Ornamental underwater bionic robot

Abstract

The invention relates to an ornamental underwater bionic robot, and belongs to the technical field of underwater bionics. The robot comprises a head unit, a main frame, a front / rear buoyancy adjusting unit, a driving unit, a pectoral fin unit and a tail fin unit, and the outside of the robot is wrapped by bionic streamline buoyancy dimensions. The driving unit drives the tail fin to swing through a multi-joint motor to generate propulsive force, and linear or steering motion is achieved. The pectoral fin unit floats or dives by adjusting a fin surface included angle and cooperating with a tail fin to act; the head unit adopts a four-connecting-rod mechanism to realize opening and closing of a mouth, so that the bionic effect is improved; and a communication positioning system is arranged in the dorsal fin unit to support remote man-machine interaction. All the functional modules are independently sealed, an open type main frame design is adopted, the gravity center coincides with the buoyancy center and is lower than the buoyancy center, and it is ensured that the swimming posture is stable. The device has the advantages of being high in simulation degree, flexible in controllability and low in cost, is suitable for the fields of aquarium exhibition, ocean research and entertainment, and has remarkable practical value.

Description

Technical Field

[0001] The invention relates to the technical field of underwater bionic robots, in particular to an ornamental bionic robot which is highly simulated, low-cost and can be remotely controlled. Background Art

[0002] As some marine life is on the verge of extinction, it is becoming increasingly difficult for people to see them. Fishing and breeding them in aquariums and oceanariums is very risky, the cost is too high, and it is difficult to protect them. Many people only know about precious marine life from science textbooks. In order to meet people's exploration of marine life, robots can be used to simulate biological movements. At present, traditional underwater robots are mostly used in engineering operations, using propellers, pump jets and other propulsion methods. They are single in form, cannot simulate biological bionic movements, and are not interactive for viewing. Summary of the invention

[0003] The present invention provides an ornamental underwater bionic robot, comprising a head unit, a main frame, a buoyancy adjustment unit, a drive unit, a pectoral fin unit and a caudal fin unit. The robot is wrapped with a bionic streamlined buoyancy dimension on the outside, each functional module is independently sealed, the propulsion force is generated by driving the caudal fin to swing, the pectoral fin adjusts the movement posture, the head unit realizes the opening and closing of the mouth, and the dorsal fin unit has a built-in communication system to support remote control.

[0004] The technical solution adopted by the present invention is an ornamental underwater bionic robot, comprising: a head unit, a main frame, a front buoyancy adjustment unit, a buoyancy dimension, an energy control unit, a rear buoyancy adjustment unit, a pectoral fin unit, a dorsal fin unit, a drive unit, and a caudal fin unit; the robot as a whole is wrapped by a bionic streamlined buoyancy dimension, and the front buoyancy adjustment unit, the energy control unit and the rear buoyancy adjustment unit are respectively fixed on the main frame from front to back, and are all independent sealed units; the drive unit is connected to the caudal fin unit, and a propulsion force is generated by the swinging of the caudal fin; the pectoral fin units are symmetrically distributed on both sides of the trunk, and floating or diving is achieved by adjusting the angle of the fin surface; the head unit includes an openable jaw assembly, which is driven by a four-bar linkage.

[0005] Preferably, the driving unit includes: a driving motor, a fixed joint, a rotating shaft, a swivel joint, and a dimensional shell; the driving motor is connected to the fixed joint and fixed to the main frame, wherein the motor axis is installed perpendicular to the horizontal plane, and the rotating shaft is fixed to the swivel joint and the dimensional shell. After the driving motor is powered on, the motor shaft drives the swivel joint and the dimensional shell to reciprocate within a preset angle through the rotating shaft, driving the tail fin unit to swing; the dimensional shell is wrapped around the driving unit after cutting to remove the motion interference part, and cooperates with the buoyancy dimension to ensure the balance of buoyancy and gravity.

[0006] Preferably, the drive unit has a multi-joint structure, including a plurality of serially connected rotating shafts, rotating joints and drive motors, which is used to improve the motion flexibility and bionic effect.

[0007] Preferably, the pectoral fin unit includes: a side beam, a pectoral fin motor, and a pectoral fin prototype; the pectoral fin motor is fixed on the side beam, the motor shaft is parallel to the horizontal plane, the pectoral fin prototype is connected to the motor shaft and the fin surface is parallel to the horizontal plane. When the pectoral fin motor is powered on, the motor shaft drives the pectoral fin prototype to rotate, so that a preset angle is generated between the fin surface and the horizontal plane.

[0008] Preferably, the head unit includes: an upper jaw assembly, a lower jaw assembly, a connecting rod, a mouth motor, and a head frame; the head unit is located at the front end of the robot and is connected to the main trunk frame through the head frame. The upper jaw assembly and the mouth motor are fixed to the head frame. The lower jaw assembly is connected to the head frame, the motor shaft of the mouth motor, and the connecting rod through movable hinges to form a mechanical four-bar linkage structure. When the mouth motor is powered on, the motor shaft drives the lower jaw assembly to rotate through the linkage structure to complete the opening and closing action of the mouth.

