Propelling type bionic underwater robot
By using a single power source to drive a dual-structure design, the propeller propulsion motion and tail plate swing motion are synchronized, solving the problems of motion instability and motion delay conflict in existing technologies, and improving the propulsion efficiency and stability of the underwater robot.
Patent Information
- Application Number
- CN202511727184.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-24
- Publication Date
- 2026-01-20
AI Technical Summary
Existing biomimetic underwater robots have shortcomings in power transmission and structural coordination, resulting in low propulsion efficiency, unstable motion, and the dual-power source control is prone to action delays or conflicts.
It adopts a single power source to drive a dual structure. The motor output shaft drives the rotating rod, which drives the driving wheel. The driving wheel meshes with the driven wheel, and the power is transmitted to the guide rod. The guide rod drives the pulley to rotate synchronously. The rod body drives the paddle plate to advance and the tail plate to swing, so as to achieve the synchronization of the paddle plate advance and tail plate swing.
It achieves strict motion synchronization between the propeller propulsion action and the tail plate swing action, avoiding motion delay or conflict under dual power source control, and improving the stability and efficiency of underwater motion.
Smart Images
Figure CN121361558A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of underwater robots, in particular to a propelling type bionic underwater robot. BACKGROUND
[0002] In the fields of marine resource exploration, underwater environment monitoring, underwater rescue, etc., the application of underwater robots is becoming more and more widespread, and their propulsion efficiency, maneuverability and environmental adaptability have become the core research and development direction. However, the existing bionic underwater robots still have deficiencies in power transmission and structural coordination: some bionic robots use multiple power sources to drive the propulsion components and steering components respectively, resulting in complex structure, high energy consumption, and poor synchronization of each component, affecting the stability of movement; the transmission link of the propulsion structure and the swing structure of some robots is long, and the power loss is large, which is prone to problems such as component loosening, movement trajectory deviation, etc. in complex environments such as water flow impact, resulting in a decrease in propulsion efficiency or steering failure, and it is not easy to drive double structures by a single power source, and the propulsion action of the paddle plate and the swing action of the tail plate maintain strict movement lack of synchronization, and independent control of double power sources may cause action delay or conflict. SUMMARY
[0003] (I) Technical problems solved In view of the deficiencies of the prior art, the present application provides a propelling type bionic underwater robot, which has the advantages of single power source driving double structure, can ensure that the propulsion action of the paddle plate and the swing action of the tail plate maintain strict movement synchronization, avoid action delay or conflict caused by independent control of double power sources, etc., and solve the problems in the above background art.
[0004] (II) Technical solutions To realize the above-mentioned device single power source driving double structure, can ensure that the propelling action of the paddle plate and the swing action of the tail plate keep strict movement synchronization, avoid the action delay or conflict that may appear due to double power source independent control, the present application provides the following technical scheme: a propelling type bionic underwater robot, including the shell, the one end of the shell is provided with the front cabin, the other end is provided with the rear cabin, the shell is provided with the support plate in, the support plate is provided with the propelling structure, the propelling structure includes a plurality of first pulley rotatably arranged on the support plate, the first pulley is provided with the second pulley, the first pulley is connected with the second pulley through the first belt, the first pulley and the second pulley are all provided with the rod body, the rod body is provided with the connecting rod, the connecting rod is provided with the support rod, the support plate is provided with the fixed rod, the support rod is movably arranged on the fixed rod, the support rod is provided with the paddle plate, and the one end of the paddle plate extends to the outside of the shell, the adjacent two first pulleys are connected through the guide rod;The rear cabin is provided with swing structure, the swing structure includes swing rod movably arranged in the rear cabin, the swing rod one end extends to the outside of the rear cabin, and is connected with the tail plate, by starting motor, motor starts after, its output shaft drives the rotation of the rotating rod, the rotating rod directly drives the synchronous rotation of the driving wheel connected with it, because the driving wheel and the driven wheel are engaged, the rotation of the driving wheel will drive the driven wheel to rotate, and the driven wheel is connected with the guide rod, so the power is transmitted to the guide rod through the driven wheel, the guide rod as a key connecting piece, the power is transmitted to the adjacent first pulley, and all the first pulleys are driven to rotate synchronously, because the first pulley is connected with the second pulley through the first belt, when the first pulley rotates, the second pulley rotates in the same direction through the transmission of the first belt, in the rotation process of the first pulley and the second pulley, the rod body on the two rotates in a circular motion, the rod body drives the support rod to move through the connecting rod, at this time, the fixed rod on the support plate plays a limiting role on the support rod, the support rod drives the paddle plate at the end to move along the arc trajectory, and the one end of the paddle plate extends to the outside of the shell, so as to generate the backward thrust to the water, push the machine forward under water, at the same time, the guide rod drives the third pulley connected with it to rotate while transmitting power to the propelling structure, the third pulley transmits power to the fourth pulley through the second belt, when the fourth pulley rotates, the connecting rod on it drives the rotating disc to rotate on the fixed plate, the limiting rod on the surface of the rotating disc slides in the annular groove of the annular plate in the rotating process of the rotating disc, the annular plate drives the push plate to do reciprocating motion in the limiting frame through the track guide of the annular groove, the movement of the push plate is transmitted to the swing rod, the lock rod in the rear cabin plays a stabilizing role on the swing rod, finally makes the tail plate connected at the end of the swing rod swing left and right, realizes the steering function of the machine under water, through simple structure, the device realizes single power source driving double structure, can ensure that the propelling action of the paddle plate and the swing action of the tail plate keep strict movement synchronization, avoid the action delay or conflict that may appear due to double power source independent control.
