive element driver board through serial communication, and the driver board outputs the corresponding electric control signal to control the steering gear and water jet propulsion. device 124. In terms of power supply, 12v or 24v lithium battery outputs power to the power management board, which outputs different voltages to electronic components with different needs, 8.4v to the actuator driver board, and 5v to most sensors, central processing units and auxiliary processors. .

The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention There will also be various changes and improvements in the new model, which all fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. A bionic line-driven wrist cuttlefish comprises a wrist cuttlefish body and is characterized in that the wrist cuttlefish body comprises a wrist cuttlefish body, a wrist cuttlefish head, a wrist cuttlefish touch wrist and a wrist cuttlefish mantle, the wrist cuttlefish body comprises a wrist cuttlefish body tail and a wrist cuttlefish body trunk, the wrist cuttlefish body tail is a conical structure supporting piece, the wrist cuttlefish body trunk comprises a universal joint framework structure and a body line-driven longitudinal muscle, a first driving mechanism and a second driving mechanism are respectively arranged on the left side and the right side of the wrist cuttlefish body tail, the wrist cuttlefish head is connected with the wrist cuttlefish body tail through the universal joint framework structure and the body line-driven longitudinal muscle, the wrist cuttlefish touch wrist is connected with the front of the wrist cuttlefish head through a third driving mechanism, the wrist cuttlefish mantle is sleeved from the wrist cuttlefish body tail to the wrist cuttlefish head, the mantle of the cuttlefish comprises a meat fin mantle and a carcass mantle, and the carcass mantle is a mantle sleeved on the tail part of the ketone body of the cuttlefish and the cavity part of the carcass of the cuttlefish.

2. The bionic line driving wrist cuttlefish according to claim 1, wherein the first driving mechanism, the second driving mechanism and the third driving mechanism respectively comprise a steering engine support and steering engines arranged in the steering engine support, the steering engines on the left side and the right side of the tail of the wrist cuttlefish body are respectively connected with driving carbon fiber plates in the meat fins on the left side and the right side of the tail of the wrist cuttlefish body, and the driving carbon fiber plates and the outer mantle of the wrist cuttlefish body form the wrist cuttlefish meat fin driving structure.

3. The bionic line driving wrist cuttlefish according to claim 1, wherein the third driving mechanism is connected with a wrist contact of the wrist cuttlefish to form a wrist contact driving structure, a nylon material is arranged inside the wrist contact of the wrist cuttlefish, and the outer part of the wrist contact of the wrist cuttlefish is wrapped by a soft silicone rubber material.

4. The bionic thread-driven wristed cuttlefish as claimed in claim 1, wherein the mantle of the wristed cuttlefish is made of silicon rubber by moulding and casting, and the external of the wristed cuttlefish is streamline.

5. The bionic thread-driven wrist cuttlefish according to claim 1, wherein an electric control cabin is arranged at the head of the wrist cuttlefish, four sinking and floating control cabins are arranged around the electric control cabin, an in-cabin fixing part for fixing a control circuit board and a circuit is arranged in the electric control cabin, and thread passing grooves for carding circuits are arranged in the front and the back of the electric control cabin.

6. The bionic line-driven wrist cuttlefish according to claim 5, wherein a microcomputer of a control circuit board is arranged in the electric control cabin, a corresponding electric control signal is output by a drive board of the microcomputer to control a steering engine and a water jet propeller, and a power management board and a lithium battery pack for supplying electricity to electric appliances are arranged in the electric control cabin.

7. The bionic thread-driven wrist cuttlefish as claimed in claim 1, wherein the mantle is sleeved outside the body of the wrist cuttlefish, a water-filled cavity is formed around the trunk of the wrist cuttlefish, and the tail of the wrist cuttlefish is designed to be convex at the bottom and flat at the top.

8. The bionic thread-driven wrist cuttlefish according to claim 1, wherein a bendable skeleton supporting structure composed of universal joints is arranged inside the trunk of the wrist cuttlefish body, so that the body of the wrist cuttlefish can bend in a bow shape along the action direction when the action group is realized, and the completion of the action is assisted.

9. The bionic thread-driven wrist cuttlefish as claimed in claim 1, wherein the trunk of the wrist cuttlefish has sixteen elastic thread materials wound around the gimbal frame along chordwise direction, and the elastic thread materials are cast in flexible silicone rubber materials to form the trunk thread-driven longitudinal muscle.

10. The bionic line driving wrist cuttlefish according to claim 5, wherein a watertight interface is arranged at the upper end of the electric control cabin and connected with the sensor group, the first driving mechanism and the second driving mechanism for sensor signal output and data recovery and signal output and control of a wrist cuttlefish meat fin driving structure, and a watertight interface is arranged at the lower end of the electric control cabin and connected with the third driving structure for signal output and control of a wrist cuttlefish wrist touching driving structure.

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