Bionic manta ray underwater monitoring robot

Abstract

The utility model belongs to the technical field of underwater bionic robots, and discloses a bionic manta ray underwater monitoring robot, which comprises a main body and bionic wings, each bionic wing comprises a differential mechanism support, a passive fin transmission shaft and a silica gel passive wing, the differential mechanism support is provided with a differential mechanism and a rotary steering engine, and the rotary steering engine is provided with a rotary shaft. The bionic wings are connected with the main body through swing rods, a stepping motor cabin is arranged in the main body, a stepping motor is arranged in the stepping motor cabin, and an output shaft of the stepping motor is connected with the swing rods through a transmission mechanism, controls the bionic wings to swing up and down through the swing rods and provides advancing power. And the differential mechanism and the rotary steering engine are respectively connected with the silica gel passive wing, drive the silica gel passive wing to rotate and control steering. According to the utility model, active and passive motion control is realized, the influence on the marine ecological environment is small, and various monitoring operation modes are realized underwater so as to adapt to different operation environments.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater bionic robots and relates to a bionic manta ray underwater monitoring robot. Background Art

[0002] In recent years, bionic fish propulsion technology has become a hot topic in the field of underwater propulsion technology research. By imitating the propulsion method of fish in nature, researchers are trying to develop more efficient and environmentally friendly underwater propulsion devices. In this journey of underwater propulsion technology exploration, the efficient propulsion method of fish in nature has always been the object of research and imitation by researchers.

[0003] Manta rays are marine creatures with flat bodies and strong pectoral fins. They use the wave motion of their pectoral fins to propel themselves forward in an aquatic environment. After nearly 100 million years of natural evolution, their unique body structure and movement methods have enabled them to demonstrate excellent adaptability in an aquatic environment. Manta rays not only have high cruising efficiency, but also have strong maneuverability, and can quickly and flexibly complete difficult maneuvers such as turning in place. These characteristics just fit the bionic needs of underwater propulsion devices that operate over long distances and over a large range. Based on the movement principles of manta rays, researchers have developed soft-bodied submersibles, which have the characteristics of high propulsion efficiency, high maneuverability, high stability, low environmental disturbance, low noise, as well as large load space, large load capacity, and soft landing on the seabed.

[0004] However, existing bionic manta ray robots still have shortcomings in the movement of flexible pectoral fins, which is that most robots are driven only by the flapping of the leading edge of the rigid pectoral fins, lacking precise control of the local properties of the flexible part of the pectoral fin chord. This design limits the flexibility of the robot's movement, compared with the real soft pectoral fin bionic mechanism, which has multiple motion states and relies on the swing of the pectoral fins to generate thrust. Utility Model Content

[0005] The purpose of the utility model is to overcome the existing problems and propose a bionic manta ray underwater monitoring robot. The robot imitates the biological characteristics of the manta ray and can achieve efficient propulsion and flexible steering of the robot by adjusting the wing thrusters. The robot is particularly suitable for monitoring tasks in complex underwater environments, effectively solving existing technical problems and meeting actual application needs.

[0006] In order to solve the above problems, the utility model provides the following technical solutions:

[0007] A bionic manta underwater monitoring robot comprises a main body and bionic wings installed on both sides of the main body, the bionic wing comprises a differential mechanism bracket, a passive fin transmission shaft and a silicone passive wing, the differential mechanism bracket comprises a differential, a flange coupling, a rotary steering gear disc and a rotary steering gear, the bionic wing is connected to the main body through a swing rod, the main body is composed of a shell, a mounting frame arranged in the shell, an electronic cabin installed at the central axis position of the mounting frame, a stepper motor cabin installed on both sides of the electronic cabin, a cabin fixing bracket and a tail side plate connected to the mounting frame, the stepper motor cabin is provided with a cabin, a stepper motor, a reducer, a coupling, a front end cover installed at the front end of the cabin and sealed, and a rear end cover installed at the rear end of the cabin and sealed, the output shaft of the stepper motor is connected to the swing rod through a transmission mechanism, so that the stepper motor controls the swing rod to swing up and down, the differential and the rotary steering gear are respectively connected to the silicone passive wing and drive the silicone passive wing to rotate.

