Bionic underwater robot

Abstract

The bionic underwater robot comprises a head part, a body part and a tail part, the body part comprises a shell, the two sides, close to the front part, in the shell are each provided with a paddling mechanism, each paddling mechanism comprises a first motor, a second motor, a first support and a second support, the first motor drives the first support to swing back and forth, and the second motor is installed on the first support; the second motor drives the second support to swing back and forth, a supporting rod is arranged on the second support, and one end of the supporting rod extends out of the shell to be fixedly connected with a paddle board. The tail part comprises a seat body, a swing shaft and a driving shaft which are parallel to each other are mounted on the seat body, the swing shaft is fixedly connected to the middle of a swing rod, the two ends of the swing rod are respectively hinged to one floating body, the floating bodies are driven by waves to move to drive the swing rod to swing so as to drive the swing shaft to rotate, and the swing shaft drives the driving shaft to rotate in the same direction through a transmission mechanism. The driving shaft drives a propeller located on the rear side of the seat body to rotate. The cruising time can be effectively prolonged, and maneuverability and flexibility are good.

Description

Technical Field

[0001] This invention relates to the field of underwater robot manufacturing technology, and in particular to a biomimetic underwater robot. Background Technology

[0002] Today, underwater robots play an important role in many fields, such as underwater environmental monitoring, underwater inspection, underwater exploration, and aquaculture.

[0003] However, existing underwater robots generally use propeller propulsion, which is slightly inferior to biomimetic propulsion in terms of efficiency, noise level, and maneuverability. Biomimetic propulsion, with its superior motion performance, will be the future development direction of underwater robots.

[0004] For example, a Chinese utility model patent with patent number ZL201921861122.4, entitled "A Bionic Fish Underwater Robot," was published on July 3, 2020. This robot includes a robot body, a first propulsion device, a second propulsion device, a pectoral fin swinging device, and a tail fin. The robot body has pectoral fin swinging devices on both sides of its front end, a first propulsion device at both ends of its front part, and a second propulsion device at both ends of its rear part. Thrusters are located inside the first and second propulsion devices. A tail fin is located at the rear of the robot body, with a signal enhancement device at its top. High-definition cameras are located at the front end of the robot body, the outer end of the first propulsion device, and the rear end of the tail fin. LED lights are located on both sides of the high-definition cameras. A pressure-resistant cover is located on the side of the robot body. This bionic fish underwater robot can monitor temperature, pressure, and depth in real time. It is corrosion-resistant, has high pressure resistance, is waterproof and sealed, and is robust and durable. However, this type of bionic fish underwater robot has a large number of propulsion devices, resulting in high power consumption, a short cruising time, and slightly insufficient flexibility. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a biomimetic underwater robot that can effectively extend the cruising time and has good maneuverability and flexibility.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: a biomimetic underwater robot, comprising a head, a body, and a tail. The body includes a shell, which houses a battery, a controller, and a water pumping and drainage mechanism. A set of paddling mechanisms is also installed on both sides near the front of the shell. Each paddling mechanism includes a first motor, a second motor, a first support, and a second support. The first motor is installed inside the shell and drives the first support to swing back and forth. The second motor is installed on the first support and drives the second support to swing back and forth. A support rod is provided on the second support, with one end of the support rod extending outside the shell and fixedly connected to a paddle plate. The swing center axis of the first support is perpendicular to the swing center axis of the second support.

[0007] The head includes a head shell, the rear of which is fixed to the front of the housing, and a visual detector is installed inside the head shell.

[0008] The tail section includes a base that is fixedly connected to the rear of the shell. A swing shaft and a drive shaft are mounted on the base. The swing shaft is fixedly connected to the middle of a swing rod. The two ends of the swing rod are respectively hinged to a float. The swing rod swings by moving the float through waves, thereby driving the swing shaft to rotate. The swing shaft drives the drive shaft to rotate in the same direction through a transmission mechanism. The drive shaft drives a propeller located behind the base to rotate.

