Motion structure and method with wave motion and underwater wave fin robot

Abstract

The present invention relates to the field of underwater equipment and navigation, and specifically to a motion structure, method and underwater wave fin robot with wave and swing, including a bottom plate, a cam transmission system, the cam transmission system including a swing servo, a coupling, a fixed seat, a wave servo, a swing fixed rod, a swing transmission rod, a cam structure, a wave transmission rod, a steering support, and a swing support rod, the swing servo and the fixed seat are connected to the bottom plate, the swing transmission rod passes through the fixed seat and is connected to the swing servo, the coupling is connected to the swing transmission rod, the wave servo is fixed on the coupling and connected to the cam structure, the swing fixed rod is connected to the swing transmission rod and the cam structure, the swing support rod is connected to the bottom plate and is sleeved on the steering support sleeve, the wave transmission rod is sleeved on the cam structure, and passes through the steering support to extend to one side of the wave transmission rod. The cam transmission system can help the wave fin make up for the lack of lateral motion ability, and provide a theoretical basis for the multi-motion scene of the underwater robot.

Description

Technical Field

[0001] The present invention relates to the field of underwater equipment and vehicles, and in particular to a motion structure and method with wave and swing functions, and an underwater wave fin robot. Background Art

[0002] With the development of the times and the deepening of the utilization of the ocean, various ocean vehicles have emerged in order to better observe the marine environment and develop marine resources.

[0003] Traditional ocean vehicles often use propellers as a propulsion method. This propulsion method often brings about large noise and wakes, which has great limitations during the observation of marine life and the execution of specific covert missions.

[0004] In recent years, with the continuous development of bionics, various bionic propulsion technologies have been increasingly used. As a common creature in the ocean, the movement model of fish has naturally become one of the key research objects. People divide the propulsion mode of fish into two categories according to the different propulsion organs: body and / or caudal fin (BCF) and median and / or paired fin (MPF). Among them, the MPF mode has attracted widespread attention due to its unique high maneuverability and low noise. The application of this propulsion mode in engineering is called wave fin propulsion.

[0005] Compared with the traditional propeller propulsion method, the propulsion efficiency and maneuverability of the undulating fin mode are greatly superior. However, due to its own structure, this propulsion method has some defects in terms of freedom. For example, it is difficult for fish to move perpendicular to the swimming direction, and this defect still exists in the undulating fin propulsion mode.

[0006] Therefore, according to the requirements of low noise, high maneuverability and high degree of freedom of underwater vehicles, in the existing bionic vehicles, the general undulating fins have great deficiencies in terms of degree of freedom, especially in lateral movement. In order to achieve lateral movement, the general undulating fins need to turn first, then propel, and then turn again to achieve lateral movement. Summary of the invention

[0007] In view of the problems existing in the prior art, the purpose of the present invention is: based on the principle of bionics, in order to improve the defects of the undulating fin propulsion mode in terms of degrees of freedom and to improve the application scenarios of the undulating fin propulsion model, a new motion mode in which undulation and swinging coexist is proposed on the basis of retaining the original motion mode of the undulating fin, which can realize the motion structure and motion method of the two motion modes of the undulating fin, and directly realize the lateral movement of the underwater robot by swinging without affecting the original motion effect of the undulating fin.

[0008] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a motion structure with wave and swing, comprising a base plate, a cam transmission system, the cam transmission system is rigidly connected to the base plate, the cam transmission system comprises a swing steering gear, a coupling, a fixed seat, a wave steering gear, a swing fixing rod, a swing transmission rod, a cam structure, a wave transmission rod, a steering support, and a swing support rod. The swing steering gear and the fixed seat are rigidly connected on the same side of the base plate, the fixed seat is provided with a rotating hole, the swing transmission rod passes through the rotating hole and is connected to the output end of the swing steering gear, one end of the coupling is fixed to the swing transmission rod, the wave steering gear is fixed to the far end of the coupling, the cam structure is connected to the output end of the wave steering gear, one end of the swing fixing rod is fixed to the swing transmission rod, and the other end is rotatably nested and connected with the cam structure, the swing support rod is fixedly connected to the base plate, the steering support is rotatably sleeved on the swing support rod, and the steering support is provided with a transmission rod hole, one end of the wave transmission rod is rotatably nested on the cam structure, and the other end extends to the other side of the wave transmission rod after passing through the transmission rod hole.