[0008] Preferably, the differential mechanism bracket is connected to one end of the passive fin drive shaft, and the other end of the passive fin drive shaft is connected to the silicone passive wing. When the differential mechanism bracket swings due to the swing of the swing rod, the passive fin drive shaft is driven to swing, causing the silicone passive wing to swing accordingly.

[0009] Preferably, the differential is connected to a rotating steering gear disc, the differential and the rotating steering gear disc are connected via a flange coupling, the rotating steering gear disc is connected to a rotating steering gear, and the rotating steering gear is installed on the outside of the differential mechanism bracket.

[0010] Preferably, the cabin fixing bracket includes an electronic cabin fixing bracket, a stepper motor cabin fixing bracket and a cabin fixing plate for fixing, the electronic cabin is embedded in the electronic cabin fixing bracket, the stepper motor cabin is embedded in the stepper motor cabin fixing bracket, and the cabin fixing plate is installed on the stepper motor cabin fixing bracket, to help accurately install and position the electronic cabin and the stepper motor cabin, so as to keep them in a predetermined position, thereby ensuring the stability and safety of the entire system.

[0011] Preferably, the stepper motor cabin and the electronic cabin are connected to the mounting frame via a cabin fixing bracket.

[0012] Preferably, the stepper motor is installed in the cabin, and the front cover and the rear cover are both provided with sealing ring installation grooves. The sealing ring installation grooves are provided with sealing rings and can seal the cabin to make it waterproof, which can effectively prevent moisture and other liquids from entering the cabin, protect the internal equipment and systems from water damage, and ensure their normal operation.

[0013] Preferably, the output shaft of the stepper motor is connected to a reducer, the reducer is connected to a coupling, a transmission shaft is arranged outside the stepper motor cabin, the reducer is connected to the transmission shaft through the coupling, a bearing cover is arranged on the transmission shaft, and an encoder is arranged on the bearing cover.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1. The utility model draws on the motion mechanism of manta rays that achieve multi-directional motion by imitating waving fins with bionic wings. The robot can flexibly turn in complex underwater environments, has strong adaptability, and is suitable for exploration and detection tasks. The bionic manta ray robot imitates the waving motion of manta ray fins, and its noise level underwater is very low, which is not easy to disturb marine life. The robot can work in various underwater environments, including shallow water, deep water and waters with complex terrain, and can cross narrow areas to explore difficult-to-access locations.

[0016] 2. The utility model uses active and passive combined control, in which a motor controls the swing arm to swing up and down, and a servo and a differential control the silicone wing to rotate, so that the bionic manta ray surveillance robot has extremely high fluid dynamics efficiency, can move in the water more energy-efficiently, reduce resistance, and improve speed and endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic top view of the structure of the bionic robot body and bionic wings of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the cabin fixing bracket of the utility model;

[0021] Figure 4 This is a schematic diagram of the structure inside the stepper motor cabin of the utility model;

[0022] Figure 5 It is a structural schematic diagram of the bionic wing of the utility model.

[0023] In the attached drawings, the list of components represented by each reference numeral is as follows: 1. Main body; 11. Mounting frame; 12. Electronic compartment; 13. Stepper motor compartment; 131. Cabin; 132. Stepper motor; 133. Reducer; 134. Coupling; 135. Front cover; 136. Rear cover; 137. Sealing ring mounting groove; 14. Transmission shaft; 15. Bearing cover; 16. Encoder; 17. Cabin fixing bracket; 171. Electronic compartment fixing bracket; 172. Stepper motor compartment fixing bracket; 173. Cabin fixing plate; 18. Tail side plate; 2. Bionic wing; 21. Differential mechanism bracket; 211. Differential; 212. Flange coupling; 213. Rotating servo disc; 214. Rotating servo; 22. Passive fin transmission shaft; 23. Silicone passive wing; 3. Swing rod. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the examples of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "set", "connect" and "connected" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] For easier understanding, see Figure 1-5The utility model provides a bionic manta ray underwater monitoring robot, comprising a main body 1 and bionic wings 2 installed on both sides of the main body 1, wherein the bionic wings 2 comprise a differential mechanism bracket 21, a passive fin transmission shaft 22 and a silicone passive wing 23, wherein the differential mechanism bracket 21 is connected to one end of the passive fin transmission shaft 22, and the other end of the passive fin transmission shaft 22 is connected to the silicone passive wing 23, when the differential mechanism bracket 21 swings due to the swing of the swing rod 3, the passive fin transmission shaft 22 is driven to swing, so that the silicone is The moving wing 23 also swings accordingly. The differential mechanism bracket 21 includes a differential 211, a flange coupling 212, a rotating steering gear disc 213 and a rotating steering gear 214. The differential 211 is connected to the rotating steering gear disc 213. The differential 211 and the rotating steering gear disc 213 are connected via the flange coupling 212. The rotating steering gear disc 213 is connected to the rotating steering gear 214 and the rotating steering gear 214 is installed on the outside of the differential mechanism bracket 21. The bionic wing 2 is connected to the main body 1 via the swing rod 3.

