Underwater robot based on hippocampus simulation

Abstract

The present application belongs to the technical field of underwater bionic robot, and particularly relates to an underwater robot based on hippocampus bionics. The present application realizes flexible turning and fast propulsion of the underwater robot, and through the posture adjustment hooking device of the tail, the underwater robot is hooked to the seabed object or organism, so as to achieve the purpose of fixing the robot or saving energy. Through the adjustment of the posture of the tail, the center of gravity of the robot can be changed, so as to control the floating or diving of the robot. The present application comprises a differential steering device serving as the head of hippocampus, a propulsion device serving as the chest of hippocampus, a posture adjustment hooking device serving as the tail of hippocampus, the differential steering device is connected with the propulsion device, and the propulsion device is connected with the posture adjustment hooking device.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater bionic robots, and particularly relates to an underwater robot based on hippocampus bionics. BACKGROUND

[0002] Currently, most of the autonomous underwater monitoring robots in the military have good torpedo-shaped sonar detection devices with streamlined shapes. However, the low-speed propeller equipped for improving concealment makes it difficult for the robot to match the speed of general ships. In addition, the energy carried by the robot is limited, and most of the underwater propulsion provided for the robot makes it difficult for the robot to achieve long-time tracking observation of a single target. At the same time, the changing weather and ocean currents in the ocean and other factors, and long-time purposeful tracking movement easily expose the robot, which further increases the difficulty of stable tracking of a single target. SUMMARY

[0003] To solve the above problems, the application provides an underwater robot based on hippocampus bionic design, which can be selectively hooked on an object, has no extra motion energy consumption, and can realize stable tracking.

[0004] To achieve the above purpose, the application adopts the following technical scheme, including a differential steering device serving as a hippocampus head, a propulsion device serving as a hippocampus chest, and a posture adjusting hooking device serving as a hippocampus tail. The differential steering device is connected to the propulsion device, and the propulsion device is connected to the posture adjusting hooking device.

[0005] As a preferred scheme of the application, the differential steering device includes a head shell, two first rear fins are symmetrically arranged on the rear side of the head shell, a skin is sleeved on the first rear fins, and two first rear fins are respectively connected to two groups of same transmission devices symmetrically arranged in the head shell. The transmission device includes a first motor, a first crank connected to the output shaft of the first motor, a first connecting rod connected to the first crank, and the first connecting rod connected to the first rear fin.

[0006] As another preferred scheme of the application, the propulsion device includes a chest shell, a second motor arranged in the chest shell, a second crank connected to the output shaft of the second motor, a second connecting rod connected to the second crank, a second rear fin arranged outside the rear side of the chest shell, and a skin sleeved on the second rear fin.

[0007] As a third preferred scheme of the present application, the posture adjusting hook attachment device comprises a tail shell, a motor mounting frame is arranged in the tail shell, a third motor is arranged in the motor mounting frame, an output shaft of the third motor is arranged towards the propulsion device side, a rudder is connected with the output shaft of the third motor, a fixing frame is arranged on the side of the motor mounting frame away from the propulsion device, a rocker one is connected with the fixing frame, a rocker two is connected with the rocker one, a rocker three is connected with the rocker two and the fixing frame, a rocker four is connected with the rocker two, a rocker five is connected with the rocker three and the rocker four, a rocker six is connected with the rocker four, a rocker seven is connected with the rocker five and the rocker six, a rocker eight is connected with the rocker six, a rocker nine is connected with the rocker seven and the rocker eight, the rudder is connected with a flexible rope, and the other end of the flexible rope is connected with the rocker one.

[0008] Further, the rocker one and the fixing frame are connected through a hinge one, the rocker one and the rocker two are connected through a hinge two, the rocker three and the fixing frame are connected through a hinge three, the rocker two and the rocker three are connected through a hinge four, the rocker two and the rocker four are connected through a hinge five, the rocker four and the rocker five are connected through a hinge six, the rocker three and the rocker five are connected through a hinge seven, the rocker four and the rocker six are connected through a hinge eight, the rocker five and the rocker seven are connected through a hinge nine, the rocker six and the rocker seven are connected through a hinge ten, the rocker six and the rocker eight are connected through a hinge eleven, the rocker seven and the rocker nine are connected through a hinge twelve, and the rocker eight and the rocker nine are connected through a hinge thirteen.

