Dual-fishtailing type miniature underwater robot and control method thereof

A double-swing-tail, micro-water technology, applied in the field of robotics, achieves the effects of light weight, high work efficiency, and ease of lightening

Inactive Publication Date: 2017-11-24
MAANSHAN FULAIYI ENVIRONMENT PROTECTION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem that the power provided by the power components of the existing miniature underwater robot is too small to meet the needs of use in relatively deep waters, and that it completes the drive in a micro environment and has a large impact on the surrounding environment during use, the present invention provides a The double-swing-tail miniature underwater robot and its control method use a single power source to drive the double tails. After swinging, the tails can automatically return to their original positions by using the restoring force of the springs, and are driven by the rotating disc. For the next cycle of swing, it is driven by double tail fins, with high working efficiency, small size and sufficient power, which meets the needs of deep waters, and does not produce loud noises, and is friendly to the surrounding environment

Method used

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  • Dual-fishtailing type miniature underwater robot and control method thereof
  • Dual-fishtailing type miniature underwater robot and control method thereof
  • Dual-fishtailing type miniature underwater robot and control method thereof

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Effect test

Embodiment 1

[0041] Such as Figure 1 to Figure 4 As shown, a kind of double-swing tail type miniature underwater robot of the present invention comprises a body 1 and a fishtail drive assembly, and the fishtail drive assembly includes a drive motor 3, a rotating disk 4, an upper swing tail mechanism and a lower swing tail mechanism, and the drive motor 3 is connected with the rotating disk 4 and fixed on the body 1, drives the rotating disk 4 to make a circular motion, and the rotating disk 4 drives the upper tail swing mechanism and the lower tail swing mechanism to swing relative to the body 1.

[0042] exist figure 1 Among them, the upper swing tail mechanism of the present invention includes an upper spring 6, an upper swing rod 7 and an upper tail fin 8, and the structure of the upper tail fin 8 is made by imitating a real fish tail. Contact, the tail of the upper swing rod 7 fixes the upper tail 8, the middle part of the upper swing rod 7 is hinged with the body 1, one end of the u...

Embodiment 2

[0048] The double swing tail type miniature underwater robot of the present embodiment, on the basis of embodiment 1, as figure 1 As shown, the head of the upper swing link 7 is provided with an upper pulley 5, and the head of the lower swing link 11 is provided with a lower pulley 9. When the rotating disc 4 rotates, the upper swing link 7 and the lower swing link 11 are all connected to the rotating disc 4. For sliding friction, reduce motion friction resistance on the one hand, reduce the wearing and tearing of upper swing link 7 and lower swing link 11 on the other hand, prolong the service life of upper swing link 7 and lower swing link 11.

[0049] In addition, the radius of the upper pulley 5 and the lower pulley 9 is consistent with the radius of the first arc surface or the third arc surface. Such a structure makes the upper pulley 5 and the lower pulley 9 consistent with the first arc surface or the third arc surface. Faces are smooth transitions.

[0050] If the up...

Embodiment 3

[0052] The double swing tail type miniature underwater robot of the present embodiment, on the basis of Embodiment 1, the upper swing tail mechanism also includes the first connecting rod 13, the second connecting rod 14 and the adjustment motor 15, and one end of the second connecting rod 14 It is connected with the first connecting rod 13, and the other end is connected with the rotating shaft of the adjusting motor 15, and the adjusting motor 15 is fixedly connected with the body 1, and the first connecting rod 13 is hinged with the upper swing rod 7, and the swing of the empennage on one side is changed by using the connecting rod structure. Width and angle, and then to control the forward direction of the robot, there is no need to set up a separate steering mechanism, which simplifies the structure of the robot, reduces the overall structure of the robot, and is convenient for application in micro-sized occasions.

[0053] A circular arc protrusion is provided on the lowe...

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Abstract

The invention discloses a double-swing tail type miniature underwater robot and a control method thereof, belonging to the technical field of robots. It includes a main body and a fishtail drive assembly, the fishtail drive assembly includes a drive motor, a rotating plate, an upper swing tail mechanism and a lower swing tail mechanism, the drive motor is connected with the rotating plate and is fixed on the body, and drives the rotating plate to make circular motions, The rotating disc drives the upper swing tail mechanism and the lower swing tail mechanism to swing relative to the main body. The invention utilizes a single power source to realize the driving of the double tail fins. After the tail fins swing, they can automatically return to the original position by the restoring force of the spring, and are driven by the rotating disc to swing in the next cycle, and the double tail fins are used to drive the fins. , high work efficiency, small size, sufficient power, meet the needs of use in deeper waters, and will not produce large noise, friendly to the surrounding environment, and has the advantages of simple structure, reasonable design, and easy manufacturing.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a double-swing-tail miniature underwater robot and a control method thereof. Background technique [0002] With the development of human civilization, the land resources that can be mined and utilized are decreasing and exhausted day by day. The ocean area accounts for 71% of the earth's area. The ocean is rich in biological resources and mineral resources. The pace of human development and utilization of the ocean is gradually accelerating with the development of science and technology. At the same time, the development of marine environment monitoring technology is of great significance to many aspects such as protecting the marine environment, developing marine resources, safeguarding national marine rights and interests, enhancing national marine scientific research strength, and developing the national economy. As ocean development activities become more freq...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H1/36B63G8/00
CPCB63H1/36B63G8/001B63G2008/002
Inventor 王明明郑丽
Owner MAANSHAN FULAIYI ENVIRONMENT PROTECTION TECH CO LTD
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