A bionic underwater suction cup probe robot of a mormyrid

Abstract

The application discloses a kind of bionic underwater suction cup probe robots of paddlefish type, and technical solution points are as follows: bionic paddlefish robot, the tail of bionic paddlefish robot is movably connected with tail wing;When using, it can be slightly raised by electric push rod to the rubber membrane, when the suction cup ring is attached to the surface of animal, it is reset by electric push rod to pull rubber membrane, so that the effect of preliminary adsorption installation is achieved, at this time, it can be rotated by opening drive motor to drive cross bar, so that rubber spike is in vertical state and pierces the surface of animal, cooperate drive motor to shrink rubber membrane, at this time, the space in air cavity is larger, pressure decreases, the pressure difference between inside and outside makes the device closely attached to the surface of animal, the movement of the animal followed, water flow will flow out from drain hole through water inlet, in the process, it will drive impeller to rotate, generate electricity by hydraulic generator to charge battery to increase its endurance, by drainage plate for increasing the stability of water flow discharge, prevent turbulence from causing shaking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater exploration robots, in particular to a bionic underwater suction cup exploration robot in the shape of a paddlefish. BACKGROUND

[0002] Underwater exploration robots are autonomous or remote-controlled devices that can perform various tasks in underwater environments. They have a wide range of applications, including oceanographic research, marine resource exploration, and marine environmental monitoring. These robots not only conduct detailed topographic exploration on the seabed, but also collect water samples and animal samples, providing important research data for scientists. In the study of large marine animal migration, these robots can track and record the movement trajectories and behavior patterns of marine animals, helping scientists better understand and protect marine ecosystems.

[0003] However, due to technical limitations such as endurance and adsorption methods, there is still a lack of a suitable solution to monitor these animals for a long time. Improving the autonomy and durability of underwater robots in complex environments and developing more effective adsorption and tracking technologies are key directions for future development. To solve the above problems, we propose a bionic underwater suction cup exploration robot in the shape of a paddlefish. SUMMARY

[0004] To overcome the deficiencies of the prior art, the present application provides a bionic underwater suction cup exploration robot in the shape of a paddlefish, which solves the problems raised in the background art.

[0005] The above technical purposes of the present application are achieved through the following technical solutions:

[0006] A bionic underwater suction cup exploration robot in the shape of a paddlefish, comprising: a bionic paddlefish robot, the tail of the bionic paddlefish robot movably connected with a tail wing, the left and right sides of the bionic paddlefish robot respectively fixedly installed with side wings, the top surface of the bionic paddlefish robot provided with a top groove, the top surface of the top groove fixedly installed with a flow divider, the top surface of the flow divider provided with a battery slot, the inside of the battery slot fixedly installed with a storage battery; an adsorption assembly, the adsorption assembly arranged on the top surface of the flow divider, used for installing the bionic paddlefish robot; a charging assembly, the charging assembly arranged at the front end of the bionic paddlefish robot, used for charging.

[0007] By adopting the above technical solutions, the adsorption assembly can be used to stably adsorb the bionic paddlefish robot on the surface of the animal, increasing the stability of subsequent detection. At the same time, the charging assembly can be used to increase the endurance of the bionic paddlefish robot, improving the autonomy and durability of underwater robots in complex environments.

[0008] Preferably, the adsorption assembly comprises: a mounting groove is opened in the top surface of the flow distribution plate, a controller is fixedly installed inside the mounting groove, the controller is electrically connected with the battery, an inner frame is fixedly installed inside the top groove, a rubber film is fixedly installed inside the inner frame, a plurality of electric push rods are embedded in the bottom surface of the inner frame, the electric push rods are fixedly connected with the rubber film, the electric push rods are electrically connected with the controller, and a suction cup ring is fixedly installed on the top surface of the inner frame.

[0009] By adopting the above technical scheme, the electric push rod is provided, and in use, the rubber film can be slightly protruded upward by the electric push rod, so that when the suction cup ring is attached to the surface of the animal, the rubber film can be pulled back to reset by the electric push rod, so that the internal air pressure is reduced, thereby achieving the effect of preliminary adsorption and installation.

[0010] Preferably, the adsorption assembly further comprises: a plurality of cross bars, the cross bars are arranged inside the inner frame, a drive motor is arranged on the left side of the cross bar, the drive motor is electrically connected with the controller, the drive motor is fixedly installed on the rubber film, the output shaft of the drive motor is fixedly connected with the cross bar, a bearing seat is fixedly installed on the right side of the cross bar, the bearing seat is fixedly connected with the rubber film, and a rubber spike is fixedly installed on one side of the cross bar.