[0009] Further, a first counterweight is arranged through the hinge three and the hinge seven, a second counterweight is arranged through the hinge seven and the hinge nine, and a third counterweight is arranged through the hinge nine and the hinge twelve.

[0010] The present application has the following beneficial effects:

[0011] 1. The counterweights on the differential steering device of the head, the propulsion device of the chest and the posture adjusting hook attachment device of the tail can realize flexible underwater movement of the underwater robot.

[0012] 2. The posture adjusting hook attachment device of the tail is designed with multiple groups of double rocker mechanisms, rudders, flexible ropes and other structures, can control the tail to curl into a hook shape, and thus can be hooked to underwater objects or organisms, save fuel and realize long-term underwater activities. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0014] Figure 2 It is a rear view of the overall structure of the present application.

[0015] Figure 3 It is a schematic diagram of the internal structure of the differential steering device of the head of the present application.

[0016] Figure 4It is the inside structure schematic diagram of the propelling device of the application.

[0017] Figure 5 It is the structure schematic diagram of the tail posture adjusting hook attaching device of the application.

[0018] Figure 6 It is the partial stereogram structure schematic diagram of the tail rod group of the application.

[0019] Figure 7 It is the tail hinge point diagram of the application.

[0020] Figure 8 It is the structure schematic diagram of the tail after assembling the counterweight.

[0021] In the drawing, 1 is the differential steering device, 2 is the propelling device, 3 is the posture adjusting hook attaching device, 4 is the head shell, 5 is the first rear fin, 6 is the first motor, 7 is the first crank, 8 is the first connecting rod, 9 is the chest shell, 10 is the second motor, 11 is the second crank, 12 is the second connecting rod, 13 is the second rear fin, 14 is the tail shell, 15 is the motor mounting frame, 17 is the third motor, 18 is the steering gear, 19 is the fixed frame, 20 is the flexible rope, 21 is the rocker one, 22 is the rocker two, 23 is the rocker three, 24 is the rocker four, 25 is the rocker five, 26 is the rocker six, 27 is the rocker seven, 28 is the rocker eight, 29 is the rocker nine, 31 is the hinge one, 32 is the hinge two, 33 is the hinge three, 34 is the hinge four, 35 is the hinge five, 36 is the hinge six, 37 is the hinge seven, 38 is the hinge eight, 39 is the hinge nine, 40 is the hinge ten, 41 is the hinge eleven, 42 is the hinge twelve, 43 is the hinge thirteen, 44 is the first counterweight, 45 is the second counterweight, 46 is the third counterweight. DETAILED DESCRIPTION

[0022] The application adopts the following specific scheme, including the differential steering device 1 acting as the head of hippocampus, the propelling device 2 acting as the chest of hippocampus, the posture adjusting hook attaching device 3 acting as the tail of hippocampus, the differential steering device 1 is connected with the propelling device 2, and the propelling device is connected with the posture adjusting hook attaching device 3.

[0023] As a preferred scheme of the application, the differential steering device 1 includes the head shell 4, two first rear fins 5 are symmetrically arranged on the rear side of the head shell 4, a skin is sleeved on the first rear fin 5, the two first rear fins 5 are respectively connected with two groups of same transmission devices symmetrically arranged in the head shell 4, the transmission device includes the first motor 6, the output shaft of the first motor 6 is connected with the first crank 7, the first crank 7 is connected with the first connecting rod 8, the first connecting rod 8 is connected with the first rear fin 5, and the swing of the first rear fin 5 is realized.

[0024] The differential steering device 1 is mainly two groups of symmetrical spatial crank rocker devices, when the speeds of the two first motors 6 are different, the oscillating speeds of the two first rear fins 5 are different, realizing the steering effect, when the speed of the left first motor 6 is slower, the robot will rotate counterclockwise, when the speed of the right first motor 6 is slower, the robot will rotate clockwise.

