阅读说明：本技术 一种仿生黑斑蛙游泳机器人 (Bionic rana nigromaculata swimming robot ) 是由 张自强 张勇 赵京 于 2021-08-29 设计创作，主要内容包括：本发明公开了一种仿生黑斑蛙游泳机器人,包含腿部执行机构、驱动和控制机构。执行机构采用单自由度瓦特型六杆机构,此仿生机器人外形结构(腿的粗细,关节的位置)与黑斑蛙腿部结构高度相似,各关节(膝关节、踝关节、末端点)运动曲线与黑斑蛙游泳过程高度相似。通过驱动电机的回转运动转化为驱动齿条的移动副的往返移动,然后驱动腿部执行机构,可做连续运动,从而实现高速运动。通过转向电机带动转向浆实现转向,让游泳机器人更加灵活。此机器人驱动少,控制简单方便,可实现机器人微型化。其结构简单、制作方便、成本低、仿生效果好,可用于水文监测,海洋探索,水下侦察等多种任务。(The invention discloses a bionic rana nigromaculata swimming robot, which comprises a leg execution mechanism and a driving and controlling mechanism. The execution mechanism adopts a single-degree-of-freedom watt-shaped six-rod mechanism, the shape structure (leg thickness and joint position) of the bionic robot is similar to the leg structure of the rana nigromaculata, and the motion curve of each joint (knee joint, ankle joint and tail end point) is similar to the swimming process of the rana nigromaculata. The rotary motion of the driving motor is converted into the reciprocating motion of the moving pair driving the rack, and then the leg actuating mechanism is driven to do continuous motion, so that high-speed motion is realized. The steering motor drives the steering paddle to realize steering, so that the swimming robot is more flexible. The robot has less driving, simple and convenient control and can realize the miniaturization of the robot. The bionic space-saving device has the advantages of simple structure, convenience in manufacturing, low cost and good bionic effect, and can be used for various tasks such as hydrological monitoring, ocean exploration and underwater reconnaissance.)

1. A bionic rana nigromaculata swimming robot comprises a leg execution mechanism (1) and a driving and controlling mechanism (2);

leg actuator (1) comprising: the device comprises a gear driving connecting rod (1-1), a leg base (1-2), a thigh connecting rod (1-3), a shank connecting rod (1-4), a shank connecting rod (2 (1-5) and a foot connecting rod (1-6); the connection relationship of each component and equipment is as follows: the leg bases (1-2) at the two sides are fixedly connected with the lower supporting plate (2-2); hinge points of the gear driving connecting rod (1-1) close to the trunk part are connected between the leg base (1-2) and the upper supporting plate (2-3) through shafts to form rotary pairs, two hinge points far away from the trunk part are respectively connected to the shank connecting rod (1-4) and the shank connecting rod (2-5) through shafts to form two rotary pairs, and the extended gears are matched with the driving rack (2-1) to obtain driving force through the driving rack (2-1); the hinge point of the thigh connecting rod (1-3) close to the trunk is connected to the leg base (1-2) through a shaft, and the hinge point far away from the trunk is connected to the shank connecting rod (2 (1-5) through a shaft; the shank connecting rods 2(1-5) are respectively connected with the foot connecting rods (1-6), the gear driving connecting rods (1-1) and the thigh connecting rods (1-3) through shafts; the shank connecting rod 1(1-4) is respectively connected with the gear driving connecting rod (1-1) and the foot connecting rod (1-6) through shafts;