[0005] Further, the support plate is rotatably provided with a driving wheel, the support plate is provided with a driven wheel, the driven wheel is connected with the guide rod, and the driving wheel is meshingly connected with the driven wheel.
[0006] Further, the support plate is provided with a motor, a rotating rod is arranged on an output shaft of the motor, and the rotating rod is connected with the driving wheel.
[0007] Further, the shell is provided with an arc-shaped groove, and the support rod is movably arranged in the arc-shaped groove.
[0008] Further, the swing structure comprises a third belt wheel arranged on the support plate, a fourth belt wheel arranged on the support plate, the third belt wheel being connected with the fourth belt wheel through a second belt, a connecting rod arranged on the fourth belt wheel, a fixing plate arranged on the support plate, a rotating disc arranged on the fixing plate, the connecting rod being connected with the rotating disc, an annular plate arranged on the rotating disc, an annular groove arranged on the annular plate, a limiting rod movably arranged on the annular groove and arranged on the rotating disc, a push plate arranged on the annular plate, and the swing rod being arranged on the push plate.
[0009] Further, the rear cabin is provided with a locking rod, and the swing rod is movably arranged on the locking rod.
[0010] Further, the fixing plate is provided with a limiting frame, and the push plate is slidably arranged on the limiting frame.
[0011] Further, the guide rod is connected with the third belt wheel.
[0012] (Three) beneficial effects Compared with the prior art, the application provides a propelling type bionic underwater robot, which has the following beneficial effects: by starting the motor, the output shaft of the motor drives the rotating rod to rotate after the motor is started, the rotating rod directly drives the driving wheel connected therewith to rotate synchronously, since the driving wheel is in meshing connection with the driven wheel, the rotation of the driving wheel drives the driven wheel to rotate, and the driven wheel is connected with the guide rod, so that the power is transmitted to the guide rod through the driven wheel, the guide rod as a key connecting piece transmits the power to the adjacent first pulley and drives all the first pulleys to rotate synchronously, since the first pulley is connected with the second pulley through the first belt, when the first pulley rotates, the second pulley rotates in the same direction through the transmission of the first belt, in the rotating process of the first pulley and the second pulley, the rods on the two pulleys move in a circular motion, the rods drive the support rod to move through the connecting rod, at this time, the fixed rod on the support plate limits the support rod, the support rod drives the paddle at the tail end to move along an arc-shaped track, and the paddle extends to the outside of the shell at one end, so as to generate a backward thrust on the water body and push the machine to move forward in the water, at the same time, the guide rod drives the third pulley connected therewith to rotate while transmitting the power to the propelling structure, the third pulley transmits the power to the fourth pulley through the second belt, when the fourth pulley rotates, the connecting rod on the fourth pulley drives the rotating disc to rotate on the fixed plate, in the rotating process of the rotating disc, the limiting rods on the surface of the rotating disc slide in the annular groove of the annular plate, the annular plate drives the push plate to move reciprocatingly in the limiting frame through the track guidance of the annular groove, the movement of the push plate is transmitted to the swing rod, the locking rod in the rear cabin stabilizes the swing rod, and finally the tail plate connected at the tail end of the swing rod swings left and right, so that the turning function of the machine in the water is realized, through the simple structure, the device realizes single power source driving double structures, can ensure that the propelling action of the paddle and the swinging action of the tail plate are strictly synchronous, and avoids the action delay or conflict that may occur due to independent control of double power sources. BRIEF DESCRIPTION OF DRAWINGS
[0013] Figure 1 It is a first perspective structural schematic view of the application; Figure 2 It is a second perspective structural schematic view of the application; Figure 3 It is a first perspective structural schematic view of the rear cabin; Figure 4 It is a second perspective structural schematic view of the rear cabin; Figure 3 It is an enlarged structural schematic view of A in the middle; Figure 5 It is a second perspective structural schematic view of the rear cabin; Figure 6 It is a first perspective structural schematic view of the shell; Figure 5 It is an enlarged structural schematic view of B in the middle; Figure 7 It is a first perspective structural schematic view of the shell; Figure 8The second view angle structure inside the shell is shown in the schematic view. Figure 9 The second view angle structure inside the shell is shown in the schematic view. Figure 8 The schematic view of the enlarged structure at C in the middle is shown.