[0027] The main body 1 is composed of a shell, a mounting frame 11 arranged in the shell, an electronic compartment 12 installed at the central axis of the mounting frame 11, a stepper motor compartment 13 installed on both sides of the electronic compartment 12, a compartment fixing bracket 17 and a tail side plate 18 connected to the mounting frame 11, the compartment fixing bracket 17 includes an electronic compartment fixing bracket 171, a stepper motor compartment fixing bracket 172 and a compartment fixing plate 173 for fixing, the electronic compartment 12 is embedded in the electronic compartment fixing bracket 171, the stepper motor compartment 13 is embedded in the stepper motor compartment fixing bracket 172, and the compartment fixing plate 173 is installed on the stepper motor compartment fixing bracket 17 to help accurately install and position the electronic compartment 12 and the stepper motor compartment 13, so that they are kept in a predetermined position, thereby ensuring the stability and safety of the entire system, and the stepper motor compartment 13 and the electronic compartment 12 are connected to the mounting frame 11 through the compartment fixing bracket 17;

[0028] The stepper motor cabin 13 includes a cabin body 131, a stepper motor 132, a reducer 133, a coupling 134, a front end cover 135 installed at the front end of the cabin body 131 and a rear end cover 136 installed at the rear end of the cabin body 131. The stepper motor 132 is installed in the cabin body 131. The front end cover 135 and the rear end cover 136 are both provided with a sealing ring installation groove 137. The sealing ring installation groove 137 is provided with a sealing ring and can seal the cabin body 131 to make it waterproof, which can effectively prevent moisture and other liquids from entering the cabin body 131, protect the internal equipment and system from water damage, and ensure its normal operation. The output shaft of the stepper motor 132 is connected to the swing rod 3 through a transmission mechanism. The stepper motor 132 controls the swing bar 3 to swing up and down to provide forward power. The output shaft of the stepper motor 132 is connected to a reducer 133, and the reducer 133 is connected to a coupling 134. A transmission shaft 14 is arranged outside the stepper motor compartment 13, and the reducer 133 is connected to the transmission shaft 14 through the coupling 134. The output shaft of the stepper motor 13 is connected to the swing bar 3 through the reducer 133, the coupling 134 and the transmission shaft 14. A bearing cover 15 is arranged on the transmission shaft 14, and an encoder 16 is arranged on the bearing cover 15. The differential 211 and the rotary servo 214 are respectively connected to the silicone passive wing 23 and drive the silicone passive wing 23 to rotate to control the steering.

[0029] The working principle of this utility model:

[0030] When the utility model is used, the stepper motor 132 actively controls the swing rod 3 connected to the bionic wing 2 to swing up and down, and the swing of the swing rod 3 makes the differential mechanism bracket 21 in the bionic wing 1 move, so that the passive fin transmission shaft 22 connected to the differential mechanism bracket 21 is driven to swing, and then the silicone passive wing 23 is also swung. It can be seen that the swing of the swing rod 3 will drive the bionic wing 2 to swing as a whole; in addition, the rotary servo 214 and the differential 211 are connected to the silicone passive wing 23 and control the rotation of the silicone passive wing 23, actively providing the entire bionic manta ray monitoring robot with forward power. While the bionic wing 2 is actively controlled, the passive deformation produced by the silicone material of the bionic wing can reduce the water flow resistance, which can effectively improve the gliding efficiency of the bionic monitoring robot.