[0025] As another preferred scheme of the present application, the propulsion device 2 comprises a chest shell 9, the second motor 10 is arranged in the chest shell 9, the output shaft of the second motor 10 is connected with the second crank 11, the second crank 11 is connected with the second connecting rod 12, the second connecting rod 12 is connected with the second rear fin 13 arranged outside the rear side of the chest shell 9, the second rear fin 13 is sleeved with a skin, through the oscillating water of the second rear fin 13, the forward propulsion of the whole robot is realized.

[0026] As a third preferred scheme of the present application, the posture adjusting hook attachment device 3 comprises a tail shell 14, the motor mounting frame 15 is arranged in the tail shell 14, the third motor 17 is arranged in the motor mounting frame 15, the output shaft of the third motor 17 is arranged towards the propulsion device 2 side, the output shaft of the third motor 17 is connected with the rudder 18, the fixed frame 19 is arranged on the side of the motor mounting frame 15 away from the propulsion device 2, the fixed frame 19 is connected with the rocker one 21, the rocker one 21 is connected with the rocker two 22, the rocker two 22 is connected with the rocker three 23 through the rocker three 23 and the fixed frame 19, the rocker four 24 is connected with the rocker two 22, the rocker five 25 is connected with the rocker four 24 through the rocker three 23 and the rocker four 24, the rocker six 26 is connected with the rocker four 24, the rocker seven 27 is connected with the rocker five 25 through the rocker five 25 and the rocker six 26, the rocker eight 28 is connected with the rocker six 26, the rocker nine 29 is connected with the rocker eight 28 through the rocker seven 27 and the rocker eight 28, the flexible rope 20 is connected with the rudder 18, the other end of the flexible rope 20 is connected with the rocker one 21.

[0027] Further, the rocker one 21 and the fixed frame 19 are connected through the hinge one 31, the rocker one 21 and the rocker two 22 are connected through the hinge two 32, the rocker three 23 and the fixed frame 19 are connected through the hinge three 33, the rocker two 22 and the rocker three 23 are connected through the hinge four 34, the rocker two 22 and the rocker four 24 are connected through the hinge five 35, the rocker four 24 and the rocker five 25 are connected through the hinge six 36, the rocker three 23 and the rocker five 25 are connected through the hinge seven 37, the rocker four 24 and the rocker six 26 are connected through the hinge eight 38, the rocker five 25 and the rocker seven 27 are connected through the hinge nine 39, the rocker six 26 and the rocker seven 27 are connected through the hinge ten 40, the rocker six 26 and the rocker eight 28 are connected through the hinge eleven 41, the rocker seven 27 and the rocker nine 29 are connected through the hinge twelve 42, the rocker eight 28 and the rocker nine 29 are connected through the hinge thirteen 43.

[0028] Further, the first counterweight 44 is arranged through the hinge three 33 and the hinge seven 37, the second counterweight 45 is arranged through the hinge seven 37 and the hinge nine 39, and the third counterweight 46 is arranged through the hinge nine 39 and the hinge twelve 42.

[0029] The working principle of the tail posture adjusting hook attachment device 3 is described as follows: the tail posture adjusting hook attachment device 3 is provided with a plurality of rocker arms connected through hinges; three groups of effective double rocker mechanisms are arranged, and the effective rocker arm positions are determined through hinge points as follows:

[0030] The hinge one 31, the hinge two 32, the hinge three 33 and the hinge four 34 constitute a first double rocker mechanism, the hinge one 31 and the hinge two 32 are effective active rocker arms, and the hinge three 33 and the hinge four 34 are effective driven rocker arms.

[0031] The hinge four 34, the hinge five 35, the hinge six 36 and the hinge seven 37 constitute a second effective double rocker mechanism, the hinge four 34 and the hinge five 35 are effective active rocker arms, and the hinge six 36 and the hinge seven 37 are effective driven rocker arms.

[0032] The hinge six 36, the hinge seven 37, the hinge eight 38 and the hinge ten 40 constitute a third effective double rocker mechanism, the hinge six 36 and the hinge seven 37 are effective active rocker arms, and the hinge eight 38 and the hinge ten 40 are effective driven rocker arms.