[0009] The above-mentioned motion structure with fluctuation and swing, the bottom plate includes a main board, an ear plate, and a fixed plate, the ear plate is arranged on the side of the main board, the fixed plate is arranged on the side of the main board adjacent to the ear plate, the fixed plate includes a first fixed plate and a second fixed plate, the first fixed plate is adjacent to the ear plate, and the second fixed plate is far away from the ear plate.

[0010] The above-mentioned motion structure with wave and swing, the swing servo is fixed on the ear plate, one end of the swing support rod is rotationally connected to the distal end of the first fixed plate, and the other end is connected to the distal end of the second fixed plate.

[0011] The above-mentioned motion structure with wave motion and swing motion, the front end of the swing fixing rod is provided with a fixing hole, the swing fixing rod includes a first fixing rod and a second fixing rod, the first fixing rod is arranged on the side close to the wave servo, the second fixing rod is arranged on the side away from the wave servo, the output end of the wave servo is provided with an output shaft, the output shaft is rotatably sleeved in the fixing hole of the first fixing rod and extends to the side of the second fixing rod.

[0012] The above-mentioned motion structure with fluctuation and swing, the cam structure includes a first cam rod, a second cam rod, a third cam rod, a fourth cam rod, a cam connecting handle, and a cam fixing handle. The cam connecting handles are provided with three, one end of the cam fixing handle is fixedly connected to the output shaft, the other end of the cam fixing handle is fixedly connected to one end of the first cam rod, the other end of the first cam rod is fixedly connected to the second cam rod, the third cam rod, and the fourth cam rod in sequence through the cam connecting handle, and the other end of the fourth cam rod is rotatably nested in the fixing hole of the second fixing rod.

[0013] The above-mentioned motion structure with fluctuation and swing, the said fluctuation transmission rods are provided with four, the said steering supports are provided with four groups, the four said fluctuation transmission rods and the four groups of said steering supports correspond one to one, the four said fluctuation transmission rods are rotationally connected with the first cam rod, the second cam rod, the third cam rod and the fourth cam rod respectively.

[0014] In the above-mentioned motion structure with fluctuation and swing, the cam structure is symmetrically arranged on both sides of the bottom plate.

[0015] A motion method of a motion structure with wave motion and swing motion as described in any one of the above, comprising wave motion and swing motion, wherein the motion expression formula of the wave transmission rod is: , where x, y, and z represent the coordinates of the coordinate axis directions respectively. represents the amplitude of the fluctuation, represents the wavelength of the wave fin, represents the movement frequency of the undulating fin, and t represents the movement time.

[0016] The above-mentioned motion method with wave and swing motion structure,

[0017] When moving in the x direction, the wave transmission rod adopts the wave motion mode, the wave servo starts to move, and the wave servo drives the cam structure to rotate through the coupling. Since the cam structure and the wave transmission rod rotate relative to each other, the wave transmission rod starts to perform wave motion around the swing support rod, and the wave transmission rod starts to perform wave motion at the same time;

[0018] When moving in the z direction, the wave transmission rod adopts a swing motion mode, the swing servo starts to reciprocate, the swing servo drives the swing transmission rod to rotate back and forth through the coupling, the swing transmission rod drives the swing fixed rod to swing back and forth, and the swing fixed rod and the cam structure rotate relative to each other. At this time, the swing transmission rod, the swing fixed rod, the cam structure, the wave transmission rod and the swing support rod form a rocker mechanism, which transmits the swing of the swing servo to the swing transmission rod, thereby realizing the swing motion of the wave transmission rod.

[0019] An underwater undulating fin robot comprises a shell, a control system, a control chamber, an undulating fin, and a motion structure with undulation and swinging as described in any of the above items, wherein the control system is placed inside the control chamber, the control chamber is sealed and fixed to the bottom plate, the control system is communicatively connected with the cam transmission system, and is used to control the movement of the cam transmission system, the undulating fin is fixed on the undulating transmission rod, and the shell is covered above the bottom plate.