[0009] Preferably, the dorsal fin unit is built-in with a communication and positioning system for remote human-machine interaction control.

[0010] Preferably, the overall center of gravity of the robot coincides with the center of buoyancy in the front-rear direction, and the center of gravity is lower than the center of buoyancy. The beneficial effects of the present invention are: (1) The structure of the present invention is simple, the motion principle is clear, the motion of each joint is completed by direct drive of the motor, the structure is compact and the number of parts is small, the reliability is high, the space waste of the transmission mechanism is reduced, the work efficiency is improved, the processing cost is reduced, and the motion flexibility of the robot is effectively guaranteed. (2) The overall design of the present invention adopts an open main frame structure, modularizes the embedded functional units, and requires each unit to have an independent waterproof function to ensure good application of the robot in the underwater environment and improve the design reliability. (3) Through calculation, the present invention ensures that the overall center of gravity of the robot coincides with the center of buoyancy in the front-rear direction, and the center of gravity is lower than the center of buoyancy, ensuring that the prototype of each motion joint does not interfere and the buoyancy and gravity are balanced, ensuring a stable swimming posture and better bionic ornamental value. Description of the Drawings

[0011] Figure 1 is the overall structure schematic diagram of the present invention; Figure 2 is the structure schematic diagram of the drive unit; Figure 3 is the structure schematic diagram of the pectoral fin unit; Figure 4 is the structure schematic diagram of the head unit.

[0012] Markings in the figure: 1 - Head unit, 101 - Upper jaw component, 102 - Lower jaw component, 103 - Connecting rod, 104 - Mouth motor, 105 - Head frame, 2 - Main frame, 3 - Front buoyancy adjustment unit, 4 - Buoyancy cone, 5 - Energy control unit, 6 - Rear buoyancy adjustment unit, 7 - Pectoral fin unit, 701 - Side beam, 702 - Pectoral fin motor, 703 - Pectoral fin cone, 8 - Dorsal fin unit, 9 - Driving unit, 901 - Driving motor, 902 - Fixed joint, 903 - Rotating shaft, 904 - Rotating joint, 905 - Cone shell, 10 - Caudal fin unit. Detailed implementation manners

[0013] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Generally, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0014] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 shown, the overall exterior of the robot is wrapped by the buoyancy cone 4, and the front buoyancy adjustment unit 3, the energy control unit 5 and the rear buoyancy adjustment unit 6 are respectively fixed to the main frame 2 of the robot torso from front to back, and each system is an independent sealed unit. The energy control unit 5 mainly provides energy and control guarantee for the robot, and the front buoyancy adjustment unit 3 and the rear buoyancy adjustment unit 6 enable the robot to realize the function of swimming at a fixed depth underwater. The dorsal fin unit 8 is fixed to the driving unit 9 and contains a communication positioning system, which establishes a control connection system between the operator and the robot, so as to realize remote human-machine interaction.

[0015] The drive unit 9 is located at the end of the robot and is connected to the caudal fin unit 10. The drive motor 901 is connected to the fixed joint 902 and fixed to the main frame 2. The axis of the motor is installed perpendicular to the horizontal plane. The rotating shaft 903 is fixed to the rotating joint 904 and the conical shell 905. After the drive motor 901 is powered on, the motor shaft drives the rotating joint 904 and the conical shell 905 to reciprocate within a preset angle through the rotating shaft 903, thereby driving the caudal fin unit 10 to swing reciprocally. Relying on the swing of the caudal fin unit 10 to generate a reaction force to push open the water, the whole robot generates forward power. When the amplitudes of the caudal fin unit 10 flapping to both sides are the same, the robot swims straight forward. When the amplitudes of the caudal fin unit 10 flapping to both sides are unequal, the reaction force on one side is less than that on the other side, thus driving the robot to perform a turning motion. To improve the motion flexibility and ornamental value of the robot, multiple rotating shafts 903, rotating joints 904, and conical shells 905 can be connected in series as needed and driven by multiple drive motors 901 to form a multi-joint drive unit 9. The conical shell 905 provides buoyancy. After reasonably cutting off the parts with motion interference, it wraps the whole drive unit 9 as much as possible, improving the ornamental value while ensuring the buoyancy and gravity balance of each rotating unit and a stable swimming posture.

[0016] The left and right pectoral fin units 7 are respectively connected to the main frame 2 through the left and right side beams 701 and symmetrically fixed on both sides of the robot torso. The pectoral fin motor 702 is fixed on the side beam 701. The motor shaft is parallel to the horizontal plane. The pectoral fin cone 703 is connected to the motor shaft and the fin surface is parallel to the horizontal plane. When the pectoral fin motor 702 is powered on, the motor shaft drives the pectoral fin cone 703 to rotate, causing a preset angle to be generated between the fin surface and the horizontal plane. The pectoral fin cone 703 serves as the horizontal rudder surface of the robot. When the drive unit 9 is working, through the change in the angle between the fin surface and the horizontal plane, the robot completes bionic motion postures such as floating and diving in the water.