[0009] The controller controls the pumping and drainage mechanism, the first motor and the second motor to work. The battery provides power to the electrical components. The vision detector is electrically connected to the controller. When the pumping and drainage mechanism is working, it changes the total mass of the object inside the shell to achieve buoyancy. The controller communicates bidirectionally with the outside through the communication unit.

[0010] In a further improvement, the drive shaft is connected to the propeller via a clutch. This allows the robot to switch between various motion modes, and the propeller connection is disconnected via the clutch when the robot is moving backward, preventing any conflict between the propeller's motion direction and the paddling mechanism's motion direction during backward movement.

[0011] Preferably, the pumping and draining mechanism includes a third motor, a piston plate, and a water-containing cavity. The piston plate can move back and forth along the inner wall of the water-containing cavity. The piston plate has a threaded through hole, and a screw extends into the water-containing cavity and engages with the threaded through hole. The end of the screw outside the water-containing cavity is connected to the shaft of the third motor. One side of the water-containing cavity is connected to the outside of the housing through a pipeline. This pumping and draining mechanism facilitates control of the inflow and outflow of water and can better control the robot's sinking depth and sinking speed.

[0012] Furthermore, a water filter is provided at the end of the pipeline outside the housing to prevent impurities in the water from entering the water receiving cavity and ensure that the piston plate can move normally.

[0013] As a further improvement, the head is also equipped with a light, which is electrically connected to the controller.

[0014] In a further improvement, a water pressure sensor is also installed on the housing. The water pressure sensor is electrically connected to the controller, which determines whether the device is in water and monitors the diving depth in real time.

[0015] In a further improvement, the head is also equipped with an infrared obstacle avoidance sensor, which is electrically connected to the controller. The infrared obstacle avoidance sensor enables the robot to autonomously avoid obstacles during cruising and diving.

[0016] Preferably, the visual detector is a camera; the housing includes an upper housing and a lower housing, which are detachably and fixedly connected.

[0017] Preferably, the base includes a first base and a second base. The first base is fixedly connected to the rear of the housing, and the second base is fixedly connected to the first base via multiple connecting rods. The swing arm is located between the first and second bases, and the swing shaft, the drive shaft, and the transmission mechanism are mounted on the second base. This structure is more compact and also facilitates the swing of the swing arm.

[0018] Preferably, the transmission mechanism includes an intermediate shaft, a first cylindrical gear, a second cylindrical gear, a third cylindrical gear, and a fourth cylindrical gear. The intermediate shaft is mounted on a base. The first and second cylindrical gears are sleeved on the oscillating shaft. The first cylindrical gear is connected to the oscillating shaft via a first one-way bearing, and the second cylindrical gear is connected to the oscillating shaft via a second one-way bearing. The first and second one-way bearings have opposite transmission directions. The third cylindrical gear is sleeved on the intermediate shaft and fixedly connected. The fourth cylindrical gear is sleeved on the drive shaft and fixedly connected. The third cylindrical gear meshes with both the second and fourth cylindrical gears, and the fourth cylindrical gear meshes with both the first and third cylindrical gears. This structure ensures that the drive shaft reliably rotates in the same direction regardless of the oscillating shaft's rotation, effectively absorbing wave energy through the float and converting it into propeller driving energy.

[0019] This invention features a rowing mechanism mounted on each of the two sides near the front of the casing, and a parallel swing shaft and drive shaft mounted on the base at the rear. A swing arm is fixed to the middle of the swing shaft, and both ends of the swing arm are hinged to a float. Waves drive the floats, which in turn drive the swing arm to rotate, causing the swing shaft to rotate. The swing shaft, through a transmission mechanism, drives the drive shaft to rotate in the same direction, which in turn drives a propeller located at the rear of the base. This method, by absorbing wave energy through the floats and converting it into propeller driving energy, requires almost no electricity, allowing the robot to cruise on the water surface for extended periods. Furthermore, through controller control and different combinations of the rowing mechanism and propeller drive, it can achieve rowing mode, propulsion mode, and a hybrid rowing and propulsion mode; resulting in good maneuverability and flexibility.

