A biomimetic machine dolphin with a static seal

Abstract

The utility model discloses a kind of static seal's bionic machine dolphin, mainly related to underwater robot. Including head, trunk, chest fin movement device and tail drive device. The outside integral covering of trunk and tail drive device is integrally formed flexible skin, and flexible skin front end is equipped with circular opening, and trunk front end passes through the opening, and is compressed skin edge by connecting screw with head, forms only static seal interface. The design will traditional multiple dynamic seals be converted into single static seal, fundamentally solve the leakage problem of underwater robot, and the flexible skin is made of addition-cured liquid silicone rubber material. The utility model has the beneficial effect that traditional multiple dynamic seals are converted into single static seal, fundamentally solving the leakage problem of underwater robot. The utility model also has the advantages of flexible, environment-friendly, easy to maintain, and is suitable for ocean exploration, environmental monitoring and other tasks.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to a statically sealed biomimetic robotic dolphin. Background Technology

[0002] With the increasing demand for ocean exploration and observation, underwater robots are being used more and more widely.

[0003] Traditional underwater robots mostly use propeller propulsion. Their dynamic sealing structures, such as the propeller shaft seals, are prone to wear and leakage under long-term operation, leading to equipment failure and high maintenance costs. While existing biomimetic robotic fish improve efficiency by mimicking biological swimming, they still require dynamic seals at multiple joints to protect internal mechanisms, leaving them vulnerable to water leakage and limiting their application in deep water or long-term operations. Therefore, there is a need for a biomimetic underwater robot that can fundamentally solve the sealing reliability problem while maintaining high maneuverability and environmental friendliness. Utility Model Content

[0004] The purpose of this invention is to provide a statically sealed bionic robotic dolphin. Through the design of a fully enclosed flexible skin and a single-point static seal on the head, the risk of leakage from traditional dynamic seals is completely eliminated, thereby improving the reliability and service life of underwater operations.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a statically sealed bionic robotic dolphin, comprising a head, a torso, a pectoral fin movement device, a density adjustment device, and a tail drive device. The torso and tail drive device are entirely covered by an integrally formed flexible skin. The front end of the flexible skin has a circular opening, through which the front end of the torso passes. The edge of the flexible skin is fixed to the head by connecting screws, forming a unique statically sealed interface.

[0006] Preferably, the head includes a transparent cover, static sealing connecting screws, and a head frame. A camera, a searchlight, a photoelectric sensor, and a depth sensor are fixedly connected to the head frame. The transparent cover is connected to the head frame via the head connecting screws. The flexible skin is connected to the rear end of the head frame via the static sealing connecting screws, pressing the opening edge of the flexible skin between the head and the torso.

[0007] Preferably, the torso is divided into an upper chamber and a lower chamber. The upper chamber houses the battery, control module, and communication module, while the lower chamber is equipped with a density adjustment mechanism.

[0008] Preferably, the density adjustment device includes a stepper motor, a lead screw, a spring coupling, a lead screw nut, a slider, a piston rod, a piston, and a water tank; the stepper motor is fixedly connected to the lead screw via the spring coupling, the other end of the lead screw is rotatably connected to the lower chamber, the lead screw nut is threaded onto the lead screw, the lead screw nut is fixedly connected to the slider, the slider slides on the inner wall of the lower chamber, the slider is fixedly connected to the piston rod, one end of the piston rod is fixedly connected to the piston, and the piston slides inside the water tank.

[0009] Preferably, the pectoral fin motion device is located on the left and right sides of the lower chamber of the trunk, and each pectoral fin motion device includes a single-axis servo motor, a servo arm, a connecting screw, and a pectoral fin; the single-axis servo motor is fixed to the outer wall of the lower chamber by the connecting screw.

[0010] Preferably, the tail drive device includes a dual-axis servo, a long U-shaped servo bracket, a short U-shaped servo bracket, a servo disc, and an extended tailbone; there are three dual-axis servos in total, the output shaft of the first dual-axis servo is orthogonal to the output shafts of the latter two dual-axis servos, and the output shafts of the latter two dual-axis servos are parallel, the dual-axis servos are connected to the long U-shaped servo bracket through the servo disc, the extended tailbone is fixed to the rear end of the short U-shaped servo bracket, and the first long U-shaped servo bracket of the tail drive device is fixed to the wall at the rear end of the lower chamber.

