Bionic rana nigromaculata swimming robot
A technology of robots and black spots, which is applied to motor vehicles, ships, and special-purpose ships, etc. It can solve the problems of miniaturization and difficult control of difficult robots, and achieve the effect of flexible swimming robots, good bionic effects, and simple production
Active Publication Date: 2021-12-03
BEIJING UNIV OF TECH
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Problems solved by technology
[0003] For the design of existing bionic swimming robots, the invention patent of publication number CN104192288B "A Frog-like Swimming Robot Driven by Pneumatic Muscles" uses three pneumatic muscles to drive, which realizes high flexibility control, but the control is difficult Large, difficult to miniaturize for robots
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[0033] refer to figure 1 , figure 2 , image 3 , Figure 4 , the present invention is a bionic black-spotted frog swimming robot, comprising a leg actuator (1), a driving and control mechanism (2);
[0034] refer to image 3 , Figure 4 , Figure 5 , the leg actuator (1) of the bionic black-spotted frog swimming robot, comprising: a gear-driven connecting rod (1-1), a leg base (1-2), a thigh connecting rod (1-3), and a calf connecting rod 1 (1-4), calf link 2 (1-5), foot link (1-6); it mainly provides forward thrust for the swimming robot through the link mechanism;
[0035] refer to image 3 , Figure 4 , Figure 6 , Figure 7, the drive and control mechanism (2) of the bionic black-spotted frog swimming robot, comprising: a drive rack (2-1), a lower support plate (2-2), an upper support plate (2-3), a drive motor (2- 4), drive motor bracket (2-5), reducer (2-6), drive flange (2-7), support column (2-8), optical sensor bracket (2-9), optical sensor ( 2-10), the ...
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The invention discloses a bionic rana nigromaculata swimming robot. The bionic rana nigromaculata swimming robot comprises leg executing mechanisms and a driving and control mechanism. Each executing mechanism adopts a single-degree-of-freedom watt type six-bar mechanism, the appearance structure (thickness of legs and positions of joints) of the bionic robot is highly similar to the leg structure of the rana nigromaculata, and the motion curve of each joint (knee joint, ankle joint and end point) is highly similar to the swimming process of the rana nigromaculata. The rotary motion of a driving motor is converted into the reciprocating motion of the moving pair of a driving rack, and then the leg executing mechanisms are driven to do continuous motion, so that high-speed motion is realized. A steering motor drives a steering paddle to realize steering, so that the swimming robot is more flexible. The robot is less in drive, simple and convenient to control and capable of achieving robot miniaturization. The robot is simple in structure, convenient to manufacture, low in cost and good in bionic effect, and can be used for various tasks such as hydrological monitoring, ocean exploration and underwater reconnaissance.
Description
technical field [0001] The invention belongs to the field of swimming robots, and is a bionic black-spotted frog swimming robot, specifically, a robot that imitates the black-spotted frog swimming in water, strictly imitating the shape of the black-spotted frog, the knee joints, ankle joints, and terminal points The movement curve strictly imitates the movement process of the black-spotted frog, and uses the rotary motion of the motor to convert it into the movement of the rack to drive the movement of the legs, so as to realize the continuous movement of the legs, so that the robot can move quickly. And the steering mechanism is used to make the robot more flexible. Background technique [0002] Swimming robots can replace humans to complete various complex tasks underwater. They can conduct underwater reconnaissance, hydrological observations, and measure water temperature, water depth, and water quality, which is of great significance for exploring the ocean and observing...
Claims
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IPC IPC(8): B63H1/30B63C11/52B63G8/08
CPCB63H1/30B63C11/52B63G8/08
Inventor 张自强张勇赵京
Owner BEIJING UNIV OF TECH