[0011] By adopting the above technical scheme, the rubber spike is provided, and when the bionic lamprey robot is preliminarily adsorbed, the rubber spike can be vertically pierced into the surface of the animal by rotating the cross bar by driving the drive motor, and the rubber film is retracted by the drive motor at the same time, so that the internal space of the air cavity is increased, the pressure is reduced, the pressure difference between the inside and outside causes the device to tightly adhere to the surface of the animal, and the rubber spike can also increase the adsorption force of the product to a certain extent.

[0012] Preferably, the charging assembly comprises: a water inlet is arranged at the front end of the bionic lamprey robot, the water inlet is communicated with the top groove, a drain hole is arranged on the left and right sides of the bionic lamprey robot, respectively, a plurality of water turbines are embedded in the bottom surface of the top groove, the water turbines are electrically connected with the battery, and an impeller is fixedly installed at the top end of the output shaft of the water turbine.

[0013] By adopting the above technical scheme, the impeller is provided, and when the bionic lamprey robot is adsorbed on the surface of the animal, the water flow will flow out of the drain hole through the water inlet following the movement of the animal, the impeller will be rotated in the process, the water turbine will generate electricity, the battery will be charged, and the endurance will be increased.

[0014] Preferably, the charging assembly further comprises: two first flexible solar photovoltaic panels, the two first flexible solar photovoltaic panels are respectively fixedly installed on the left and right sides of the tail wing, the top surface and the bottom surface of the side wing are respectively fixedly installed with second flexible solar photovoltaic panels, and the first flexible solar photovoltaic panels and the second flexible solar photovoltaic panels are electrically connected together with the battery.

[0015] By adopting the above technical scheme, the first flexible solar photovoltaic panel and the second flexible solar photovoltaic panel can be used to further increase the endurance.

[0016] Preferably, the front end of the bionic paddlefish robot is embedded with a camera, and the left and right sides of the bionic paddlefish robot are respectively embedded with a depth sensor, a temperature sensor and a GPS locator, and the camera, the depth sensor, the temperature sensor and the GPS locator are electrically connected together with the controller.

[0017] By adopting the above technical scheme, the camera, the depth sensor, the temperature sensor and the GPS locator can be used to record detection data in cooperation.

[0018] Preferably, a filter screen is fixedly installed in the water inlet.

[0019] By adopting the above technical scheme, the filter screen is used to prevent sundries in water from entering the top groove, thereby increasing safety.

[0020] Preferably, a drainage plate is fixedly installed in the drain hole.

[0021] By adopting the above technical scheme, the drainage plate is used to increase the stability of water flow discharge and prevent turbulent flow from causing equipment shaking.

[0022] In summary, the present application mainly has the following advantages:

[0023] By setting the adsorption assembly, the bionic paddlefish robot can be stably adsorbed on the surface of an animal, thereby increasing the stability of subsequent detection.

[0024] By setting the rubber spikes, when the bionic remora robot is initially adsorbed, the rubber spikes can be vertically pierced into the surface of the animal by starting the driving motor to drive the horizontal rod to rotate, and the rubber film is retracted by the driving motor, at this time the internal space of the air cavity is larger, the pressure is reduced, the internal and external pressure difference makes the equipment close to the surface of the animal, and the rubber spikes can also increase the adsorption force of the product to a certain extent.

[0025] By setting the impeller, when the bionic remora robot is adsorbed on the surface of the animal, the water flow will flow out through the drain hole through the water inlet, and the impeller will rotate in the process, and the water turbine generator will generate electricity to charge the battery and increase the endurance. The first flexible solar photovoltaic panel and the second flexible solar photovoltaic panel can be used to further increase the endurance.

[0026] By setting the camera, depth sensor, temperature sensor and GPS locator, the detection data can be recorded by mutual cooperation, the filter screen is set to prevent foreign matter in the water from entering the top groove, and the safety is increased, the drainage plate is set to increase the stability of the water flow, and the device is prevented from shaking caused by turbulent. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a perspective structural schematic diagram of the present application;

[0028] Figure 2 is a shunt plate structure schematic diagram of the present application;

[0029] Figure 3 is Figure 2 a local enlarged structure schematic diagram of A in

[0030] Figure 4 is a horizontal rod structure schematic diagram of the present application;

[0031] Figure 5 is Figure 4 a local enlarged structure schematic diagram of B in

[0032] Figure 6 is an inner frame structure schematic diagram of the present application.

