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Water-skipper-imitation waterborne skipping robot

A robot and water strider technology, applied in the field of bionic robots, can solve problems such as the inability to achieve continuous jumping motion on water

Inactive Publication Date: 2014-06-25
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing water-like strider water robot cannot realize the continuous jumping movement on the water, and then provide a robot that can realize the continuous jumping movement on the water surface

Method used

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  • Water-skipper-imitation waterborne skipping robot
  • Water-skipper-imitation waterborne skipping robot
  • Water-skipper-imitation waterborne skipping robot

Examples

Experimental program
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specific Embodiment approach 1

[0014] Specific implementation mode one: combine figure 1 and figure 2 Describe this embodiment, the imitation water strider water jumping robot in this embodiment, it comprises frame 1, four support legs 2, two driving legs 3, two springs 5, reduction gear set 6, miniature DC motor 7 and control Circuit, the frame 1 is composed of a base 11 and a reduction gear set fixed frame 12 fixed on the upper surface of the base 11, the four supporting legs 2 are located on the same horizontal plane and are respectively bonded to the lower surface of the base 11, the Two drive legs 3 are symmetrically installed on the left and right sides of the reduction gear set fixed frame 12, and each drive leg 3 includes an incomplete gear 1 31, a connecting rod 32 and a paddle 33, an incomplete gear 1 31 and a paddle 33 Respectively bonded to the two ends of the connecting rod 32, the two driving legs 3 mesh with the reduction gear set 6 through two incomplete gears 31 respectively, and the two ...

specific Embodiment approach 2

[0016] Specific implementation mode two: combination image 3 , Figure 4 To illustrate this embodiment, the reduction gear set 6 includes multiple sets of cooperatingly installed gears and shafts, specifically: gear one 62 and shaft one 91, gear two 63 and shaft two 92, gear three 64 and shaft three 93, gear four 65 and shaft two Axis 4 94, gear 5 66 and shaft 5 95, incomplete gear 2 67, incomplete gear 3 68, gear 6 69 and shaft 6 96; gear 1 62, gear 2 63, gear 3 64, gear 4 65, gear 5 66 and gear six 69 are double-layer gears, specifically including a pair of coaxially connected large gears and pinion gears, the large teeth of the worm 61 and gear one 62 form a worm gear, and the transmission ratio is 16:1; the small gear of gear one 62 The teeth mesh with the large teeth of gear two 63, and the transmission ratio is 3:1; the small teeth of gear two 63 mesh with the large teeth of gear three 64, and the transmission ratio is 9:4; the small teeth of gear three 64 and gear fou...

specific Embodiment approach 3

[0017] Specific implementation mode three: combination figure 1 To illustrate this embodiment, the base 11 in this embodiment is fixed with shaft seven 97, shaft eight 98, shaft nine 99, shaft ten 910, shaft eleven 911 and shaft twelve 912, incomplete gear two 67, incomplete gear Gear three 68 meshes with two incomplete gears one 31 respectively, and the openings of two incomplete gears one 31 respectively cooperate with shaft seven 97 and shaft eight 98 in clearance and are provided with a shaft stopper 101 which acts as a limit and fixation at the opening; The seventh axis 97 and the eighth axis 98 are tightly fitted and fixed with the corresponding openings on the frame 1 respectively; the ninth axis 99 and the tenth axis 910 are respectively tightly fitted and fixed with the corresponding openings on the two driving legs 3; the eleventh axis 911 and the twelve 912 are closely fitted and fixed with the corresponding openings on the frame 1 respectively. Other compositions ...

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Abstract

The invention relates to a water-skipper-imitation waterborne skipping robot and relates to the bio-robot technology. The water-skipper-imitation waterborne skipping robot solves the problem that an existing water-skipper-imitation waterborne skipping robot can not skip continuously on water and comprises a rack 1, four supporting legs 2, two driving legs 3, two springs 5, a speed reduction gear set 6, a micro direct current motor 7 and a control circuit. The rack 1 is composed of a base 11 and a speed reduction gear set fixing frame 12 which is fixedly connected to the upper surface of the base 11. The four supporting legs 2 are located in the same horizontal plane and adhere to the lower surface of the base 11 respectively. The two driving legs 3 are symmetrically installed on the left and the right of the speed reduction gear set fixing frame 12. The water-skipper-imitation waterborne skipping robot is used for imitating waterborne skipping of a water skipper.

Description

technical field [0001] The invention relates to bionic robot technology, in particular to a robot capable of continuously jumping on the water surface. Background technique [0002] With the development of bionics and robotics, bionic robot research has become a hot spot in the field of robotics research by "learning natural phenomena as a model for technological innovation". It has been pointed out in the literature that water striders are insects that rely on their two middle legs to quickly stroke backwards to achieve water gliding and jumping. Many research institutions at home and abroad have developed bionic aquatic robots to imitate the water gliding movement of water striders. For example, in the patented water-floating bionic water strider robot (public number: CN1911730A), steel wires with hydrophobic treatment are used as the supporting legs and driving legs, driven by a DC motor, and the technology of floating mainly by the surface tension of water is realized, ...

Claims

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Application Information

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IPC IPC(8): B63H19/00B63B38/00
Inventor 闫继宏张新彬赵杰王涛
Owner HARBIN INST OF TECH
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