Bionic stingray robot
Through the fluctuating fin propulsion and streamlined shell design of the bionic stingray robot, the problems of high noise and poor motion flexibility of the underwater robot are solved, and low noise, high efficiency and strong environmental adaptability are achieved. It is suitable for scientific investigation and monitoring tasks for complex marine environments. .
Patent Information
- Application Number
- CN202421101186.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-20
- Publication Date
- 2024-12-31
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing underwater robots have problems such as high noise, large environmental disturbance, poor motion flexibility and concealment in marine scientific investigations, underwater engineering and military activities. Traditional propeller propulsion technology cannot meet the needs under complex conditions.
A bionic stingray robot is designed, adopting a wave fin propulsion mode, and realizes up and down, left and right steering and forward movement through the servo and drive module. The shell is designed to be streamlined to reduce water resistance, and includes an up and down swing mechanism of the drive motor and tail fin to avoid Mechanical interference to achieve low noise and efficient propulsion.
It realizes stable and rapid swimming under different environments and conditions, reduces noise and vibration, improves operating accuracy and stability, has strong environmental adaptability and concealment, is suitable for complex waters and polluted areas, and reduces the ocean biological and ecosystem impact.
Smart Images
Figure CN222272329U_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. Background Art
[0002] The 21st century is the century of human development of the ocean. With the increasing depletion of land resources, humans will inevitably develop and utilize various marine resources on a large scale. In order to meet this demand, new surface and underwater submersible equipment and underwater robots have developed rapidly.
[0003] Bionics is a comprehensive marginal discipline that emerged in the 1960s. It is formed by the mutual penetration and combination of life science and engineering science. Bionics applies relevant biological principles to the research and design of engineering systems, and has greatly promoted the growing bionic robotics science today. In recent years, people have drawn inspiration from the colorful fish and applied their movement mechanism and behavior to the study of the movement mechanism and control of underwater robots to improve the propulsion efficiency and speed of underwater robots. With the development of marine development, general underwater technology can no longer adapt to 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.
[0004] At present, common unmanned underwater robots, such as autonomous underwater robots and remote-controlled underwater robots, mostly use traditional propeller thrusters. Propeller propulsion technology has irreplaceable advantages in practical applications, and both theoretical research and practical applications are relatively mature; but it also has its own shortcomings, such as high noise, large disturbance to the environment, poor movement flexibility and concealment, and limited application occasions. Fish with undulating fin propulsion mode, represented by stingrays, have extraordinary advantages in concealment and energy saving. At present, there are few bionic studies on stingrays, and it is very necessary to conduct research on stingrays as bionic objects. Utility Model Content
[0005] In order to solve the above technical problems, the utility model provides a bionic stingray robot.
[0006] The technical solution of a bionic stingray robot of the utility model is:
[0007] A bionic stingray robot comprises a body, wherein a steering module and a driving module are provided at the rear end of the body, wherein the steering module comprises a fixing seat, wherein the fixing seat is fixedly connected to the rear end of the body, wherein the fixing seat is provided with two mounting grooves spaced apart from each other on the left and right sides, wherein the driving module comprises two driving modules, wherein the driving module comprises a shell, wherein the shells of the two driving modules are rotatably mounted in the two mounting grooves respectively, wherein the steering module comprises a steering gear, wherein the steering gear is fixedly connected to the fixing seat, wherein an output shaft of the steering gear is fixedly connected to the shell and is used for driving the shell to swing up and down, wherein a tail fin capable of swinging up and down is hingedly connected to the rear end of the shell, wherein a driving mechanism is provided in the shell, and wherein the driving mechanism is used for driving the tail fin to swing up and down.
[0008] Furthermore, the fixing seat is provided with circular mounting holes on the left and right groove walls of the mounting groove, and the left and right outer walls of the fixing seat are provided with slots for inserting the steering gear.
[0009] Furthermore, the outer shell includes two buckled and fixed shells, a mounting shaft is provided on the front end outer wall of the shell, the mounting shaft is rotatably installed in the mounting hole through a bearing, the end of the output shaft of the servo is fixedly connected with a connecting plate, and the end of the connecting plate is fixedly connected to the mounting shaft.