[0020] In addition, when swimming against the current or when a faster swimming speed is required, i.e. when using a hybrid paddling and propulsion mode, the paddling mechanism can increase the amplitude of the water waves, allowing the two floats to absorb more energy. Finally, propulsion is achieved through the propeller, further reducing energy loss and extending the robot's cruising time. Attached Figure Description

[0021] Figure 1 This is a top-view perspective view of the present invention;

[0022] Figure 2 This is a top view of the present invention;

[0023] Figure 3 yes Figure 2 AA section view;

[0024] Figure 4 This is a top perspective view of the concealed upper shell and part of the base of the present invention;

[0025] Figure 5 yes Figure 4 Enlarged view of point B;

[0026] Figure 6 yes Figure 4 Enlarged view of point C;

[0027] Figure 7 This is a bottom perspective view of the present invention, showing the hidden upper and lower housings.

[0028] Figure 8 This is a block diagram showing the connection between the controller and its related components. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0030] Figures 1 to 8As shown, a biomimetic underwater robot includes a head 1, a body 2, and a tail 3. The body 2 includes a shell 21, which houses a battery 22, a controller 4, and a water pumping and draining mechanism 5. Two sets of paddling mechanisms 6 are also installed on either side of the front of the shell 21. The two sets of paddling mechanisms 6 are symmetrically distributed relative to the mid-section of the shell 21. Each set of paddling mechanisms 6 includes a first motor 61, a second motor 62, a first support 63, and a second support 64. The first motor 61 is installed inside the shell 21 and drives the first support 63 to swing back and forth. The second motor 62 is installed on the first support 63 and drives the second support 64 to swing back and forth. A support rod 65 is provided on the second support 64, with one end of the support rod 65 extending outside the shell 21 and fixedly connected to a paddle plate 66. The swing center axis a of the first support 63 is perpendicular to the swing center axis b of the second support 64. One end of the support rod 65 is detachably fixed to the paddle plate 66 for easy installation and replacement.

[0031] A clearance through hole 20 is provided on each side of the housing 21 to allow one end of the support rod 65 to extend out. The clearance through hole 20 and the outer circumference of the support rod 65 can be sealed with a waterproof cloth.

[0032] To increase torque, the first motor 61 can also drive the first bracket 63 to swing back and forth via a reducer; the second motor 62 can also drive the second bracket 64 to swing back and forth via a reducer.

[0033] The head 1 includes a head shell 11, the rear of which is fixedly connected to the front of the shell 21. The head shell 11 contains a vision detector 12 and a lighting lamp 13. The vision detector 12 is a camera, and the lighting lamp 13 is an LED lamp.

[0034] The tail section 3 includes a base 31 fixedly connected to the rear of the shell 21. The base 31 includes a first base 311 and a second base 312. The first base 311 is fixedly connected to the rear of the shell 21, and the second base 312 is fixedly connected to the first base 311 via four connecting rods 313. A parallel swing shaft 32 and a drive shaft 33 are mounted on the second base 312. The swing shaft 32 is fixedly connected to the middle of a swing rod 34, and both ends of the swing rod 34 are hinged to a float 35. The swing rod 34 is driven to swing by the movement of the float 35 caused by water waves, thereby driving the swing shaft 32 to rotate. The swing shaft 32 drives the drive shaft 33 to rotate in the same direction via a transmission mechanism 7. The drive shaft 33 drives a propeller 36 located behind the base 31 to rotate. The shape of the float 35 is as shown in the attached figure. Figure 1 The robot is shaped like a fish to facilitate diving, and its shell 21 is in the shape of a turtle shell, thus forming a turtle-fish hybrid.