drive and control mechanism (2) comprising: the device comprises a driving rack (2-1), a lower supporting plate (2-2), an upper supporting plate (2-3), a driving motor (2-4), a driving motor support (2-5), a speed reducer (2-6), a driving flange (2-7), a supporting column (2-8), an optical sensor support (2-9), an optical sensor (2-10), a control system part (2-11), a flange upper driving rod (2-12), a shell (2-13), a steering motor support (2-14), a steering motor (2-15), a coupler (2-16), a steering pulp support (2-17) and a steering pulp (2-18); the connection relationship of each component is as follows: the lower supporting plate (2-2) and the upper supporting plate (2-3) are connected through a supporting column (2-8) to form a trunk framework of the robot; the driving rack (2-1) is arranged between the lower supporting plate (2-2) and the upper supporting plate (2-3) and is matched with the lower supporting plate (2-2) and the upper supporting plate (2-3) through a guide rail and a guide groove to form a moving pair; the driving motor bracket (2-5) is fixedly connected to the upper supporting plate (2-3) through a bolt; the speed reducer (2-6) is fixedly connected to the driving motor bracket (2-5) through a bolt and is matched with the driving motor (2-4) through a shaft to obtain the torque of the motor; the driving motor (2-4) is fixedly connected to the speed reducer (2-6) and provides torque for the speed reducer; the control system part (2-11) is connected to the upper support plate (2-3) and is used for processing external information and controlling the robot; the optical sensor bracket (2-9) is connected to the upper supporting plate (2-3); the optical sensors (2-10) are fixedly connected to the optical sensor supports (2-9) and used for acquiring external data and feeding back the external data to the controller; the driving flange plate (2-7) is connected to an output shaft of the speed reducer (2-6) to obtain the torque of the speed reducer (2-6); the flange plate upper driving rod (2-12) is fixedly connected to the driving flange plate (2-7) and is matched with the driving rack (2-1) to drive the driving rack (2-1) to move; the steering motor bracket (2-14) and the steering paddle bracket (2-17) are connected to the lower supporting plate (2-2) through bolts; the steering motor (2-15) is fixedly connected to the steering motor bracket (2-14) through a bolt; the steering paddle (2-18) is connected to the steering motor (2-15) through a coupling (2-16) and is supported through a steering paddle support (2-17);

the driving rack (2-1) comprises a rack main body (2-1-1), a driving groove (2-1-2) and a guide boss (2-1-3); the driving groove (2-1-2) is fixedly connected to the rack main body (2-1-1) and used for acquiring power provided by the driving rod (2-12) on the flange plate; the guide boss (2-1-3) is fixedly connected to the rack main body (2-1-1) and is matched with the lower supporting plate (2-2) and the upper supporting plate (2-3) to play a guiding role.

2. The bionic rana nigromaculata swimming robot as claimed in claim 1, wherein the robot has a shape structure and a motion curve height similar to the rana nigromaculata swimming process; a knee joint motion curve (3-1) of the swimming robot; an ankle joint motion curve (3-2); end point motion curve (3-3).

3. The robot as claimed in claim 1, wherein the robot is transformed into a moving pair driving a rack by the rotation of a driving motor, and then drives a leg actuator to make continuous motion at high speed.

4. The robot as claimed in claim 1, wherein the robot is steered by a steering motor driving a steering paddle.

Technical Field

The invention belongs to the field of swimming robots, and relates to a bionic rana nigromaculata swimming robot, in particular to a robot simulating the swimming of rana nigromaculata in water, which strictly simulates the appearance of the rana nigromaculata, the motion curves of knee joints, ankle joints and tail end points, strictly simulates the motion process of the rana nigromaculata, and adopts the rotation motion of a motor to be converted into the motion of a rack so as to drive the motion of legs, so that the continuous motion of the legs is realized, and the robot can realize the rapid motion. And the robot is more flexible by adopting a steering mechanism.

Background

The swimming robot can replace a person to complete various complex tasks underwater, can perform underwater reconnaissance and hydrological observation underwater, measures water temperature, water depth and water quality, and has important significance for exploring ocean and river observation. And the damage of the robot to the environment is reduced as much as possible by adopting a bionic structure. Therefore, a swimming robot with simple control, low cost, light weight and good bionic effect is needed.

For the design of the existing bionic swimming robot, the invention patent of CN104192288B, namely a frog-simulated swimming robot driven by Keqian pneumatic muscles, adopts three pneumatic muscles to drive, realizes high-flexibility control, but has great control difficulty and difficulty in miniaturization of the robot.

Aiming at the problems in the design, the bionic rana nigromaculata swimming robot is designed, can realize high-speed movement and can finish various underwater tasks on the premise of ensuring simple structure, convenient control and small size, and the robot highly imitates the posture and the motion curve of each joint when rana nigromaculata swims to realize high bionic.

Disclosure of Invention

The invention aims to provide a bionic rana nigromaculata swimming robot which comprises a leg execution mechanism (1) and a driving and controlling mechanism (2).