[0010] Furthermore, the driving mechanism includes a driving motor, which is fixedly connected to the front end of the shell, and the end of the output shaft of the driving motor is fixedly connected to a crank, the front section of the tail fin is hinged with a guide block, the front end of the guide block is provided with a slide groove, and the rear end of the crank is provided with a slider matching the slide groove.
[0011] Furthermore, a water filter hole is provided at the upper end of the shell, and there are a plurality of water filter holes, which are arranged in parallel and spaced apart in the front-to-back direction.
[0012] Furthermore, the guide block is concave in shape, the front end of the tail fin is hinged in the groove of the guide block through a hinge shaft, the slide groove is provided on the side surface of the guide block away from the groove, a stop edge is provided on the groove edge of the slide groove, a fixed column is fixedly connected to the rear side surface of the crank, the slider is fixedly connected to the end of the fixed column, and the fixed column matches the stop edge.
[0013] The utility model provides a bionic stingray robot, which has the following beneficial effects compared with the prior art:
[0014] When the bionic stingray robot of the utility model is used, the two servos can make the two drive modules move up or down synchronously, or make one of the two drive modules remain stationary while the other moves, so that the bionic stingray robot can turn up, down, left, and right. The tail fin in the drive module swings up and down to make the bionic stingray robot of the utility model move forward. The design inspiration of the bionic stingray robot of the utility model comes from the swimming mode of real stingrays, and the wave power can be fully utilized to achieve efficient propulsion. This propulsion mode is more flexible and efficient than traditional propeller propulsion, and can achieve stable and fast swimming under different environments and conditions. The streamlined design of the bionic stingray shell reduces water resistance and improves the efficiency and stability of swimming. This design can also reduce the vibration and swing of the robot and improve the accuracy and stability of operation. The design of the bionic stingray shell takes into account complex water flow and water pressure conditions and can adapt to different water areas and water depths. In addition, since the interaction between the bionic shell and water is similar to that of a real stingray, it can easily pass through polluted areas and avoid obstacles, and has stronger environmental adaptability.
[0015] The bionic stingray robot of the utility model avoids the noise problem of the traditional propulsion method. Since there is no interference from mechanical parts, water can flow naturally through the surface of the robot, reducing the generation of noise. This low-noise characteristic enables the stingray robot to be used in an environment requiring silent operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 This is a schematic diagram of the structure of the bionic stingray robot of the utility model;
[0017] Figure 2 It is a structural schematic diagram of a steering module and a driving module in the bionic stingray robot of the utility model;
[0018] Figure 3 yes Figure 2 Schematic diagram of some structures in ;
[0019] Figure 4 It is a structural schematic diagram of a crank in a driving module of a bionic stingray robot of the utility model;
[0020] Figure 5 This is a structural schematic diagram of a guide block in a driving module of a bionic stingray robot of the utility model;
[0021] In the figure: 1. main body; 2. steering module; 3. drive module; 4. fixed seat; 5. servo; 6. connecting plate; 7. outer shell; 8. water filter hole; 9. drive motor; 10. crank; 11. guide block; 12. tail fin; 13. fixed column; 14. slider; 15. slide groove. DETAILED DESCRIPTION
[0022] The utility model is further described in detail below with reference to the accompanying drawings and specific implementation methods:
[0023] A specific embodiment of a bionic stingray robot of the utility model is as follows: Figures 1 to 5 As shown, it includes a main body 1, a steering module 2 and a driving module 3 are provided at the rear end of the main body 1, the steering module 2 includes a fixing seat 4, the fixing seat 4 is fixedly connected to the rear end of the main body 1, and two mounting grooves are arranged at intervals on the left and right. The driving module 3 has two, and the driving module 3 includes a shell 7. The shells 7 of the two driving modules 3 are rotatably installed in the two mounting grooves respectively. The steering module 2 includes a steering gear 5, which is fixedly connected to the fixing seat 4. The output shaft of the steering gear 5 is fixedly connected to the shell 7 and is used to drive the shell 7 to swing up and down. The rear end of the shell 7 is hinged with a tail fin 12 that can swing up and down. A driving mechanism is provided in the shell 7, and the driving mechanism is used to drive the tail fin 12 to swing up and down.