[0017] The head unit 1 is located at the front end of the robot and is connected to the main trunk frame 2 through the head frame 105. The upper jaw assembly 101 and the mouth motor 104 are fixed to the head frame 105. The lower jaw assembly 102 is connected to the head frame 105, the motor shaft of the mouth motor 104, and the connecting rod 103 through a movable hinge, forming a mechanical four-bar linkage structure. According to the required opening and closing angles of the mouth, the positions of each hinge point and the length of the connecting rod 103 are reasonably designed. When the mouth motor 104 is powered on, the motor shaft drives the lower jaw assembly 102 to rotate through the linkage structure to complete the opening and closing action of the mouth, increasing the ornamental value of the robot.

[0018] The overall center of gravity of the robot coincides with the center of buoyancy in the front-back direction, and the center of gravity is lower than the center of buoyancy, ensuring a stable swimming posture underwater and having more bionic ornamental value.

[0019] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. An ornamental underwater bionic robot, characterized in that, include: A head unit (1), a main frame (2), a front buoyancy adjustment unit (3), a buoyancy dimension (4), an energy control unit (5), a rear buoyancy adjustment unit (6), a pectoral fin unit (7), a dorsal fin unit (8), a drive unit (9), and a caudal fin unit (10); the robot as a whole is wrapped by a bionic streamlined buoyancy dimension (4); the front buoyancy adjustment unit (3), the energy control unit (5), and the rear buoyancy adjustment unit (6) are respectively fixed on the main frame (2) from front to back, and are all independent sealed units; the drive unit (9) is connected to the caudal fin unit (10), and generates propulsion force through the swing of the caudal fin; the pectoral fin units (7) are symmetrically distributed on both sides of the trunk, and floating or diving is achieved by adjusting the angle of the fin surface; the head unit (1) comprises a jaw assembly (102) that can be opened and closed, and is driven by a four-bar linkage.

2. The ornamental underwater bionic robot according to claim 1, characterized in that, The driving unit (9) comprises: a driving motor (901), a fixed joint (902), a rotating shaft (903), a rotating joint (904), and a shaped shell (905); the driving motor (901) is connected to the fixed joint (902) and fixed to the main frame (2), wherein the motor axis is installed perpendicular to the horizontal plane, the rotating shaft (903) is fixed to the rotating joint (904) and the shaped shell (905), and after the driving motor (901) is powered on, the motor shaft drives the rotating joint (904) and the shaped shell (905) to reciprocate within a preset angle through the rotating shaft (903), thereby driving the tail fin unit (10) to swing; the shaped shell (905) is wrapped around the driving unit (9) after cutting to remove the motion interference part, and cooperates with the buoyancy dimension (4) to ensure the balance of buoyancy and gravity.

3. The ornamental underwater bionic robot according to claim 2, wherein The driving unit (9) is a multi-joint structure, comprising a plurality of rotating shafts (903), rotating joints (904) and driving motors (901) connected in series, and is used to enhance movement flexibility and bionic effects.

4. The ornamental underwater bionic robot according to claim 1, wherein The pectoral fin unit (7) comprises: a side beam (701), a pectoral fin motor (702), and a pectoral fin dimension (703); the pectoral fin motor (702) is fixed on the side beam (701), the motor shaft is parallel to the horizontal plane, the pectoral fin dimension (703) is connected to the motor shaft, and the fin surface is parallel to the horizontal plane; when the pectoral fin motor (702) is powered on, the motor shaft drives the pectoral fin dimension (703) to rotate, so that a preset angle is generated between the fin surface and the horizontal plane.

5. The ornamental underwater bionic robot according to claim 1, characterized in that, The head unit (1) comprises: an upper jaw component (101), a lower jaw component (102), a connecting rod (103), a mouth motor (104), and a head frame (105); the head unit (1) is located at the front end of the robot and is connected to the trunk main frame (2) via the head frame (105); the upper jaw component (101) and the mouth motor (104) are fixed to the head frame (105); the lower jaw component (102) is connected to the head frame (105), the motor shaft of the mouth motor (104), and the connecting rod (103) via a movable hinge to form a mechanical four-bar linkage structure; when the mouth motor (104) is powered on, the motor shaft drives the lower jaw component (102) to rotate via the connecting rod structure to complete the mouth opening and closing action.

6. The ornamental underwater bionic robot according to claim 1, characterized in that The dorsal fin unit (8) has a built-in communication and positioning system for remote human-machine interactive control.

7. The ornamental underwater bionic robot according to claim 1, characterized in that, The overall center of gravity of the robot coincides with the center of buoyancy in the front-rear direction, and the center of gravity is lower than the center of buoyancy.

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