[0011] In summary, the beneficial effects of this utility model are as follows: The integrated flexible skin and single-point static sealing interface completely prevent underwater leakage and improve equipment reliability; the biomimetic structural design and torque gradient arrangement result in high swimming efficiency, strong maneuverability, and efficient energy transfer; it has buoyancy adjustment and attitude control capabilities to adapt to various underwater mission requirements. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 This is a schematic diagram of the head structure in this utility model; Figure 4 This is a schematic diagram of the upper chamber structure of this utility model; Figure 5 This is a schematic diagram of the density adjustment device in this utility model; Figure 6 This is a schematic diagram of the tail drive device in this utility model; Figure 7 This is a schematic diagram of the flexible skin structure in this utility model.

[0013] In the diagram: 1. Head; 101. Transparent cover; 102. Head skeleton; 103. Camera; 104. Searchlight; 105. Photoelectric sensor; 106. Depth sensor; 107. Head connecting screw; 108. Static sealing connecting screw; 2. Torso; 201. Upper chamber; 202. Lower chamber; 203. Battery; 204. Control module; 205. Communication module; 3. Density adjustment mechanism; 301. Stepper motor; 302. Silk 303. Spring coupling; 304. Lead screw; 305. Slider; 306. Piston rod; 307. Piston; 308. Water tank; 4. Pectoral fin movement device; 401. Pectoral fin; 402. Single-axis servo; 403. Servo arm; 404. Connecting screw; 5. Tail drive device; 501. Dual-axis servo; 502. Long U-shaped servo bracket; 503. Short U-shaped servo bracket; 504. Steering disc; 505. Extended tailbone; 6. Flexible skin. Detailed Implementation

[0014] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0015] like Figure 1 As shown, the overall structure of this utility model includes a head 1, a torso 2, a pectoral fin movement device 4, a tail drive device 5, and a flexible skin 6 covering the outside. The flexible skin 6 is integrally molded from addition-cured liquid silicone rubber (ALSR), possessing excellent chemical stability and high elasticity. Its internal shape closely fits the shape of the torso 2 and the tail drive device 5, allowing for direct assembly. The flexible skin 6 completely encloses the torso 2 and the tail drive device 5, connecting to the head 1 only through a circular opening at the front end.

[0016] like Figure 2 As shown, in the internal structure, the torso 2 is divided into an upper chamber 201 and a lower chamber 202. The upper chamber 201 is equipped with a battery 203, a control module 204, and a communication module 205, which are responsible for power supply, control, and data transmission; the lower chamber 202 is equipped with a density adjustment mechanism 3, which is used to precisely adjust the buoyancy of the robotic dolphin.

[0017] The pectoral fin movement apparatus 4 is located on the left and right sides of the lower chamber 202 of the trunk 2. For example... Figure 2As shown, each side device includes a single-axis servo motor 402, a servo arm 403, and a pectoral fin 401. The single-axis servo motor 402 is fixed to the outer wall of the lower chamber 202 by connecting screws 404. The servo arm 403 is mounted on the output shaft of the single-axis servo motor 402, and the pectoral fin 401 is fixed to the end of the servo arm 403. By controlling the rotation angle of the single-axis servo motor 402, the pectoral fin 401 is driven to change the angle of attack, thereby achieving attitude adjustment and maneuver control.

[0018] like Figure 3 As shown, the head 1 includes a transparent cover 101 and a head frame 102. A camera 103, a searchlight 104, a photoelectric sensor 105, and a depth sensor 106 are fixed to the head frame 102 for underwater observation and navigation. The transparent cover 101 is connected to the head frame 102 via head connecting screws 107 to ensure a sealed head.

[0019] like Figure 4 As shown, the upper chamber 201 has a compact internal layout. The battery 203, control module 204 and communication module 205 are fixed inside the upper chamber 201 to prevent them from shaking during movement.

[0020] like Figure 5 As shown, the density adjustment mechanism 3 is housed in the lower chamber 202 and includes a stepper motor 301, a lead screw 302, a spring coupling 303, a lead screw nut 304, a slider 305, a piston rod 306, a piston 307, and a water tank 308. The stepper motor 301 drives the lead screw 302 to rotate via the spring coupling 303. The lead screw nut 304 is restricted from rotating by the guide structure, thus converting the rotational motion into linear motion. The slider 305 is fixed to the nut, driving the piston rod 306 and the piston 307 to perform linear reciprocating motion within the water tank 308. By pumping and draining water, the system's drainage volume is changed, thereby adjusting the overall average density and achieving neutral buoyancy, constant depth suspension, and variable depth navigation.