[0033] 100, bionic garfish robot; 101, camera; 102, depth sensor; 103, temperature sensor; 104, GPS locator; 105, filter screen; 106, drainage plate; 200, tail wing; 300, side wing; 400, top groove; 500, flow distribution plate; 600, battery groove; 700, storage battery; 800, adsorption assembly; 801, mounting groove; 802, controller; 803, inner frame; 804, rubber film; 805, electric push rod; 806, cross rod; 807, drive motor; 808, bearing seat; 809, rubber spike; 900, charging assembly; 901, water inlet; 902, drainage hole; 903, hydroelectric generator; 904, impeller; 905, first flexible solar photovoltaic panel; 906, second flexible solar photovoltaic panel. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the described embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without any inventive effort fall within the scope of protection of the present application.

[0035] The following examples are used to illustrate the present application, but cannot be used to limit the protection scope of the present application. The conditions in the examples can be further adjusted according to specific conditions, and simple improvements of the method of the present application under the concept of the present application all fall within the scope of protection of the present application.

[0036] Reference Figures 1-6 A bionic underwater suction cup detection robot in the shape of a garfish comprises a bionic garfish robot 100, a tail wing 200 movably connected to the tail of the bionic garfish robot 100, a side wing 300 fixedly installed on the left and right sides of the bionic garfish robot 100, a top groove 400 formed in the top surface of the bionic garfish robot 100, a flow distribution plate 500 fixedly installed on the top surface of the top groove 400, a battery groove 600 formed in the top surface of the flow distribution plate 500, a storage battery 700 fixedly installed in the battery groove 600, an adsorption assembly 800 arranged on the top surface of the flow distribution plate 500 and used for mounting the bionic garfish robot 100, and a charging assembly 900 arranged at the front end of the bionic garfish robot 100 and used for charging. The adsorption assembly 800 can be used to stably adsorb the bionic garfish robot 100 on the surface of an animal, thereby increasing the stability of subsequent detection. Meanwhile, the charging assembly 900 can be used to increase the endurance of the bionic garfish robot 100, thereby improving the autonomy and durability of the underwater robot in a complex environment.

[0037] Reference Figures 1-6The adsorption assembly 800 comprises a mounting groove 801, the mounting groove 801 is arranged on the top surface of the flow distribution plate 500, the inside of the mounting groove 801 is fixedly installed with a controller 802, the controller 802 is electrically connected with the storage battery 700, the inside of the top groove 400 is fixedly installed with an inner frame 803, the inside of the inner frame 803 is fixedly installed with a rubber film 804, the bottom surface of the inner frame 803 is embedded with a plurality of electric push rods 805, the electric push rods 805 are fixedly connected with the rubber film 804, the electric push rods 805 are electrically connected with the controller 802, the top surface of the inner frame 803 is fixedly installed with a suction disc ring, through the electric push rods 805, the rubber film 804 can be slightly raised when in use, therefore, when the suction disc ring is attached to the surface of the animal, the rubber film 804 can be pulled back to the original position through the electric push rods 805, the internal air pressure is reduced, and the effect of preliminary adsorption and installation is achieved, the adsorption assembly 800 further comprises a plurality of cross rods 806, the plurality of cross rods 806 are arranged in the inside of the inner frame 803, the left side of the cross rod 806 is provided with a driving motor 807, the driving motor 807 is electrically connected with the controller 802, the driving motor 807 is fixedly installed on the rubber film 804, the output shaft of the driving motor 807 is fixedly connected with the cross rod 806, the right side of the cross rod 806 is fixedly installed with a bearing seat 808, the bearing seat 808 is fixedly connected with the rubber film 804, one side of the cross rod 806 is fixedly installed with a rubber spike 809, through the rubber spike 809, when the bionic eel robot 100 is preliminarily adsorbed, the driving motor 807 can be started to drive the cross rod 806 to rotate, the rubber spike 809 is in a vertical state and pierces the surface of the animal, the driving motor 807 is retracted, the internal space of the air cavity is increased, the pressure is reduced, the pressure difference between the inside and outside makes the device closely attached to the surface of the animal, and the rubber spike 809 can also increase the adsorption force of the product to a certain extent.