[0024] The fixing seat 4 is provided with circular mounting holes on the left and right groove walls of the mounting groove, and the left and right outer walls of the fixing seat 4 are provided with slots for inserting the steering gear 5. The outer shell 7 includes two buckled fixed shells, and the front outer wall of the shell is provided with a mounting shaft, which is rotatably installed in the mounting hole through a bearing, and the end of the output shaft of the steering gear 5 is fixedly connected with a connecting plate 6, and the end of the connecting plate 6 is fixedly connected with the mounting shaft. The driving mechanism includes a driving motor 9, which is fixedly connected to the front end of the shell 7, and the end of the output shaft of the driving motor 9 is fixedly connected with a crank 10, and the front section of the tail fin 12 is hinged with a guide block 11, and the front end of the guide block 11 is provided with a slide groove 15, and the rear end of the crank 10 is provided with a slider 14 matching the slide groove 15. The upper end of the shell 7 is provided with a water filter hole 8, and the water filter hole 8 has a plurality of water filter holes 8, and the plurality of water filter holes 8 are arranged in parallel and spaced in the front and rear directions. The guide block 11 is concave in shape, and the front end of the tail fin 12 is hinged in the groove of the guide block 11 through a hinge shaft. A slide groove 15 is provided on the side surface of the guide block 11 away from the groove, and a stop edge is provided on the groove edge of the slide groove 15. A fixed column 13 is fixedly connected to the rear side surface of the crank 10, and a slider 14 is fixedly connected to the end of the fixed column 13, and the fixed column 13 matches the stop edge.
[0025] When the bionic stingray robot of the utility model is used, the two steering gears 5 can make the two drive modules 3 move up or down synchronously, and can also make one of the two drive modules 3 remain stationary while the other moves, so that the bionic stingray robot can turn up, down, left, and right. The tail fin 12 in the drive module 3 swings up and down, so that the bionic stingray robot of the utility model can move forward. The design inspiration of the bionic stingray robot of the utility model comes from the swimming mode of real stingrays, which can make full use of wave power to achieve efficient propulsion. This propulsion mode is more flexible and efficient than traditional propeller propulsion, and can achieve stable and fast swimming under different environments and conditions. The streamlined design of the bionic stingray housing 7 reduces water resistance and improves the efficiency and stability of swimming. This design can also reduce the vibration and swing of the robot and improve the accuracy and stability of operation. The design of the bionic stingray housing 7 takes into account complex water flow and water pressure conditions and can adapt to different waters and water depths. In addition, because the bionic shell 7 interacts with water in a similar way to a real stingray, it can easily pass through polluted areas and avoid obstacles, and has stronger environmental adaptability.
[0026] The bionic stingray robot of the utility model avoids the noise problem of the traditional propulsion method. Since there is no interference from mechanical parts, the water flow can flow naturally through the surface of the robot, reducing the generation of noise. This low noise characteristic enables the stingray robot to be used in an environment where silent operation is required. The driving module 3 and the steering module 2 can simultaneously perform a combination of multiple movements, including translation, rotation, pitch, roll, pitch and yaw. This flexibility allows the robot to adapt to the complex hydrodynamic and water quality conditions in the seagrass bed ecological environment and achieve efficient and accurate swimming. By adjusting the motion parameters of each degree of freedom, the robot's swimming trajectory, depth and posture can be accurately controlled, thereby achieving high-precision environmental perception and sampling tasks. The detailed changes of the seagrass bed ecosystem, such as the growth status of seagrass, species distribution, and the structure of the biological community within the ecosystem, can be observed and recorded more carefully. This precise monitoring helps us understand the health status and change trend of the seagrass bed ecosystem more accurately. Whether it is the pectoral fin motion system, the pelvic fin motion system, or the sinking and floating device, low-noise and slow-speed motion methods are adopted. This prevents noise from interfering with the hearing, behavior and reproduction of marine organisms, thereby affecting their survival and reproduction. It also avoids the generation of sonic vibrations that affect the sediments on the seabed, which leads to the resuspension and diffusion of sediments, further affecting the clarity of the water and light conditions, and having a negative impact on the growth and photosynthesis of seagrass. Compared with conventional monitoring equipment that moves quickly, the slow movement of the stingray robot causes less physical interference to the seagrass bed ecosystem, avoiding disturbance and damage to marine organisms. This helps to protect the integrity and stability of the ecosystem and avoid unnecessary damage to the ecosystem due to the monitoring activities themselves. Seagrass beds usually have complex terrain, with various seagrasses, reefs and sand. The movement pattern of the stingray's pectoral fins enables it to flexibly shuttle in this complex environment, avoid obstacles and catch prey. A motion system that imitates this movement pattern can also show good terrain adaptability and obstacle avoidance capabilities.