Leg actuator (1) comprising: the device comprises a gear driving connecting rod (1-1), a leg base (1-2), a thigh connecting rod (1-3), a shank connecting rod (1-4), a shank connecting rod (2 (1-5) and a foot connecting rod (1-6); the connection relationship of each component and equipment is as follows: the leg bases (1-2) at the two sides are fixedly connected with the lower supporting plate (2-2); hinge points of the gear driving connecting rod (1-1) close to the trunk part are connected between the leg base (1-2) and the upper supporting plate (2-3) through shafts to form rotary pairs, two hinge points far away from the trunk part are respectively connected to the shank connecting rod (1-4) and the shank connecting rod (2-5) through shafts to form two rotary pairs, and the extended gears are matched with the driving rack (2-1) to obtain driving force through the driving rack (2-1); the hinge point of the thigh connecting rod (1-3) close to the trunk is connected to the leg base (1-2) through a shaft, and the hinge point far away from the trunk is connected to the shank connecting rod (2 (1-5) through a shaft; the shank connecting rods 2(1-5) are respectively connected with the foot connecting rods (1-6), the gear driving connecting rods (1-1) and the thigh connecting rods (1-3) through shafts; the shank connecting rod 1(1-4) is respectively connected with the gear driving connecting rod (1-1) and the foot connecting rod (1-6) through shafts;

drive and control mechanism (2) comprising: the device comprises a driving rack (2-1), a lower supporting plate (2-2), an upper supporting plate (2-3), a driving motor (2-4), a driving motor support (2-5), a speed reducer (2-6), a driving flange (2-7), a supporting column (2-8), an optical sensor support (2-9), an optical sensor (2-10), a control system part (2-11), a flange upper driving rod (2-12), a shell (2-13), a steering motor support (2-14), a steering motor (2-15), a coupler (2-16), a steering pulp support (2-17) and a steering pulp (2-18); the connection relationship of each component is as follows: the lower supporting plate (2-2) and the upper supporting plate (2-3) are connected through a supporting column (2-8) to form a trunk framework of the robot; the driving rack (2-1) is arranged between the lower supporting plate (2-2) and the upper supporting plate (2-3) and is matched with the lower supporting plate (2-2) and the upper supporting plate (2-3) through a guide rail and a guide groove to form a moving pair; the driving motor bracket (2-5) is fixedly connected to the upper supporting plate (2-3) through a bolt; the speed reducer (2-6) is fixedly connected to the driving motor bracket (2-5) through a bolt and is matched with the driving motor (2-4) through a shaft to obtain the torque of the motor; the driving motor (2-4) is fixedly connected to the speed reducer (2-6) and provides torque for the speed reducer; the control system part (2-11) is connected to the upper support plate (2-3) and can process external information and control the robot; the optical sensor bracket (2-9) is connected to the upper supporting plate (2-3); the optical sensors (2-10) are fixedly connected to the optical sensor supports (2-9) and used for acquiring external data and feeding back the external data to the controller; the driving flange plate (2-7) is connected to an output shaft of the speed reducer (2-6) to obtain the torque of the speed reducer (2-6); the flange plate upper driving rod (2-12) is fixedly connected to the driving flange plate (2-7) and is matched with the driving rack (2-1) to drive the driving rack (2-1) to move; the steering motor bracket (2-14) and the steering paddle bracket (2-17) are connected to the lower supporting plate (2-2) through bolts; the steering motor (2-15) is fixedly connected to the steering motor bracket (2-14) through a bolt; the steering paddle (2-18) is connected to the steering motor (2-15) through a coupling (2-16) and is supported through a steering paddle support (2-17);

the driving rack (2-1) comprises a rack main body (2-1-1), a driving groove (2-1-2) and a guide boss (2-1-3); the driving groove (2-1-2) is fixedly connected to the rack main body (2-1-1) and used for acquiring power provided by the driving rod (2-12) on the flange plate; the guide boss (2-1-3) is fixedly connected to the rack main body (2-1-1) and is matched with the lower supporting plate (2-2) and the upper supporting plate (2-3) to play a guide role;

according to the bionic rana nigromaculata swimming robot, as shown in figure 10, in the moving process, the knee joint motion curve (3-1), the ankle joint motion curve (3-2) and the terminal point motion curve (3-3) of the swimming robot are similar to the motion curves of all joints when rana nigromaculata swims;

the invention has the advantages that:

1. the invention provides a bionic rana nigromaculata swimming robot, which is similar to the rana nigromaculata swimming process in appearance structure and motion curve height.

2. The bionic rana nigromaculata swimming robot can realize high-speed movement, is simple and convenient to control, and is less in driving.

3. The bionic rana nigromaculata swimming robot provided by the invention is converted into a moving pair for driving a rack through the rotary motion of a driving motor, and then drives a leg execution mechanism to perform high-speed continuous motion.