[0038] Reference Figures 1-6The charging assembly 900 comprises: a water inlet 901 formed at the front end of the bionic paddlefish robot 100, the water inlet 901 being in communication with the top groove 400, a water outlet hole 902 being formed at the left and right sides of the bionic paddlefish robot 100 respectively, a plurality of water power generators 903 being embedded in the bottom surface of the top groove 400, the water power generators 903 being electrically connected together with the storage battery 700, a top end of an output shaft of the water power generator 903 being fixedly installed with an impeller 904, by arranging the impeller 904, when the bionic paddlefish robot 100 is adsorbed on the surface of an animal, following the movement of the animal, water flow will flow out from the water outlet hole 902 through the water inlet 901, in the process, the impeller 904 will be driven to rotate, electricity is generated through the water power generator 903, the storage battery 700 is charged, and the endurance is increased, the charging assembly 900 further comprises: two first flexible solar photovoltaic panels 905, the two first flexible solar photovoltaic panels 905 being fixedly installed at the left and right sides of the tail wing 200 respectively, a second flexible solar photovoltaic panel 906 being fixedly installed on the top surface and the bottom surface of the side wing 300 respectively, the first flexible solar photovoltaic panel 905 and the second flexible solar photovoltaic panel 906 being electrically connected together with the storage battery 700, by arranging the first flexible solar photovoltaic panel 905 and the second flexible solar photovoltaic panel 906, the endurance can be further increased.

[0039] Reference Figures 1-6 The front end of the bionic paddlefish robot 100 is embedded with a camera 101, the left and right sides of the bionic paddlefish robot 100 are embedded with a depth sensor 102, a temperature sensor 103 and a GPS locator 104 respectively, the camera 101, the depth sensor 102, the temperature sensor 103 and the GPS locator 104 are electrically connected together with the controller 802, by arranging the camera 101, the depth sensor 102, the temperature sensor 103 and the GPS locator 104, mutual cooperation can be used to record detection data.

[0040] Reference Figures 1-6 A filter screen 105 is fixedly installed in the water inlet 901, and a drainage plate 106 is fixedly installed in the water outlet hole 902, by arranging the filter screen 105, foreign matters in water can be prevented from entering the top groove 400, safety is increased, by arranging the drainage plate 106, stability of water flow discharge can be increased, and equipment shaking caused by turbulent water flow can be prevented.

[0041] Working principle: please refer to Figures 1-6As shown, in use, the rubber film 804 can be slightly raised by the electric push rod 805, so that when the suction cup ring is attached to the surface of the animal, the rubber film 804 can be pulled back to its original position by the electric push rod 805, so that the internal air pressure is reduced, thereby achieving the effect of preliminary adsorption and installation. When the bionic eel robot 100 is preliminarily adsorbed, the driving motor 807 can be turned on to drive the horizontal rod 806 to rotate, so that the rubber spikes 809 are in a vertical state and pierce the surface of the animal. At this time, the driving motor 807 retracts the rubber film 804, the internal space of the air cavity becomes larger, the pressure decreases, and the pressure difference between the inside and outside makes the device tightly adhere to the surface of the animal. At the same time, the rubber spikes 809 can also increase the adsorption force of the product to a certain extent. When the bionic eel robot 100 is adsorbed on the surface of the animal, the water flow will flow out through the water inlet 901 and the drain hole 902, driving the impeller 904 to rotate and generating electricity through the water turbine 903 to charge the battery 700, thereby increasing the endurance. The first flexible solar panel 905 and the second flexible solar panel 906 can be used to further increase the endurance. The camera 101, the depth sensor 102, the temperature sensor 103, and the GPS locator 104 can be used to record and detect data in cooperation with each other. The filter screen 105 is used to prevent foreign matter in the water from entering the top tank 400, thereby increasing safety. The drainage plate 106 is used to increase the stability of water flow and prevent turbulence from causing the device to vibrate.