[0020] The beneficial effects of the motion structure, method and underwater undulating fin robot with undulating and swinging functions of the present invention are as follows: the cam transmission system of the present invention can help the undulating fin to make up for the lack of lateral movement ability, provide a theoretical basis for the multi-motion scenarios of the underwater robot, and solve the pain point problem that the general undulating fin robot cannot move laterally.

[0021] The two motion modes of the undulating fin are switched mechanically. The undulating motion mode can be used to achieve the x-direction, and the swinging motion mode can be used to achieve the z-direction, which solves the problem that the traditional undulating fin can only use the undulating propulsion model to achieve movement in the x-direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of a conventional cam system of the present invention;

[0023] Figure 2 This is a schematic diagram of the overall structure of the underwater robot of the present invention;

[0024] Figure 3 This is a schematic diagram of the bottom plate structure of the present invention:

[0025] Figure 4 It is a schematic diagram of the wave fin equation;

[0026] Figure 5 It is a schematic diagram of the undulating motion form of the undulating fin;

[0027] Figure 6 Schematic diagram of the hydrodynamic response of the undulating fin;

[0028] Figure 7 It is a schematic diagram of the swinging motion form of the undulating fin;

[0029] Figure 8 Schematic diagram of the hydrodynamic response of the oscillating fin.

[0030] Explanation of the accompanying drawings: 1. outer shell, 2. control compartment, 3. bottom plate, 31. main board, 32. ear plate, 33. first fixed plate, 34. second fixed plate, 4. cam transmission system, 5. wave fin, 6. swing servo, 7. coupling, 8. fixed seat, 9. wave servo, 10. swing fixing rod, 11. swing transmission rod, 12. cam structure, 13. wave transmission rod, 14. steering support, 15. swing support rod. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is described below in conjunction with specific implementation methods and drawings.

[0032] Example 1

[0033] like Figure 1 , Figure 3 As shown, a motion structure with fluctuation and swing includes a base plate 3 and a cam transmission system 4. The cam transmission system is rigidly connected to the base plate and is symmetrically distributed on both sides of the base plate.

[0034] The bottom plate includes a main board 31, an ear plate 32, and a fixed plate. The ear plate is arranged on the side of the main board. A fixed plate is arranged on the side of the main board adjacent to the ear plate. The fixed plate includes a first fixed plate 33 and a second fixed plate 34. The first fixed plate is close to the ear plate, and the second fixed plate is far away from the ear plate.

[0035] The cam transmission system includes a swing servo 6, a coupling 7, a fixing seat 8, a wave servo 9, a swing fixing rod 10, a swing transmission rod 11, a cam structure 12, a wave transmission rod 13, a steering support 14, and a swing support rod 15.

[0036] The swing servo and the fixed seat are rigidly connected on the same side of the bottom plate, the swing servo is fixed on the ear plate, a rotating hole is provided on the fixed seat, the swing transmission rod passes through the rotating hole and is connected to the output end of the swing servo, one end of the coupling is fixed on the swing transmission rod, and the swing transmission rod can be rotated around the x-axis. The other end of the swing transmission rod is rotatably nested at the bottom of the second fixed plate.

[0037] The wave servo is fixed at the far end of the coupling, and the cam structure is connected to the output end of the wave servo.

[0038] One end of the swing fixing rod is fixed on the swing transmission rod, and the other end is rotatably nested with the cam structure. The nested connection mode allows the swing fixing rod to rotate around the x direction.

[0039] The swing support rod is fixedly connected to the bottom plate, and the steering support is rotatably sleeved on the swing support rod, allowing rotation around the x direction. One end of the swing support rod is rotatably connected to the distal end of the first fixed plate, and the other end is connected to the distal end of the second fixed plate.

[0040] A transmission rod hole is provided on the steering support, one end of the wave transmission rod is rotated and nested on the cam structure, and the other end passes through the transmission rod hole and extends to the other side of the wave transmission rod. The steering support is allowed to slide along the length direction of the wave transmission rod, and the wave transmission rod is allowed to rotate around the x direction.

[0041] A fixing hole is provided at the front end of the swing fixing rod, and the swing fixing rod includes a first fixing rod and a second fixing rod. The first fixing rod is arranged on a side close to the wave servo, and the second fixing rod is arranged on a side away from the wave servo. An output shaft is provided at the output end of the wave servo, and the output shaft is rotatably sleeved in the fixing hole of the first fixing rod and extends toward the side of the second fixing rod.