[0035] The swing arm 34 is located between the first seat 311 and the second seat 312, and the transmission mechanism 7 is mounted on the second seat 312.

[0036] The transmission mechanism 7 includes an intermediate shaft 71, a first cylindrical gear 72, a second cylindrical gear 73, a third cylindrical gear 74, and a fourth cylindrical gear 75. The intermediate shaft 71 is mounted on the second base 312. The first cylindrical gear 72 and the second cylindrical gear 73 are sleeved on the swing shaft 32. The first cylindrical gear 72 is connected to the swing shaft 32 through a first one-way bearing 721, and the second cylindrical gear 73 is connected to the swing shaft 32 through a second one-way bearing 731. The first one-way bearing 721 and the second one-way bearing 731 have opposite transmission directions. The third cylindrical gear 74 is sleeved on the intermediate shaft 71 and forms a fixed connection. The fourth cylindrical gear 75 is sleeved on the drive shaft 33 and forms a fixed connection. The third cylindrical gear 74 meshes with both the second cylindrical gear 73 and the fourth cylindrical gear 75, and the fourth cylindrical gear 75 meshes with both the first cylindrical gear 72 and the third cylindrical gear 74.

[0037] The housing 21 includes an upper housing 211 and a lower housing 212, which are detachably and fixedly connected. The upper housing 211 and the lower housing 212 can also be sealed together using adhesive or a sealing element.

[0038] The drive shaft 33 is connected to the propeller 36 via a clutch 37. The drive shaft 33 can also be connected to the propeller 36 via a transmission gear and a clutch 37, so that the robot can switch between various motion modes. When the robot moves backward, the connection of the propeller 36 is disconnected via the clutch 37 to avoid conflict between the movement direction of the propeller 36 and the paddling mechanism 6 when moving backward.

[0039] The pumping and draining mechanism 5 includes a third motor 51, a piston plate 52, and a water receiving cavity 53. The piston plate 52 can move back and forth along the inner wall of the water receiving cavity 53. The piston plate 52 is provided with a threaded through hole 521. A screw 54 extends into the water receiving cavity 53 and cooperates with the threaded through hole 521. One end of the screw 54 outside the water receiving cavity 53 is connected to the shaft of the third motor 51. One side of the water receiving cavity 53 is connected to the outside of the housing 21 through a pipe 55.

[0040] A water filter 56 is provided at one end of the pipe 55 outside the housing 21 to prevent impurities in the water from entering the water receiving cavity 53 and to ensure that the piston plate 52 can move normally.

[0041] The controller 4 controls the operation of the pumping and drainage mechanism 5, the first motor 61 and the second motor 62. The battery 22 provides power to the electrical components. When the pumping and drainage mechanism 5 is working, it changes the total mass of the object inside the shell 21 to achieve floating and sinking motion. The controller 4 communicates bidirectionally with the outside through the communication unit 41.

[0042] The visual detector 12 is electrically connected to the controller 4, and the lighting lamp 13 is electrically connected to the controller 4.

[0043] A water pressure sensor 23 is also installed on the lower housing 212 of the housing 21. The water pressure sensor 23 is electrically connected to the controller 4. The water pressure sensor 23 determines whether the device is in water and monitors the diving depth in real time.

[0044] The upper housing 211 of the housing 21 is also equipped with a water quality sensor 24, which is electrically connected to the controller 4. The water quality sensor 24 can monitor the water quality of the relevant water area in real time.

[0045] The housing 21 can also be equipped with a waterproof mounting interface, through which different types of sensors (such as temperature, pH value, nitrate nitrogen content, etc.) can be mounted, so that the robot can be applied to different fields and complete different tasks.

[0046] The head 1 is also equipped with an infrared obstacle avoidance sensor 14, which is electrically connected to the controller 4. The infrared obstacle avoidance sensor 14 enables the robot to autonomously avoid obstacles during cruising and diving.