[0021] like Figure 6 As shown, the tail drive unit 5 includes three sets of dual-axis servos 501, a long U-shaped servo bracket 502, a short U-shaped servo bracket 503, a servo disc 504, and an extended tailbone 505. The assembly sequence from the torso to the tail is: long U-shaped servo bracket 502, servo disc 504, dual-axis servos 501, and short U-shaped servo bracket 503. The output shaft of the first set of dual-axis servos 501 is orthogonal to the latter two sets, which are parallel to each other. The first set of servos enables left-right oscillation to control steering, while the latter two sets enable up-down oscillation to simulate dolphin swimming. The rated torques of the three servos are 25 kgf·cm, 20 kgf·cm, and 15 kgf·cm, respectively, decreasing in a gradient. The extended tailbone 505 increases the amplitude of the end-effector oscillation.

[0022] The rigid structure of the tail drive device 5 has a convex-concave shape, and the inner surface of the flexible skin 6 is correspondingly provided with matching protrusions and concave points. The protrusions and concave points mesh with each other to form a power transmission structure, which efficiently transmits the power of the tail swing device to the flexible skin 6.

[0023] like Figure 7 As shown, the flexible skin 6 has a circular opening at the front end, through which the front end of the torso 2 passes and is connected to the rear end of the head frame 102 by four static sealing connecting screws 108, pressing the edge of the opening of the flexible skin 6 between the head 1 and the torso 2 to form a unique static sealing interface, ensuring the overall waterproof performance.

Claims

1. A statically sealed biomimetic robotic dolphin, comprising a head (1), a torso (2), a pectoral fin movement device (4), a density adjustment device, and a tail drive device (5), characterized in that: The torso (2) and tail drive device (5) are entirely covered by an integrally formed flexible skin (6). The front end of the flexible skin (6) has a circular opening, through which the front end of the torso (2) passes. The edge of the flexible skin (6) is fixed to the head (1) by connecting screws, forming a unique static sealing interface.

2. The statically sealed bionic robotic dolphin according to claim 1, characterized in that: The head (1) includes a transparent cover (101), a static sealing connecting screw (108), and a head frame (102). A camera (103), a searchlight (104), a photoelectric sensor (105), and a depth sensor (106) are fixedly connected to the head frame (102). The transparent cover (101) is connected to the head frame (102) by a head connecting screw (107). The flexible skin (6) is connected to the rear end of the head frame (102) by means of the static sealing connecting screw (108), pressing the opening edge of the flexible skin (6) between the head (1) and the torso (2).

3. The statically sealed bionic robotic dolphin according to claim 1, characterized in that: The torso (2) is divided into an upper chamber (201) and a lower chamber (202). The upper chamber (201) contains a battery (203), a control module (204) and a communication module (205). The lower chamber (202) is equipped with a density adjustment mechanism (3).

4. A statically sealed biomimetic robotic dolphin according to claim 3, characterized in that: The density adjustment device includes a stepper motor (301), a lead screw (302), a spring coupling (303), a lead screw nut (304), a slider (305), a piston rod (306), a piston (307), and a water tank (308). The stepper motor (301) is fixedly connected to the lead screw (302) through the spring coupling (303). The other end of the lead screw (302) is rotatably connected to the lower chamber (202). The lead screw nut (304) is threaded onto the lead screw (302). The lead screw nut (304) is fixedly connected to the slider (305). The slider (305) slides on the inner wall of the lower chamber (202). The slider (305) is fixedly connected to the piston rod (306). One end of the piston rod (306) is fixedly connected to the piston (307). The piston (307) slides inside the water tank (308).

5. A statically sealed biomimetic robotic dolphin according to claim 1, characterized in that: The pectoral fin movement device (4) is located on the left and right sides of the lower chamber (202) of the trunk (2). Each pectoral fin movement device (4) includes a single-axis servo motor (402), a servo arm (403), a connecting screw (404) and a pectoral fin (401). The single-axis servo motor (402) is fixed to the outer wall of the lower chamber (202) by the connecting screw (404).

6. A statically sealed biomimetic robotic dolphin according to claim 1, characterized in that: The tail drive device (5) includes a dual-axis servo (501), a long U-shaped servo bracket (502), a short U-shaped servo bracket (503), a servo disc (504), and an extended tailbone (505). There are three dual-axis servos (501). The output shaft of the first dual-axis servo (501) is orthogonal to the output shafts of the latter two dual-axis servos (501). The output shafts of the latter two dual-axis servos (501) are parallel. The dual-axis servos (501) are connected to the long U-shaped servo bracket (502) through the servo disc (504). The extended tailbone (505) is fixed to the rear end of the short U-shaped servo bracket (503). The first long U-shaped servo bracket (502) of the tail drive device (5) is fixed to the wall at the rear end of the lower chamber (202).

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