[0042] The cam structure includes a first cam rod, a second cam rod, a third cam rod, a fourth cam rod, a cam connecting handle, and a cam fixing handle. Three cam connecting handles are provided, one end of the cam fixing handle is fixedly connected to the output shaft, the other end of the cam fixing handle is fixedly connected to one end of the first cam rod, the other end of the first cam rod is fixedly connected to the second cam rod, the third cam rod, and the fourth cam rod in sequence through the cam connecting handle, and the other end of the fourth cam rod is rotatably nested in the fixing hole of the second fixing rod.

[0043] Four transmission rods are provided, and four groups of steering supports are provided. The four wave transmission rods correspond to the four groups of steering supports one by one, and the four wave transmission rods are rotationally connected to the first cam rod, the second cam rod, the third cam rod, and the fourth cam rod respectively.

[0044] Example 2

[0045] like Figure 4 As shown, a motion method of a motion structure with wave motion and swing motion includes wave motion and swing motion, and the motion expression formula of the wave transmission rod is: , where x, y, and z represent the coordinates of the coordinate axis directions respectively. Represents the amplitude of fluctuation. represents the wavelength of the wave fin, represents the movement frequency of the undulating fin, and t represents the movement time.

[0046] When moving in the x direction, the wave transmission rod adopts the wave motion mode, the wave servo starts to move, and the wave servo drives the cam structure to rotate through the coupling. Since the cam structure and the wave transmission rod rotate relative to each other, the wave transmission rod starts to perform wave motion around the swing support rod, and the wave transmission rod starts to perform wave motion at the same time.

[0047] When moving in the z direction, the wave transmission rod adopts a swing motion mode, the swing servo starts to reciprocate, the swing servo drives the swing transmission rod to rotate back and forth through the coupling, the swing transmission rod drives the swing fixed rod to swing back and forth, and the swing fixed rod and the cam structure rotate relative to each other. At this time, the swing transmission rod, the swing fixed rod, the cam structure, the wave transmission rod and the swing support rod form a rocker mechanism, which transmits the swing of the swing servo to the swing transmission rod, thereby realizing the swing motion of the wave transmission rod.

[0048] Example 3

[0049] like Figure 2 As shown, an underwater undulating fin robot, which combines the undulating fin propulsion method of the two motion modes of undulating and swinging and provides a specific motion strategy, can solve the pain point problem that general undulating fin robots cannot move laterally.

[0050] It includes a shell, a control system, a control chamber, an undulating fin, and a motion structure with undulation and swinging as any of the above items. The control system is placed inside the control chamber, the control chamber is sealed and fixed on the base plate, the control system is communicated with the cam transmission system, and is used to control the movement of the cam transmission system, the undulating fin is fixed on the undulating transmission rod, and the shell covers the top of the base plate.

[0051] Specifically, the housing 1 is made of resin material using 3D printing technology, which mainly serves the purpose of shielding and aesthetics. The specific appearance can be changed according to requirements. The bottom plate 3 is made of carbon fiber material and is bolted to the housing 1. The control system and the control compartment 2 are composed of a control panel, a control compartment housing and related circuits. The control system and the control compartment 2 are connected to the cam transmission system 4 for communication, and are used to control the cam system to move. The cam transmission system 4 is rigidly connected to the bottom plate 3. The wave fin 5 is made of rubber and is the actuator of the wave fin movement.

[0052] Cam drive system 4 details as Figure 1 shown.

[0053] The cam transmission system 4 is rigidly connected to the base plate 3 and is symmetrically distributed on both sides of the base plate 3. The cam transmission system 4 is composed of a swing steering gear 6, a coupling 7, a fixing seat 8, a wave steering gear 9, a swing fixing rod 10, a swing transmission rod 11, a cam structure 12, a wave transmission rod 13, a steering support 14, and a swing support rod 15.