[0047] This embodiment can realize three motion modes: wiping mode, propulsion mode, and a hybrid wiping and propulsion mode;

[0048] In paddling mode, clutch 37 disconnects the drive shaft 33 from the propeller 36. Controller 4 controls the first motor 61 and the second motor 62 in the two paddling mechanisms 6 to move, and the robot can move forward or backward by paddling with the paddles 66. The robot can move forward or backward in front of the water. To submerge, the pumping and draining mechanism 5 pumps water into the shell 21, increasing the total mass of the objects inside the shell 21, thus enabling submersion and completion of the required tasks. To surface, the pumping and draining mechanism 5 drains water out of the shell 21, reducing the total mass of the objects inside the shell 21. Then, the two paddles 66 move in opposite directions to achieve surfacing.

[0049] In propulsion mode, the two sets of paddling mechanisms 6 can be inactive. Clutch 37 connects drive shaft 33 to propeller 36. Water waves drive float 35 to move, which in turn drives swing arm 34 to swing, thereby driving swing shaft 32 to rotate. Swing shaft 32 drives drive shaft 33 to rotate in the same direction through transmission mechanism 7. Drive shaft 33 drives propeller 36 located behind seat 31 to rotate. Propeller 36 propels robot to move on water surface.

[0050] The working principle of this transmission mechanism 7 is as follows: when the water waves drive the swing arm 34 to rotate clockwise through the float 35, the swing arm 34 drives the swing shaft 32 to rotate clockwise. The swing shaft 32 drives the first cylindrical gear 72 to rotate clockwise through the first one-way bearing 721, while the second cylindrical gear 73 rotates idling. The first cylindrical gear 72 then drives the fourth cylindrical gear 75 to rotate counterclockwise. The fourth cylindrical gear 75 drives the drive shaft 33 to rotate counterclockwise, and the drive shaft 33 drives the propeller 36 to rotate counterclockwise to achieve forward propulsion.

[0051] When the water waves drive the sway bar 34 to rotate counterclockwise via the float 35, the sway bar 34 drives the swing shaft 32 to rotate counterclockwise. The swing shaft 32 drives the second cylindrical gear 73 to rotate counterclockwise via the second one-way bearing 731. The first cylindrical gear 72 rotates idling. The second cylindrical gear 73 then drives the third cylindrical gear 74 to rotate clockwise. The third cylindrical gear 74 drives the fourth cylindrical gear 75 to rotate counterclockwise. The fourth cylindrical gear 75 then drives the drive shaft 33 to rotate counterclockwise. The drive shaft 33 also drives the propeller 36 to rotate counterclockwise to achieve forward propulsion.

[0052] Therefore, whether the water waves drive the swing arm 34 to rotate clockwise or counterclockwise, after passing through the transmission mechanism 7, the drive shaft 33 can rotate counterclockwise in the same direction, and the propeller 36 can rotate counterclockwise to achieve forward propulsion.

[0053] In propulsion mode, the drive does not require battery power, allowing the robot to cruise on the water for an extended period of time.

[0054] The robot employs a hybrid paddling and propulsion mode. Clutch 37 connects drive shaft 33 to propeller 36, allowing both paddling mechanisms 6 to operate simultaneously, enabling both paddling and propulsion to occur concurrently and increasing the robot's movement speed on the water surface. The paddling board 66 also increases the amplitude of water waves, allowing the two floats 35 to absorb more energy. Finally, propulsion is achieved through propeller 36, minimizing energy loss.

