Bionic stingray robot capable of floating and sinking
By designing a bionic stingray robot in the center cabin and water storage tank, the air pressure changes driven by piston and motor are used to simulate the fish bladder to adjust the volume, solving the problem of poor floating and sinking and movement of existing bionic robots, achieving flexible up and down movement and high efficiency Reduced consumption.
Patent Information
- Application Number
- CN202421155698.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-24
- Publication Date
- 2024-12-20
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
When existing bionic robot fish float and sink, the bionic effect is poor, with high energy consumption, high noise, poor concealment, and bulky fuselage, which cannot effectively simulate the natural floating and sinking mechanism of fish.
A bionic stingray robot consisting of a central cabin and four water storage tanks was designed. Through the air pressure changes driven by pistons and motors, the buoyancy of sea water can be used to achieve flexible up and down movements, simulate the fish bladder of fish to adjust the volume to change the center of gravity, and realize the Floating and ups.
It realizes the balance between buoyancy and gravity in the vertical direction, flexibly adjusts the center of gravity, improves the bionic effect, reduces energy consumption and noise, enhances concealment, and maximizes the use of the material's compressive resistance.
Smart Images
Figure CN222202868U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of bionic robots, and in particular relates to a bionic stingray robot which can float and sink. Background Art
[0002] In recent years, people have drawn inspiration from the colorful fish and applied their movement mechanism and behavior to the study of underwater robot movement mechanism and control to improve the propulsion efficiency and speed of underwater robots. With the development of marine development, general underwater technology can no longer meet the needs of various comprehensive surveys and research and complete operations under various complex conditions. Underwater robots have shown broad application prospects and huge potential value in many fields such as marine scientific surveys, underwater engineering (including prospecting and mining), salvage and rescue, and military activities.
[0003] However, when the current bionic robot fish needs to float, it relies on the swing of its bionic fish fins to achieve the floating movement. Moreover, some current underwater submersibles, such as submarines, rely on the principle of suction and drainage to achieve the movement of sinking and floating. In nature, the floating and sinking movement of most fish is achieved through the swim bladder, which is the organ that regulates the specific gravity of the fish body. When the volume of the swim bladder increases, the volume of the fish body also increases, resulting in a greater buoyancy, and the fish can complete the floating movement; when the volume of the swim bladder decreases, the volume of the fish body also decreases, resulting in a smaller buoyancy, and the fish can complete the sinking movement. Therefore, the current bionic robot fish has a poor bionic effect when performing floating and sinking movements; and the method of relying on a motor to drive the bionic fish fins to float or the method of achieving floating and sinking movements through the suction and drainage of a pump has high energy consumption, high noise, poor concealment, and has a certain impact on the compactness of the bionic robot fish structure, resulting in its bulky body. Utility Model Content
[0004] In order to solve the above technical problems, the utility model provides a bionic stingray robot that can float and sink.
[0005] The technical solution of a buoyant and sinkable bionic stingray robot of the utility model is:
[0006] A bionic stingray robot that can float and sink comprises a body, wherein a central cabin extending in the length direction of the body is provided in the center of the body, and four water tanks are provided inside the body, wherein two of the water tanks are located on the left and right sides of the upper half of the central cabin, and the other two of the water tanks are located on the left and right sides of the lower half of the central cabin, the two water tanks on the upper side are arranged in an eight-shaped shape, and the two water tanks on the lower side are arranged in an inverted eight-shaped shape, and the water tanks on the left and right sides of the central cabin are arranged symmetrically, and pistons are provided in the water tanks, and the two water tanks on the upper side have water tanks located on the upper side of the pistons. The main body is provided with a driving mechanism for driving the piston to move up and down, and an air chamber is provided in the main body. The air chamber of the two water tanks on the left side of the central cabin is connected with the air chamber through a first connecting pipe, and the air chamber of the two water tanks on the right side of the central cabin is connected with the air chamber through a second connecting pipe. The upper ends of the two water tanks on the upper side are respectively provided with first water pipes connected with the water chamber, and the lower ends of the two water tanks on the lower side are respectively provided with second water pipes connected with the water chamber.
[0007] Furthermore, the water storage tank includes a tank body and a tank cover sealed and detachably connected to one end of the tank body, the tank covers of the two water storage tanks on the upper side are located at the lower end, and the tank covers of the two water storage tanks on the lower side are located at the upper end.