[0014] In the figure: 1, shell; 2, support plate; 3, propelling structure; 301, first pulley; 302, second pulley; 303, first belt; 304, rod body; 305, connecting rod; 306, support rod; 307, paddle plate; 308, fixed rod; 309, guide rod; 4, driving wheel; 5, driven wheel; 6, motor; 7, rotating rod; 8, rear cabin; 9, swinging structure; 901, third pulley; 902, second belt; 903, fourth pulley; 904, connecting rod; 905, fixed plate; 906, rotating disc; 907, limiting rod; 908, push plate; 909, groove body; 910, push plate; 911, limiting frame; 912, swinging rod; 913, tail plate; 914, locking rod; 10, front cabin. DETAILED DESCRIPTION
[0015] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.
[0016] Embodiment 1 The preferred embodiment of the propelling type bionic underwater robot provided by the present application is as follows Figures 1 to 9The utility model discloses a propelling type bionic underwater robot, including the casing 1, one end of casing 1 is provided with front cabin 10, the other end is provided with rear cabin 8, be provided with support plate 2 in casing 1, be provided with propelling structure 3 on support plate 2, propelling structure 3 includes a plurality of first pulley 301 rotatably arranged on support plate 2, be provided with second pulley 302 on first pulley 301, first pulley 301 is connected with second pulley 302 through first belt 303, and be provided with rod body 304 on first pulley 301 with second pulley 302, be provided with connecting rod 305 on rod body 304, be provided with support rod 306 on connecting rod 305, be provided with fixed rod 308 on support plate 2, support rod 306 movably arranged on fixed rod 308, be provided with paddle 307 on support rod 306, and one end of paddle 307 extends to the outside of casing 1, and two first pulley 301 of adjacent are connected through guide rod 309, be provided with swing structure 9 in rear cabin 8, swing structure 9 includes swing rod 912 movably arranged in rear cabin 8, swing rod 912 one end extends to the outside of rear cabin 8, and is connected with tail plate 913, Working principle: in use, first start the motor 6, the motor 6 starts, its output shaft drives the rotating rod 7 to rotate, the rotating rod 7 directly drives the driving wheel 4 connected with it to rotate synchronously, because the driving wheel 4 is meshed with the driven wheel 5, the rotation of the driving wheel 4 will drive the driven wheel 5 to rotate, and the driven wheel 5 is connected with the guide rod 309, so the power is transmitted to the guide rod 309 through the driven wheel 5, the guide rod 309 as a key connecting piece, transmits the power to the adjacent first pulley 301, and drives all the first pulleys 301 to rotate synchronously, because the first pulley 301 is connected with the second pulley 302 through the first belt 303, when the first pulley 301 rotates, the second pulley 302 rotates synchronously through the transmission of the first belt 303, in the rotating process of the first pulley 301 and the second pulley 302, the rod body 304 on the two rotates with the circular motion, the rod body 304 drives the support rod 306 to move through the connecting rod 305, at this time, the fixed rod 308 on the support plate 2 plays a limiting role on the support rod 306, the support rod 306 drives the end of the paddle plate 307 to move along the arc track, and the paddle plate 307 extends to the outside of the shell 1, so as to generate a backward thrust on the water body, push the machine forward under water, at the same time, the guide rod 309 transmits power to the propulsion structure, and also drives the third pulley 901 connected with it to rotate, the third pulley 901 transmits power to the fourth pulley 903 through the second belt 902, when the fourth pulley 903 rotates, the connecting rod 904 on it drives the rotating disc 906 to rotate on the fixed plate 905, in the rotating process of the rotating disc 906, the limiting rod 907 on the surface thereof slides in the annular groove 909 of the annular plate 908, through the track guidance of the annular groove 909, the annular plate 908 drives the push plate 910 to make reciprocating motion in the limiting frame 911, the movement of the push plate 910 is transmitted to the swing rod 912, the lock rod 914 in the rear cabin 8 plays a stabilizing role on the swing rod 912, finally makes the tail plate 913 connected with the end of the swing rod 912 swing left and right, realizes the steering function of the machine under water, through simple structure, the device realizes single power source driving double structure, can ensure that the propulsion action of the paddle plate 307 and the swing action of the tail plate 913 keep strict motion synchronism, avoid the action delay or conflict that may appear due to independent control of double power sources.