[0055] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A biomimetic underwater robot, comprising a head, a body, and a tail, characterized in that: The body includes a shell, inside which are installed a battery, a controller, and a water pumping and draining mechanism. On both sides near the front of the shell, there is a set of paddling mechanisms. Each set of paddling mechanisms includes a first motor, a second motor, a first support, and a second support. The first motor is installed inside the shell and drives the first support to swing back and forth. The second motor is installed on the first support and drives the second support to swing back and forth. The second support is provided with a support rod, one end of which extends out of the shell and is fixedly connected to a paddling board. The swing center axis of the first support is perpendicular to the swing center axis of the second support. The head includes a head shell, the rear of which is fixed to the front of the housing, and a visual detector is installed inside the head shell. The tail section includes a base that is fixedly connected to the rear of the shell. A swing shaft and a drive shaft are mounted on the base. The swing shaft is fixedly connected to the middle of a swing rod. The two ends of the swing rod are respectively hinged to a float. The swing rod swings by moving the float through waves, thereby driving the swing shaft to rotate. The swing shaft drives the drive shaft to rotate in the same direction through a transmission mechanism. The drive shaft drives a propeller located behind the base to rotate. The controller controls the pumping and drainage mechanism, the first motor and the second motor to work. The battery provides power to the electrical components. The vision detector is electrically connected to the controller. When the pumping and drainage mechanism is working, it changes the total mass of the object inside the shell to achieve buoyancy. The controller communicates bidirectionally with the outside through the communication unit.

2. The biomimetic underwater robot according to claim 1, characterized in that: The drive shaft is connected to the propeller via a clutch.

3. The biomimetic underwater robot according to claim 1, characterized in that: The pumping and draining mechanism includes a third motor, a piston plate, and a water receiving cavity. The piston plate can move back and forth along the inner wall of the water receiving cavity. The piston plate is provided with a threaded through hole. A screw extends into the water receiving cavity and cooperates with the threaded through hole. The end of the screw outside the water receiving cavity is connected to the shaft of the third motor. One side of the water receiving cavity is connected to the outside of the housing through a pipeline.

4. The biomimetic underwater robot according to claim 3, characterized in that: A water filter is provided at the end of the pipeline outside the housing.

5. A biomimetic underwater robot according to claim 1, characterized in that: The head is also equipped with a light, which is electrically connected to the controller.

6. The biomimetic underwater robot according to claim 1, characterized in that: The housing is also equipped with a water pressure sensor, which is electrically connected to the controller. The water pressure sensor determines whether the device is in water and monitors the diving depth in real time.

7. A biomimetic underwater robot according to claim 1, characterized in that: The head is also equipped with an infrared obstacle avoidance sensor, which is electrically connected to the controller. The infrared obstacle avoidance sensor enables the robot to autonomously avoid obstacles during cruising and diving.

8. A biomimetic underwater robot according to claim 1, characterized in that: The visual detector is a camera; the housing includes an upper housing and a lower housing, which are detachably and fixedly connected.

9. A biomimetic underwater robot according to claim 1, characterized in that: The seat body includes a first seat body and a second seat body. The first seat body is fixedly connected to the rear of the housing. The second seat body is fixedly connected to the first seat body through multiple connecting rods. The swing arm is located between the first seat body and the second seat body. The swing shaft, the drive shaft, and the transmission mechanism are mounted on the second seat body.

10. A biomimetic underwater robot according to any one of claims 1 to 9, characterized in that: The transmission mechanism includes an intermediate shaft, a first cylindrical gear, a second cylindrical gear, a third cylindrical gear, and a fourth cylindrical gear. The intermediate shaft is mounted on a base. The first and second cylindrical gears are sleeved on a swing shaft. The first cylindrical gear is connected to the swing shaft via a first one-way bearing, and the second cylindrical gear is connected to the swing shaft via a second one-way bearing. The first and second one-way bearings have opposite transmission directions. The third cylindrical gear is sleeved on the intermediate shaft and forms a fixed connection. The fourth cylindrical gear is sleeved on the drive shaft and forms a fixed connection. The third cylindrical gear meshes with both the second and fourth cylindrical gears, and the fourth cylindrical gear meshes with both the first and third cylindrical gears.

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