[0054] The swing servo 6 and the fixed seat 8 are rigidly connected to the base plate 3. The swing transmission rod 11 is connected to the swing servo 6 through the coupling 7, and the rod can rotate around the x-axis. The swing fixed rod 10 is rigidly connected to the swing transmission rod 11. The swing fixed rod 10 is rigidly connected to the wave servo. The swing fixed rod 10 and the cam structure 12 are nested and connected, allowing rotation around the x-direction. The wave transmission rod 13 and the cam structure 12 are nested and connected, allowing rotation around the x-direction. The swing support rod 15 is rigidly connected to the base plate 3. The steering support 14 and the swing support rod 15 are nested and connected, allowing rotation around the x-direction. The steering support 14 is nested and connected to the wave transmission rod 13, allowing sliding along the length direction of the wave transmission rod 13. The wave transmission rod 13 is connected to the wave fin 5 by means of a fixed seat, allowing sliding along the length direction of the wave transmission rod.

[0055] The undulating fins often move in an undulating manner. Figure 5 shown.

[0056] For the undulating fin that moves in an undulating manner, its mechanical response includes three dimensions, xyz, as follows: Figure 6 shown.

[0057] When moving in the form of waves, there must be three-directional force components. Since the wave fins are symmetrically distributed on both sides of the robot, the forces in the y and z directions can offset each other.

[0058] When the undulating fin moves in an undulating manner, its movement is as follows Figure 7 As shown in the figure, W represents the angular velocity, which means that the swing occurs at this position. In this technical solution, there is no restriction on the magnitude of the angular velocity, but it is only necessary to explain that the swing can occur here.

[0059] For the wave motion form, the posture of the wave fin itself does not change. The whole body rotates around a certain axis. At this time, the hydrodynamic response of the wave fin is as follows: Figure 8 shown.

[0060] For the swinging motion, the resultant force of the x- and y-direction components is 0 during the period, so unidirectional movement in the z-direction can be achieved.

[0061] The undulating fin robot can realize two forms of movement: undulating and swinging.

[0062] When moving in the x direction, the undulating fin robot adopts the undulating motion mode. The undulating servo 9 starts to move, and the undulating servo 9 drives the cam structure 12 to rotate through the coupling 7. Since the cam structure 12 and the undulating transmission rod 13 can only rotate relative to each other, the undulating transmission rod 13 starts to perform undulating motion around the swing support rod. The undulating fin 5 starts to perform undulating motion at the same time.

[0063] When moving in the z direction, the undulating fin robot adopts the undulating motion mode. The oscillating servo 6 starts to reciprocate, and the oscillating servo 6 drives the oscillating transmission rod 11 to rotate back and forth through the coupling 7. The oscillating transmission rod 11 drives the oscillating fixed rod 10 to oscillate back and forth. Since there is only relative rotation between the oscillating fixed rod 10 and the cam structure 12, the oscillating transmission rod 11, the oscillating fixed rod 10, the cam structure 12, the oscillating transmission rod 13 and the oscillating support rod 15 constitute a "swing rod mechanism". With the help of the principle of this mechanism, the swing of the oscillating servo 6 can be transmitted to the oscillating transmission rod 11, thereby realizing the swinging motion of the undulating fin 5.

[0064] The above embodiments are only for illustrating the inventive concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made based on the essence of the content of the present invention should be included in the protection scope of the present invention.

Claims

1. A motion structure with wave motion and swing motion, characterized in that: It includes a base plate and a cam transmission system, the cam transmission system is rigidly connected to the base plate, the cam transmission system includes a swing servo, a coupling, a fixed seat, a wave servo, a swing fixing rod, a swing transmission rod, a cam structure, a wave transmission rod, a steering support, and a swing support rod. The swing servo and the fixed seat are rigidly connected to the same side of the base plate, the fixed seat is provided with a rotating hole, the swing transmission rod passes through the rotating hole and is connected to the output end of the swing servo, one end of the coupling is fixed on the swing transmission rod, the wave servo is fixed at the far end of the coupling, and the swing servo is fixed to the far end of the coupling. The cam structure is connected to the output end of the wave servo, one end of the swing fixing rod is fixed on the swing transmission rod, and the other end is rotatably nested with the cam structure, the swing support rod is fixedly connected to the bottom plate, the steering support is rotatably sleeved on the swing support rod, a transmission rod hole is provided on the steering support, one end of the wave transmission rod is rotatably nested on the cam structure, and the other end passes through the transmission rod hole and extends to the other side of the wave transmission rod, a fixing hole is provided at the front end of the swing fixing rod, and the swing fixing rod includes a first fixing rod and a second fixing rod; An output shaft is provided at the output end of the wave servo, and the cam structure includes a first cam rod, a second cam rod, a third cam rod, a fourth cam rod, a cam connecting handle, and a cam fixing handle. Three cam connecting handles are provided, one end of the cam fixing handle is fixedly connected to the output shaft, and the other end of the cam fixing handle is fixedly connected to one end of the first cam rod, and the other end of the first cam rod is fixedly connected to the second cam rod, the third cam rod, and the fourth cam rod in sequence through the cam connecting handle, and the other end of the fourth cam rod is rotatably nested in the fixing hole of the second fixing rod.