[0017] In a preferred embodiment of the application, the support plate 2 is rotatably provided with a driving wheel 4, the support plate 2 is provided with a driven wheel 5, the driven wheel 5 is connected with the guide rod 309, the driving wheel 4 is meshed with the driven wheel 5, here the driven wheel 5 can accurately rotate according to a certain transmission ratio when the driving wheel 4 rotates, so that the rotation speed and angle of the guide rod 309 remain stable, thereby ensuring the movement regularity of the subsequent first pulley 301, second pulley 302 and other components, making the swing of the paddle plate 307 more regular, and improving the stability of the machine underwater movement.
[0018] In a preferred embodiment of the present application, the support plate 2 is provided with a motor 6, and the output shaft of the motor 6 is provided with a rotating rod 7, which is connected with the driving wheel 4, so as to directly connect the motor 6, the rotating rod 7 and the driving wheel 4, and make the transmission more accurate, when the motor 6 rotates, the driving wheel 4 can be driven to rotate at the expected speed and angle through the rotating rod 7, so as to ensure the stability and controllability of the subsequent driven wheel 5, the guide rod 309 and other components, and further ensure the action accuracy of the propulsion structure and the swing structure, and improve the stability and reliability of the underwater movement of the machine.
[0019] In a preferred embodiment of the present application, the shell 1 is provided with an arc-shaped groove, and the support rod 306 is movably arranged in the arc-shaped groove, so as to strictly limit the movement path of the support rod 306, and make it move stably along the preset arc-shaped track, avoid the deviation or shaking of the support rod 306 when driving the paddle 307 to swing, and ensure the regularity and consistency of the swing of the paddle 307, so as to stably generate the propulsion force and make the underwater movement of the machine more stable.
[0020] In a preferred embodiment of the present application, the swing structure 9 comprises a third pulley 901 arranged on the support plate 2, a fourth pulley 903 arranged on the support plate 2, the third pulley 901 being connected with the fourth pulley 903 through a second belt 902, a connecting rod 904 arranged on the fourth pulley 903, a fixed plate 905 arranged on the support plate 2, a rotating disc 906 arranged on the fixed plate 905, the connecting rod 904 being connected with the rotating disc 906, an annular plate 908 arranged on the rotating disc 906, an annular groove 909 arranged on the annular plate 908, a limiting rod 907 movably arranged on the annular groove 909, a push plate 910 arranged on the annular plate 908, and a swing rod 912 arranged on the push plate 910, so as to provide a stable mounting reference for the rotating disc 906 through the fixed plate 905, avoid the deviation of the rotating disc 906 when rotating, and limit the movement direction of the push plate 910 in the limiting frame 911, prevent the lateral deviation of the reciprocating movement of the annular plate 908, then connect the swing rod 912 with the push plate 910, directly transmit the reciprocating movement to the tail plate 913, reduce the power loss of the intermediate link, avoid the shaking caused by the underwater flow impact, and ensure the stability and consistency of the swing of the tail plate 913.