4. The bionic rana nigromaculata swimming robot provided by the invention drives the steering paddle to realize steering through the steering motor, so that the swimming robot is more flexible.

The bionic rana nigromaculata swimming robot has the advantages of simple structure, simplicity in manufacturing, good bionic effect, low cost and no matter the shape or the effect of the robot is close to that of rana nigromaculata.

Drawings

FIG. 1 is a schematic view of the whole bionic Rana nigromaculata swimming robot;

FIG. 2 is an overall throwing view of the bionic rana nigromaculata swimming robot in the invention;

FIG. 3 is a schematic view of the bionic Rana nigromaculata swimming robot in an unfolded state of a core skeleton-leg executing mechanism;

FIG. 4 is a schematic diagram showing the contraction state of the core skeleton-leg executing mechanism of the bionic rana nigromaculata swimming robot in the invention;

FIG. 5 is a schematic diagram of a leg executing mechanism of the bionic rana nigromaculata swimming robot in the invention;

FIG. 6 and FIG. 7 are schematic views of the driving and controlling mechanism of the bionic rana nigromaculata swimming robot in the invention;

FIG. 8 is a schematic structural view of a driving rack of the bionic rana nigromaculata swimming robot in the invention;

FIG. 9 is a schematic diagram of the motor and the driving rack of the bionic rana nigromaculata swimming robot in the invention;

FIG. 10 is a schematic view of the motion curves of the joints of the bionic rana nigromaculata swimming robot in the invention;

in the figure:

1-a leg actuator; 2-drive and control mechanisms;

1-1-gear drive link; 1-2-leg base; 1-3-thigh links; 1-4-shank link 1; 1-5-shank link 2; 1-6-foot link;

2-1-driving the rack; 2-2-lower support plate; 2-3-upper supporting plate; 2-4-driving the motor; 2-5-driving the motor support; 2-6-speed reducer; 2-7-a drive flange; 2-8-support column; 2-9-optical sensor mount; 2-10-optical sensors; 2-11-control system part; 2-12-driving rod on the flange; 2-13-shell; 2-14-steering motor support; 2-15-steering motor; 2-16-coupler; 2-17-a steering paddle mount; 2-18-steering paddle;

2-1-1-rack body; 2-1-2-drive grooves; 2-4-3-guiding boss;

3-1-knee joint motion curve; 3-2-ankle joint motion curve; 3-3-terminal point motion curve;

Detailed Description

The present invention will be described below with reference to the drawings and examples, but the present invention is not limited to the following examples.

Example 1

Referring to fig. 1, 2, 3 and 4, the bionic rana nigromaculata swimming robot comprises a leg execution mechanism (1) and a driving and controlling mechanism (2);

referring to fig. 3, 4 and 5, the leg actuator (1) of the bionic rana nigromaculata swimming robot comprises: the device comprises a gear driving connecting rod (1-1), a leg base (1-2), a thigh connecting rod (1-3), a shank connecting rod (1-4), a shank connecting rod (2 (1-5) and a foot connecting rod (1-6); the device mainly provides forward thrust for the swimming robot through a connecting rod mechanism;

referring to fig. 3, 4, 6, and 7, the driving and controlling mechanism (2) of the bionic rana nigromaculata swimming robot includes: the device comprises a driving rack (2-1), a lower supporting plate (2-2), an upper supporting plate (2-3), a driving motor (2-4), a driving motor support (2-5), a speed reducer (2-6), a driving flange (2-7), a supporting column (2-8), an optical sensor support (2-9), an optical sensor (2-10), a control system part (2-11), a flange upper driving rod (2-12), a shell (2-13), a steering motor support (2-14), a steering motor (2-15), a coupler (2-16), a steering pulp support (2-17) and a steering pulp (2-18); mainly converts the rotation of the driving motor (2-4) into the reciprocating movement of the rack, thereby driving the leg actuating mechanism (1). The optical sensor (2-10) and the control system part (2-11) mainly collect external environment information, process the information and use each motor. The steering motor (2-15) drives the steering paddle (2-18) to provide steering force for the robot.

Referring to fig. 8 and 9, the driving rods (2-12) on the flange plate are matched with the driving grooves (2-1-2) on the driving rack (2-1) to form a main transmission mechanism of the bionic rana nigromaculata swimming robot, and the rotation motion of the motor is converted into the translation motion of the driving rack to realize the driving of the leg executing mechanism (1).