[0031] In summary, the utility model has a simple structure, is convenient and quick to use, and has strong practicality. Therefore, the utility model effectively overcomes the practical problems in the prior art and has high utilization value and practical significance.

[0032] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Although the embodiments of the utility model have been shown and described, it is obvious to those skilled in the art that various modifications, substitutions, variations and improvements can be made to these embodiments without departing from the scope of the principles and spirit of the utility model, and the scope of the utility model is defined by the attached claims and their equivalents.

Claims

1. A bionic manta ray underwater surveillance robot, characterized in that: The invention comprises a main body (1) and bionic wings (2) mounted on both sides of the main body (1); the bionic wings (2) comprise a differential mechanism bracket (21), a passive fin transmission shaft (22) and a silicone passive wing (23); the differential mechanism bracket (21) comprises a differential (211), a flange coupling (212), a rotary steering gear disc (213) and a rotary steering gear (214); the bionic wings (2) are connected to the main body (1) via a swing rod (3); the main body (1) comprises a shell, a mounting frame (11) arranged in the shell, an electronic compartment (12) mounted on the central axis of the mounting frame (11), and two electronic compartments (12) mounted on both sides of the electronic compartment (12). The invention relates to a stepper motor cabin (13) on the side, a cabin fixing bracket (17) and a tail side plate (18) connected to the mounting frame (11); the stepper motor cabin (13) is provided with a cabin (131), a stepper motor (132), a reducer (133), a coupling (134), a front end cover (135) installed at the front end of the cabin (131) and sealed, and a rear end cover (136) installed at the rear end of the cabin (131) and sealed; the output shaft of the stepper motor (132) is connected to the swing rod (3) through a transmission mechanism, and the differential (211) and the rotary steering gear (214) are respectively connected to the silicone passive wing (23).

2. The bionic manta ray underwater surveillance robot according to claim 1, characterized in that: The differential mechanism bracket (21) is connected to one end of the passive fin transmission shaft (22), and the other end of the passive fin transmission shaft (22) is connected to the silica gel passive wing (23).

3. The bionic manta ray underwater surveillance robot according to claim 1, characterized in that: The differential (211) is connected to a rotating steering gear disc (213); the differential (211) and the rotating steering gear disc (213) are connected via a flange coupling (212); the rotating steering gear disc (213) is connected to a rotating steering gear (214), and the rotating steering gear (214) is mounted on the outside of the differential mechanism bracket (21).

4. The bionic manta ray underwater surveillance robot according to claim 1, characterized in that: The cabin fixing bracket (17) comprises an electronic cabin fixing bracket (171), a stepper motor cabin fixing bracket (172) and a cabin fixing plate (173) for fixing; the electronic cabin (12) is embedded in the electronic cabin fixing bracket (171), the stepper motor cabin (13) is embedded in the stepper motor cabin fixing bracket (172), and the cabin fixing plate (173) is mounted on the stepper motor cabin fixing bracket (172).

5. The bionic manta ray underwater surveillance robot according to claim 1, characterized in that: The stepper motor cabin (13) and the electronic cabin (12) are connected to the mounting frame (11) via a cabin body fixing bracket (17).

6. The bionic manta ray underwater surveillance robot according to claim 1, characterized in that: The stepper motor (132) is installed in the cabin (131), and a sealing ring installation groove (137) is provided on the front cover (135) and the rear cover (136), and a sealing ring is provided in the sealing ring installation groove (137).

7. The bionic manta ray underwater surveillance robot according to claim 1, characterized in that: The output shaft of the stepper motor (132) is connected to a reducer (133), the reducer (133) is connected to a coupling (134), a transmission shaft (14) is arranged outside the stepper motor cabin (13), the reducer (133) is connected to the transmission shaft (14) via the coupling (134), a bearing cover (15) is arranged on the transmission shaft (14), and an encoder (16) is arranged on the bearing cover (15).

Images