2. The motion structure with wave motion and swing motion according to claim 1, characterized in that: The bottom plate includes a main board, an ear plate, and a fixed plate. The ear plate is arranged on the side of the main board. The fixed plate is arranged on the side of the main board adjacent to the ear plate. The fixed plate includes a first fixed plate and a second fixed plate. The first fixed plate is adjacent to the ear plate, and the second fixed plate is far away from the ear plate.

3. The motion structure with wave motion and swing motion according to claim 2, characterized in that: The swing servo is fixed on the ear plate, one end of the swing support rod is rotatably connected to the distal end of the first fixed plate, and the other end is connected to the distal end of the second fixed plate.

4. The motion structure with wave motion and swing motion according to claim 1, characterized in that: The first fixing rod is arranged on a side close to the wave steering gear, the second fixing rod is arranged on a side far from the wave steering gear, and the output shaft is rotatably sleeved in the fixing hole of the first fixing rod and extends toward a side of the second fixing rod.

5. The motion structure with wave motion and swing motion according to claim 1, characterized in that: The four wave transmission rods are provided, and the four steering supports are provided. The four wave transmission rods correspond to the four steering supports in a one-to-one manner. The four wave transmission rods are rotationally connected to the first cam rod, the second cam rod, the third cam rod, and the fourth cam rod, respectively.

6. The motion structure with wave motion and swing motion according to claim 5, characterized in that: The cam structures are symmetrically arranged on both sides of the bottom plate.

7. A method for exercising a motion structure with an undulating and oscillating motion as claimed in any one of claims 1 to 6, characterized in that: Including wave motion and swing motion, the motion expression formula of the wave transmission rod is: Among them, x, y, z represent the coordinates in the coordinate axis direction, a represents the amplitude of the fluctuation, λ represents the wavelength of the fluctuation fin, f represents the movement frequency of the fluctuation fin, and t represents the movement time.

8. The exercise method of the exercise structure with wave motion and swing motion according to claim 7, characterized in that: When moving in the x direction, the wave transmission rod adopts the wave motion mode, the wave servo starts to move, and the wave servo drives the cam structure to rotate through the coupling. Since the cam structure and the wave transmission rod rotate relative to each other, the wave transmission rod starts to perform wave motion around the swing support rod, and the wave transmission rod starts to perform wave motion at the same time; When moving in the z direction, the wave transmission rod adopts a swing motion mode, the swing servo starts to reciprocate, the swing servo drives the swing transmission rod to rotate back and forth through the coupling, the swing transmission rod drives the swing fixed rod to swing back and forth, and the swing fixed rod and the cam structure rotate relative to each other. At this time, the swing transmission rod, the swing fixed rod, the cam structure, the wave transmission rod and the swing support rod form a rocker mechanism, which transmits the swing of the swing servo to the swing transmission rod, thereby realizing the swing motion of the wave transmission rod.

9. An underwater undulating fin robot, characterized in that: It includes a shell, a control system, a control chamber, an undulating fin, and a motion structure with undulation and swinging as described in any one of claims 1 to 6, wherein the control system is placed inside the control chamber, the control chamber is sealed and fixed to the bottom plate, the control system is communicatively connected with the cam transmission system, and is used to control the movement of the cam transmission system, the undulating fin is fixed to the undulating transmission rod, and the shell is covered above the bottom plate.

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