[0033] When the third motor 17 rotates, the flexible rope 20 is pulled to drive the rocker arm one 21, so that the whole tail rod group is tightened to form a hook shape, thereby hooking the underwater object, and saving fuel.

[0034] It can be understood that the above specific description of the present application is only used to illustrate the present application and is not limited to the technical solutions described in the embodiments of the present application, and those skilled in the art should understand that the present application can still be modified or replaced equivalently to achieve the same technical effect; as long as the use needs are met, it is within the protection scope of the present application.

Claims

1. A hippocampus-based biomimetic underwater robot, characterized in that, The device comprises a differential steering device (1) serving as the head of hippocampus, a propulsion device (2) serving as the chest of hippocampus, and a posture adjusting hook attaching device (3) serving as the tail of hippocampus, the lower end of the differential steering device (1) is connected with the propulsion device (2), and the lower end of the propulsion device (2) is connected with the posture adjusting hook attaching device (3); The differential steering device (1) comprises a head shell (4), two first rear fins (5) are symmetrically arranged on the rear side of the head shell (4), a skin is sleeved on the first rear fins (5), and the first rear fins (5) are connected with two groups of same transmission devices symmetrically arranged in the head shell (4); the transmission device comprises a first motor (6), a first crank (7) connected with the output shaft of the first motor (6), a first connecting rod (8) connected with the first crank (7), and the first connecting rod (8) is connected with the first rear fin (5); The propulsion device (2) comprises a chest shell (9), a second motor (10) is arranged in the chest shell (9), a second crank (11) connected with the output shaft of the second motor (10), a second connecting rod (12) connected with the second crank (11), and a second rear fin (13) arranged outside the rear side of the chest shell (9) and connected with the second connecting rod (12); a skin is sleeved on the second rear fin (13); The posture adjusting hook attaching device (3) comprises a tail shell (14), a motor mounting frame (15) is arranged in the tail shell (14), a third motor (17) is arranged in the motor mounting frame (15), the output shaft of the third motor (17) is arranged towards the side of the propulsion device (2), a rudder (18) is connected with the output shaft of the third motor (17), a fixed frame (19) is arranged on the side of the motor mounting frame (15) away from the propulsion device (2), a rocker one (21) is connected with the fixed frame (19), a rocker two (22) is connected with the rocker one (21), a rocker three (23) is connected with the rocker two (22) and the fixed frame (19), a rocker four (24) is connected with the rocker two (22), a rocker five (25) is connected with the rocker three (23) and the rocker four (24), a rocker six (26) is connected with the rocker four (24), a rocker seven (27) is connected with the rocker five (25) and the rocker six (26), a rocker eight (28) is connected with the rocker six (26), a rocker nine (29) is connected with the rocker seven (27) and the rocker eight (28), the rudder (18) is connected with a flexible rope (20), and the other end of the flexible rope (20) is connected with the rocker one (21). The rocker one (21) and the fixed frame (19) are connected through the hinge one (31), the rocker one (21) and the rocker two (22) are connected through the hinge two (32), the rocker three (23) and the fixed frame (19) are connected through the hinge three (33), the rocker two (22) and the rocker three (23) are connected through the hinge four (34), the rocker two (22) and the rocker four (24) are connected through the hinge five (35), the rocker four (24) and the rocker five (25) are connected through the hinge six (36), the rocker three (23) and the rocker five (25) are connected through the hinge seven (37), the rocker four (24) and the rocker six (26) are connected through the hinge eight (38), the rocker five (25) and the rocker seven (27) are connected through the hinge nine (39), the rocker six (26) and the rocker seven (27) are connected through the hinge ten (40), the rocker six (26) and the rocker eight (28) are connected through the hinge eleven (41), the rocker seven (27) and the rocker nine (29) are connected through the hinge twelve (42), and the rocker eight (28) and the rocker nine (29) are connected through the hinge thirteen (43). The first counterweight (44) is arranged through the hinge three (33) and the hinge seven (37), the second counterweight (45) is arranged through the hinge seven (37) and the hinge nine (39), and the third counterweight (46) is arranged through the hinge nine (39) and the hinge twelve (42).

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