[0008] Furthermore, the piston includes an integrally formed first large diameter section, a small diameter section and a second large diameter section, the diameters of the first large diameter section and the second large diameter section are equal, and the outer walls of the first large diameter section and the second large diameter section are both slidably sealed with the interior of the tank body.
[0009] Furthermore, the first connecting pipe is a three-head hose, and the three joints of the first connecting pipe are respectively connected to the air cavities and air chambers of the two water tanks; the second connecting pipe is a three-head hose, and the three joints of the second connecting pipe are respectively connected to the air cavities and air chambers of the two water tanks.
[0010] Furthermore, the driving mechanism includes a first motor and a second motor, the first motor in the driving mechanism of the piston in the upper water tank is located on the lower side of the water tank, the first motor in the driving mechanism of the piston in the lower water tank is located on the upper side of the water tank, the second motor is located on one side of the water tank, and the output shaft ends of the first motor and the second motor are respectively provided with winding wheels, and the wire pulling ends on the winding wheels on the first motor and the second motor are respectively connected to the upper sides of the piston.
[0011] Furthermore, the central cabin is a columnar structure, and has an equipment cavity for installing components in the central cabin.
[0012] The utility model provides a bionic stingray robot that can float and sink. Compared with the prior art, the utility model has the following beneficial effects:
[0013] When the buoyant and sinkable bionic stingray robot of the utility model is used, when it is not necessary to sink or float, the bionic stingray robot should maintain a balance between the buoyancy and gravity of the seawater, that is, when other influences such as waves in the seagrass bed environment are not considered, the force in the vertical direction is 0. When it is necessary to sink, the control module of the central cabin can be used to freely and flexibly select a water storage tank at a certain position to absorb water, so as to adjust the center of gravity and select the posture when diving. At the same time, the first motor located in the middle is started, and the piston is pulled inward by the pull line, causing air pressure changes. Seawater enters the water storage tank through the first water pipe and the second water pipe, adding weight to the bionic stingray robot and achieving sinking. When it is necessary to float, the control module of the central cabin can be used to freely and flexibly select a water storage tank at a certain position to release water, so as to adjust the center of gravity and select the posture when floating. At the same time, the second motor located at the end is started, and the piston is pulled outward by the pull line, causing air pressure changes. The water in the water storage tank is discharged through the first water pipe and the second water pipe, which reduces the weight of the bionic stingray robot and enables it to float. The bionic stingray robot that can float and sink simulates the swim bladder of fish, thereby achieving the purpose of being able to float and sink flexibly.
[0014] In the buoyant and sinking bionic stingray robot of the utility model, when the original gas in the water tank is compressed or expanded, the water tank is under great pressure and is very likely to burst. Therefore, the hose comes into play and starts to discharge the gas into the central cabin or the gas in the central cabin is discharged into the water tank. At the same time, since the ventilation hoses of all water tanks are connected to the central cabin, the four water tanks and the central cabin are considered to be in a connected state. When the air pressure in a certain part is too high or too low, the remaining water tanks and the central cabin will play a role in air pressure compensation, and the material's compressive performance can be used to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 This is a schematic diagram of the structure of the buoyant and sinkable bionic stingray robot of the utility model;
[0016] Figure 2 This is a schematic diagram of the internal structure of the main body of the buoyant and sinkable bionic stingray robot of the utility model;
[0017] Figure 3 yes Figure 2 The enlarged view of point A in the middle;
[0018] Figure 4 It is a structural schematic diagram of a water storage tank in the buoyant and sinkable bionic stingray robot of the utility model;
[0019] Figure 5It is a structural schematic diagram of a piston in a water storage tank of a buoyant and sinkable bionic stingray robot of the utility model;
[0020] In the figure: 1. main body; 2. steering module; 3. drive module; 4. center cabin; 5. water storage tank; 6. first motor; 7. second motor; 8. small diameter section; 9. first large diameter section; 10. second large diameter section; 11. tank body; 12. tank cover; 13. first pipe joint; 14. second pipe joint. DETAILED DESCRIPTION
[0021] The utility model is further described in detail below with reference to the accompanying drawings and specific implementation methods:
[0022] A specific embodiment of a buoyant and sinkable bionic stingray robot of the utility model is as follows: Figures 1 to 5 As shown, it includes a body 1, and a steering module 2 and a driving module 3 are installed at the rear end of the body 1. A central cabin 4 extending along the length direction of the body 1 is provided in the center of the body 1, and four water storage tanks 5 are provided inside the body 1, of which two water storage tanks 5 are located on the left and right sides of the upper half of the central cabin 4, and the other two water storage tanks 5 are located on the left and right sides of the lower half of the central cabin 4. The two water storage tanks 5 on the upper side are arranged in an eight-shaped shape, and the two water storage tanks 5 on the lower side are arranged in an inverted eight-shaped shape. The water storage tanks 5 on the left and right sides of the central cabin 4 are arranged symmetrically, and pistons are provided in the water storage tanks 5. The two water storage tanks 5 on the upper side have a water cavity located on the upper side of the piston and a water cavity located on the lower side of the piston. The air cavity, the two water tanks 5 on the lower side have an air cavity located on the upper side of the piston and a water cavity located on the lower side of the piston. A driving mechanism for driving the piston to move up and down is provided in the main body 1. An air chamber is provided in the main body 1. The air cavities of the two water tanks 5 on the left side of the central cabin 4 are connected with the air chamber through a first connecting pipe, and the air cavities of the two water tanks 5 on the right side of the central cabin 4 are connected with the air chamber through a second connecting pipe. The upper ends of the two water tanks 5 on the upper side are respectively provided with a first water pipe connected with the water cavity, and the lower ends of the two water tanks 5 on the lower side are respectively provided with a second water pipe connected with the water cavity.
[0023] The water storage tank 5 includes a tank body 11 and a tank cover 12 which is sealed and detachably connected to one end of the tank body 11. The tank covers 12 of the two water storage tanks 5 on the upper side are located at the lower end, and the tank covers 12 of the two water storage tanks 5 on the lower side are located at the upper end. The piston includes an integrally formed first large diameter section 9, a small diameter section 8 and a second large diameter section 10. The diameters of the first large diameter section 9 and the second large diameter section 10 are equal. The outer walls of the first large diameter section 9 and the second large diameter section 10 are both slidably sealed with the inside of the tank body 11. A first pipe joint 13 connected to the first connecting pipe is provided on the upper outer wall of the tank body 11, and a second pipe joint 14 connected to the first water pipe is provided at the lower end of the tank body 11.
[0024] The first connecting pipe is a three-head hose, and the three joints of the first connecting pipe are respectively connected to the air cavities and air chambers of the two water storage tanks 5. The second connecting pipe is a three-head hose, and the three joints of the second connecting pipe are respectively connected to the air cavities and air chambers of the two water storage tanks 5. The driving mechanism includes a first motor 6 and a second motor 7. The first motor 6 in the driving mechanism of the piston in the upper water storage tank 5 is located at the lower side of the water storage tank 5, and the first motor 6 in the driving mechanism of the piston in the lower water storage tank 5 is located at the upper side of the water storage tank 5. The second motor 7 is located on one side of the water storage tank 5. The output shaft ends of the first motor 6 and the second motor 7 are respectively provided with winding wheels, and the wire pulling ends on the winding wheels on the first motor 6 and the second motor 7 are respectively connected to the upper sides of the piston. The central cabin 4 is a columnar mechanism, and the central cabin 4 has an equipment cavity for installing components.
[0025] When the buoyant and sinkable bionic stingray robot of the utility model is used, when it is not necessary to sink or float, the bionic stingray robot should keep the buoyancy and gravity of the seawater balanced, that is, when other influences such as waves in the seaweed bed environment are not considered, the force in the vertical direction is 0. When it is necessary to sink, the control module of the central cabin 4 can be used to freely and flexibly select a water storage tank 5 at a certain position to absorb water, so as to adjust the center of gravity and select the posture when diving. At the same time, the first motor 6 located in the middle is started, and the piston is pulled inward by the pull line, causing air pressure changes. Seawater enters the water storage tank 5 through the first water pipe and the second water pipe, adding weight to the bionic stingray robot and achieving sinking. When it is necessary to float, the control module of the central cabin 4 can be used to freely and flexibly select a water storage tank 5 at a certain position to release water, so as to adjust the center of gravity and select the posture when floating. At the same time, the second motor 7 located at the end is started, and the piston is pulled outward by the pull line, causing air pressure changes. The water in the water storage tank 5 is discharged through the first water pipe and the second water pipe, so as to reduce the weight of the bionic stingray robot and enable it to float.