[0042] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that, unless otherwise defined, technical terms or scientific terms used in the present application should be understood as having their usual meanings understood by those skilled in the art in the field to which the present application belongs. The terms "include" or "contain" and similar words used in the present application mean that the elements or objects appearing before the words are encompassed by the elements or objects listed after the words and their equivalents, and other elements or objects are not excluded. The terms "connected" or "connected" and similar words are not limited to physical or mechanical connections, but also include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right" and the like are only used to indicate relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0043] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that, unless otherwise defined, technical terms or scientific terms used in the present application should be understood as having their usual meanings understood by those skilled in the art in the field to which the present application belongs. The terms "include" or "contain" and similar words used in the present application mean that the elements or objects appearing before the words are encompassed by the elements or objects listed after the words and their equivalents, and other elements or objects are not excluded. The terms "connected" or "connected" and similar words are not limited to physical or mechanical connections, but also include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right" and the like are only used to indicate relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

Claims

1. A bionic underwater suction cup exploration robot of a manta ray type, characterized in that, Include: Bionic garfish robot (100), the tail of the bionic garfish robot (100) is movably connected with the tail wing (200), the left and right sides of the bionic garfish robot (100) are respectively fixedly installed with the side wing (300), the top surface of the bionic garfish robot (100) is provided with a top groove (400), the top surface of the top groove (400) is fixedly installed with a flow dividing plate (500), the top surface of the flow dividing plate (500) is provided with a battery groove (600), and the inside of the battery groove (600) is fixedly installed with a storage battery (700); Suction assembly (800), the suction assembly (800) is arranged on the top surface of the flow dividing plate (500), and is used for installing the bionic garfish robot (100); Charging assembly (900), the charging assembly (900) is arranged at the front end of the bionic garfish robot (100), and is used for charging; The charging assembly (900) comprises: a water inlet (901) formed at the front end of the bionic garfish robot (100), the water inlet (901) is communicated with the top groove (400), the left and right sides of the bionic garfish robot (100) are respectively provided with a drain hole (902), the bottom surface of the top groove (400) is embedded with a plurality of water turbines (903), the water turbines (903) and the storage battery (700) are electrically connected together, and the top end of the output shaft of the water turbine (903) is fixedly installed with an impeller (904).

2. The bionic underwater suction cup probe robot of a paddlefish type according to claim 1, characterized in that, The suction assembly (800) comprises: The installation groove (801) is formed in the top surface of the flow dividing plate (500), the inside of the installation groove (801) is fixedly installed with a controller (802), the controller (802) and the storage battery (700) are electrically connected together, the inside of the top groove (400) is fixedly installed with an inner frame (803), the inside of the inner frame (803) is fixedly installed with a rubber film (804), the bottom surface of the inner frame (803) is embedded with a plurality of electric push rods (805), the electric push rods (805) and the rubber film (804) are fixedly connected together, the electric push rods (805) and the controller (802) are electrically connected together, and the top surface of the inner frame (803) is fixedly installed with a suction disc ring.

3. The bionic underwater suction cup probe robot of a paddlefish type according to claim 2, characterized in that, The suction assembly (800) further comprises: A plurality of horizontal rods (806), a plurality of the horizontal rods (806) are arranged inside the inner frame (803), the left side of the horizontal rod (806) is provided with a drive motor (807), the drive motor (807) and the controller (802) are electrically connected together, the drive motor (807) is fixedly installed on the rubber film (804) fixedly connected together, the output shaft of the drive motor (807) is fixedly connected with the horizontal rod (806), the right side of the horizontal rod (806) is fixedly installed with a bearing seat (808), the bearing seat (808) and the rubber film (804) are fixedly connected together, one side of the horizontal rod (806) is fixedly installed with a rubber thorn (809).

4. The bionic underwater suction cup probe robot of a paddlefish type according to claim 1, characterized in that, The charging assembly (900) further comprises: Two first flexible solar photovoltaic panels (905), two first flexible solar photovoltaic panels (905) are respectively fixedly installed on the left and right sides of the tail wing (200), the top surface and the bottom surface of the side wing (300) are respectively fixedly installed with second flexible solar photovoltaic panels (906), the first flexible solar photovoltaic panels (905) and the second flexible solar photovoltaic panels (906) are electrically connected with the storage battery (700) together.

5. The bionic underwater suction cup probe robot of a paddlefish type according to claim 3, characterized in that, The front end of the bionic garfish robot (100) is embedded with a camera (101), the left and right sides of the bionic garfish robot (100) are respectively embedded with a depth sensor (102), a temperature sensor (103) and a GPS locator (104), the camera (101), the depth sensor (102), the temperature sensor (103) and the GPS locator (104) are electrically connected with the controller (802) together.

6. The bionic underwater suction cup probe robot of a paddlefish type according to claim 1, characterized in that, The inside of the water inlet (901) is fixedly installed with a filter screen (105).

7. The bionic underwater suction cup probe robot of a paddlefish type according to claim 1, characterized in that, The inside of the drain hole (902) is fixedly installed with a drainage plate (106).

Images