[0021] In a preferred embodiment of the present application, a locking rod 914 is arranged in the rear cabin 8, and the swing rod 912 is movably arranged on the locking rod 914, so as to provide a stable movement fulcrum for the swing rod 912, strictly limit the movement direction of the swing rod 912, and make the swing rod 912 move along the preset swing track only, so as to avoid the swing rod 912 from deviating, shaking or jamming due to underwater flow impact or component vibration, ensure the swing direction of the tail plate 913 accurate, and improve the reliability of the steering control.
[0022] In a preferred embodiment of the present application, a limiting frame 911 is arranged on the fixed plate 905, and the push plate 910 is slidably arranged on the limiting frame 911, so as to strictly limit the movement track of the push plate 910, and make the push plate 910 reciprocate along the preset straight line direction only, so as to avoid the push plate 910 from deviating or skewing transversely under the driving of the annular plate 908.
[0023] In a preferred embodiment of the present application, the guide rod 309 is connected with the third belt wheel 901, so as to drive the third belt wheel 901 to rotate.
[0024] It should be noted that, in this document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device.
[0025] Although the embodiments of the present application have been shown and described, it should be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.
Claims
1. A propulsion type bio-inspired underwater robot comprising a casing (1), characterized in that: One end of the shell (1) is provided with a front cabin (10), the other end is provided with a rear cabin (8), the shell (1) is provided with a support plate (2), the support plate (2) is provided with a propulsion structure (3), the propulsion structure (3) comprises a plurality of first pulleys (301) rotatably arranged on the support plate (2), the first pulley (301) is provided with a second pulley (302), the first pulley (301) is connected with the second pulley (302) through a first belt (303), the first pulley (301) and the second pulley (302) are provided with a rod (304), the rod (304) is provided with a connecting rod (305), the connecting rod (305) is provided with a support rod (306), the support plate (2) is provided with a fixed rod (308), the support rod (306) is movably arranged on the fixed rod (308), the support rod (306) is provided with a paddle (307), and one end of the paddle (307) extends to the outside of the shell (1), and the adjacent two first pulleys (301) are connected through a guide rod (309); The rear cabin (8) is provided with a swing structure (9), the swing structure (9) comprises a swing rod (912) movably arranged in the rear cabin (8), one end of the swing rod (912) extends to the outside of the rear cabin (8) and is connected with a tail plate (913).
2. The propulsion-driven biomimetic underwater vehicle according to claim 1, characterized in that: The support plate (2) is rotatably provided with a driving wheel (4), the support plate (2) is provided with a driven wheel (5), the driven wheel (5) is connected with the guide rod (309), and the driving wheel (4) is meshed with the driven wheel (5).
3. The propulsion-driven biomimetic underwater vehicle according to claim 2, characterized in that: The support plate (2) is provided with a motor (6), the output shaft of the motor (6) is provided with a rotating rod (7), and the rotating rod (7) is connected with the driving wheel (4).
4. The propulsion-based biomimetic under-water vehicle according to claim 3, characterized in that: The shell (1) is provided with an arc-shaped groove, and the support rod (306) is movably arranged in the arc-shaped groove.
5. The propulsion-driven biomimetic underwater vehicle according to claim 4, characterized in that: The swing structure (9) comprises a third pulley (901) arranged on the support plate (2), a fourth pulley (903) arranged on the support plate (2), the third pulley (901) connected with the fourth pulley (903) through a second belt (902), a connecting rod (904) arranged on the fourth pulley (903), a fixed plate (905) arranged on the support plate (2), a rotating disc (906) arranged on the fixed plate (905), the connecting rod (904) connected with the rotating disc (906), an annular plate (908) arranged on the rotating disc (906), an annular groove (909) arranged on the annular plate (908), a limiting rod (907) arranged on the rotating disc (906), the limiting rod (907) movably arranged on the annular groove (909), a push plate (910) arranged on the annular plate (908), and the swing rod (912) arranged on the push plate (910).
6. The propulsion-driven biomimetic underwater vehicle according to claim 5, characterized in that: A locking rod (914) is arranged in the rear compartment (8), and the swing rod (912) is movably arranged on the locking rod (914).
7. The propulsion-driven biomimetic underwater vehicle according to claim 6, characterized in that: A limiting frame (911) is arranged on the fixing plate (905), and the push plate (910) is slidably arranged on the limiting frame (911).
8. The propulsion-driven biomimetic underwater vehicle according to claim 7, characterized in that: The guide rod (309) is connected with the third belt wheel (901).