[0027] The bionic stingray robot of the utility model selects the propulsion mode of fish in the mode of the Carpidae. The movement mode of Carpidae fish is also characterized by high efficiency and energy saving. This is very important for long-term tasks such as seagrass bed monitoring, and it is critical to reduce energy consumption and improve energy supply security. By adopting a movement mode similar to that of Carpidae fish, the robot can maintain a high moving speed and flexibility while reducing energy consumption, thereby extending the working time and range of the robot. In addition, the movement mode of Carpidae fish also has certain stability and adaptability. They can quickly adapt to and maintain a stable state of motion in different water environments. Seagrass bed ecosystems usually have complex and changeable environmental conditions, such as water flow, water depth, bottom quality, etc. Underwater robots need to have certain stability and adaptability to carry out effective monitoring work in such an environment. The Carpidae movement mode enables the robot to have better concealment in the water. Because the pelvic fin movement adopts the Carpidae mode, unlike other BCF modes, the measured flow generated by the movement is concentrated on the tail, which has less impact on the overall water pressure changes around the fuselage, so it is more concealed. Similarly, underwater robots that adopt the locomotion patterns of trevally fish may be less noticeable to organisms in seagrass bed ecosystems when performing monitoring missions, thereby reducing their impact on the ecosystem.
[0028] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A bionic stingray robot, characterized in that: The invention comprises a main body, wherein a steering module and a driving module are provided at the rear end of the main body, wherein the steering module comprises a fixing seat, wherein the fixing seat is fixedly connected to the rear end of the main body, wherein the fixing seat is provided with two installation slots spaced apart from each other on the left and right sides, wherein the driving module comprises two driving modules, wherein the driving module comprises a shell, wherein the shells of the two driving modules are rotatably installed in the two installation slots respectively, wherein the steering module comprises a steering gear, wherein the steering gear is fixedly connected to the fixing seat, wherein the output shaft of the steering gear is fixedly connected to the shell and is used for driving the shell to swing up and down, wherein a tail fin capable of swinging up and down is hingedly provided at the rear end of the shell, wherein a driving mechanism is provided in the shell, and wherein the driving mechanism is used for driving the tail fin to swing up and down.
2. The bionic stingray robot according to claim 1, characterized in that: The fixing seat is provided with circular mounting holes on the left and right groove walls of the mounting groove, respectively, and the left and right outer walls of the fixing seat are provided with slots for inserting the steering gear, respectively.
3. The bionic stingray robot according to claim 2, characterized in that: The outer shell includes two buckled and fixed shells, a mounting shaft is provided on the front end outer wall of the shell, the mounting shaft is rotatably mounted in the mounting hole through a bearing, the end of the output shaft of the servo is fixedly connected with a connecting plate, and the end of the connecting plate is fixedly connected to the mounting shaft.
4. The bionic stingray robot according to claim 3, characterized in that: The driving mechanism includes a driving motor, which is fixedly connected to the front end of the shell, and the end of the output shaft of the driving motor is fixedly connected to a crank. The front section of the tail fin is hinged with a guide block, and the front end of the guide block is provided with a slide groove, and the rear end of the crank is provided with a slider matching the slide groove.
5. The bionic stingray robot according to claim 4, characterized in that: The upper end of the shell is provided with a plurality of water filter holes, and the plurality of water filter holes are arranged in parallel and at intervals in the front-to-back direction.
6. The bionic stingray robot according to claim 5, characterized in that: The guide block is in a concave shape, and the front end of the tail fin is hinged in the groove of the guide block through a hinge shaft. The guide block is provided with the slide groove on the side away from the groove, and the groove edge of the slide groove is provided with a stop edge. A fixed column is fixedly connected to the rear side of the crank, and the slider is fixedly connected to the end of the fixed column, and the fixed column matches the stop edge.