[0026] In the buoyant and sinking bionic stingray robot of the utility model, when the original gas in the water tank 5 is compressed or expanded, the water tank 5 is subjected to huge pressure, which is very easy to cause rupture. Therefore, the hose plays a role and starts to discharge the gas into the central cabin 4 or the gas in the central cabin 4 is discharged into the water tank 5. At the same time, since the ventilation hoses of all water tanks 5 are connected to the central cabin 4. Therefore, the four water tanks 5 and the central cabin 4 are considered to be in a connected state. When the air pressure in a certain part is too high or too low, the remaining water tanks 5 and the central cabin 4 will play the role of air pressure compensation, and the compressive performance of the material can be maximized. The above is only a preferred embodiment of the utility model, and it is not intended to limit the utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the utility model should be included in the protection scope of the utility model.
Claims
1. A buoyant and sinkable bionic stingray robot, characterized in that: The invention comprises a body, wherein a central cabin extending in the length direction of the body is provided in the center of the body, and four water storage tanks are provided inside the body, wherein two of the water storage tanks are located on the left and right sides of the upper half of the central cabin, and the other two of the water storage tanks are located on the left and right sides of the lower half of the central cabin, the two water storage tanks on the upper side are arranged in an eight-shaped shape, and the two water storage tanks on the lower side are arranged in an inverted eight-shaped shape, and the water storage tanks on the left and right sides of the central cabin are arranged symmetrically, and pistons are provided in the water storage tanks, and the two water storage tanks on the upper side have a water cavity located on the upper side of the piston and a water cavity located on the lower side of the piston. The air cavity on the side, the two water tanks on the lower side have an air cavity located on the upper side of the piston and a water cavity located on the lower side of the piston, a driving mechanism for driving the piston to move up and down is provided in the body, an air chamber is provided in the body, the air cavities of the two water tanks on the left side of the central cabin are connected with the air chamber through a first connecting pipe, and the air cavities of the two water tanks on the right side of the central cabin are connected with the air chamber through a second connecting pipe, the upper ends of the two water tanks on the upper side are respectively provided with first water pipes connected with the water cavity, and the lower ends of the two water tanks on the lower side are respectively provided with second water pipes connected with the water cavity.
2. The buoyant and sinkable bionic stingray robot according to claim 1, characterized in that: The water storage tank comprises a tank body and a tank cover which is sealed and detachably connected to one end of the tank body, the tank covers of the two water storage tanks on the upper side are located at the lower end, and the tank covers of the two water storage tanks on the lower side are located at the upper end.
3. The buoyant and sinkable bionic stingray robot according to claim 2, characterized in that: The piston comprises an integrally formed first large diameter section, a small diameter section and a second large diameter section, the first large diameter section and the second large diameter section have equal diameters, and the outer walls of the first large diameter section and the second large diameter section both slide and seal with the interior of the tank.
4. The buoyant and sinkable bionic stingray robot according to claim 1, characterized in that: The first connecting pipe is a three-head hose, and its three joints are respectively connected to the air cavities and air chambers of the two water tanks. The second connecting pipe is a three-head hose, and its three joints are respectively connected to the air cavities and air chambers of the two water tanks.
5. The buoyant and sinkable bionic stingray robot according to claim 1, characterized in that: The driving mechanism includes a first motor and a second motor. The first motor in the driving mechanism of the piston in the upper water tank is located at the lower side of the water tank, and the first motor in the driving mechanism of the piston in the lower water tank is located at the upper side of the water tank. The second motor is located on one side of the water tank. Winding wheels are respectively provided at the ends of the output shafts of the first motor and the second motor, and the wire pulling ends on the winding wheels on the first motor and the second motor are respectively connected to the upper sides of the piston.
6. The buoyant and sinkable bionic stingray robot according to claim 5, characterized in that: The central cabin is a columnar structure, and has an equipment cavity for installing components in the central cabin.