CN104723814B - Amphibious multi-foot robot achieving coupling drive of foot paddles - Google Patents
Amphibious multi-foot robot achieving coupling drive of foot paddles Download PDFInfo
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- CN104723814B CN104723814B CN201510093183.0A CN201510093183A CN104723814B CN 104723814 B CN104723814 B CN 104723814B CN 201510093183 A CN201510093183 A CN 201510093183A CN 104723814 B CN104723814 B CN 104723814B
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Abstract
The invention discloses an amphibious multi-foot robot achieving coupling drive of foot paddles. The robot comprises a body, swimming paddle units and walking foot units, wherein the body comprises an upper structural plate and a lower structural plate, the walking foot units are fixed between the upper structural plate and the lower structural plate and symmetrically arranged on the two sides of the body in three groups in the shape of stars, and the swimming paddle units are symmetrically installed at the tail end of the lower structural plate. According to the robot of the structure, the robot can directly go into water without the need of sealing measures, the land state and the underwater state can be directly switched, and the environmental adaptive capacity can be greatly improved.
Description
Technical field
The invention belongs to amphibious robot field, and in particular to the amphibious multi-foot robot of sufficient oar coupling driving.
Background technology
According to the difference of propulsion mode, robot can be classified as wheeled, three class of crawler type and sufficient formula.Wheeled robot and
Caterpillar type robot stably can be moved at a high speed on flat continuous road surface, but wants robot really to put into actual answering
With in, what its environment to be faced obviously will be complicated is more.Real natural environment is complicated and changeable, in order to adapt to this non-structural
Environment, under constantly exploring, the mankind have developed legged type robot based on bionical.The discrete foothold of legged type robot is big
Improve greatly adaptive capacity to environment.Bionical legged type robot is quickly grown in recent years, and people have developed four-footed, six foots, eight foots
Even five biped robots, type of drive not only include traditional module drive, hydraulic-driven, or even have pneumatic propulsion and memory to close
Gold driving etc..
With the rising of "Oceanic" strategy status and researching value, robot is gradually applied to ocean exploration.It is domestic at present
The underwater robot motion mode of outer research mainly includes swimming and creeping, but is confined to shallow water and deep water sea area, for sea
Very Shallow Water, breaker zone, surfzone and beach area that ocean is connected with land, its performance capacity are barely satisfactory；Land application
Robot even more feels simply helpless.
Bulk packaging type waterproof sealing is adopted conventional machines Eriocheir sinensiss more, i.e., it is anti-when last layer is worn to robot before water under robot
Water rubber coat.When robot is in deep water, the sealing coat of this kind of sealing means is subject to hydraulic pressure effect that serious change can occur
Shape, so as to limit the movement travel of joint of robot, and rubber coat is highly prone to the corrosion of sea water, cracky leak；
Under water still using the two-dimensional space motion mode creeped, inefficiency is affected larger by medium factor, is not suitable as water
Lower carrying platform.
The content of the invention
An object of the present invention is to solve an above-mentioned difficult problem, there is provided it is a kind of with biological Portunustrituberculatuss be bionical prototype with compared with
Strong performance capacity and mobility and the amphibious multi-foot robot of the sufficient oar coupling driving of preferable stability and obstacle climbing ability.
The present invention provides a kind of amphibious multi-foot robot of sufficient oar coupling driving, including trunk, swimming oar unit and walking
Foot unit；The trunk includes structural slab and lower structural slab；The walking foot unit be fixed on the upper structural slab with it is described
Between lower structural slab, divide three groups of both sides for being arranged symmetrically in the trunk in star；The swimming oar unit is symmetrically mounted on institute
State the end of lower structural slab.
Further, the trunk also includes connector, floating drum and seal case, the upper structural slab and the lower structure
Plate is fixed together using the connector uniform therebetween, and the seal case is located at the central authorities of the trunk, passes through
The upper structural slab, is fixed on the lower structural slab via fixed mount；The seal case includes power-supply system, control system
With buoyancy regulating system and watertight connector；The both sides of the seal case are machined with for placing watertight connector and pump entrance pipe
The installing hole in road, the seal case top are machined with observation port and aeration equipments connecting hole, and the floating drum is arranged in described close
Joint sealing body both sides, are fixed on the upper structural slab.
Further, the buoyancy regulating system includes water pump, electromagnetic valve, floating drum, water pocket and water pipe；The one of the water pump
End is in communication with the outside, and the other end is connected with electromagnetic valve, and the outlet of the electromagnetic valve connects the water pocket, and the water sac sealing is in institute
State in floating drum.
Further, it is described swimming oar unit include swim oar joint drive motor, support, shake transmission mechanism, truss,
Quasi-truss, rotating mechanism, long fin and empennage, each joint are sequentially connected in series, by the swimming oar joint drive Motor drive, described
Swimming oar joint drive motor is each attached on respective support；The swimming oar joint drive motor includes：Swimming oar first is closed
Section motor, swimming oar second joint motor, swimming the 3rd joint motor of oar and swimming the 4th joint drive of oar
Motor；The shake transmission mechanism includes module piece, jack back, firmware, transferring member, slide block and turning set, the module piece
Together with one end is connected firmly with swimming oar the first joint drive motor output end, the fixed slide block of the other end, the turning set
It is inserted and secured on the lower structural slab, the rotating mechanism includes the jack back and transferring member；The jack back and institute
State transferring member to insert from the two ends of the turning set respectively, and link together, the transferring member is fixed on the truss.
Further, swimming oar the first joint drive motor is fixed on the lower structural slab via the support；
The output shaft of the swimming oar second joint motor is connected with module disk, and is arranged on the truss, and the other end is then
It is inserted in bearing row and forms rotation pair；Swimming the 3rd joint motor of oar and the swimming oar second joint motor
Output shaft is arranged vertically, and both are linked together by respective support, swimming the 3rd joint motor outfan of oar
It is connected via the module disk and the quasi-truss, the other end is formed by bearing and rotates secondary；It is fixed on the quasi-truss
Swimming the 4th joint drive motor of oar, its outfan and module arms are fixed together, and the two ends of the module arms respectively connect
A connecting rod is connect, the other end and the empennage of the connecting rod form hinge, and the quasi-truss is linked together with long fin, the length
The end of fin is formed via the bearing of insertion with the empennage and rotates secondary.
Further, described walking foot unit includes walking joints of foot, walking leg joint drive module, support and tibia
Piece；The walking leg joint drive motor, support and tibia piece are fixed together；The walking joints of foot includes walking leg first
Joint, the 3rd joint of walking leg second joint and walking leg, and be sequentially connected in series and form, each joint is by walking leg joint drive motor
Drive；The walking leg joint drive motor includes walking leg the first joint drive motor, walking leg second joint motor
And the 3rd joint motor of walking leg；The walking leg joint drive motor is each attached on respective support.
Further, the first joint drive of walking leg motor is connected with the upper structural slab by module disk, institute
State and add pad between support and the lower structural slab；The walking leg second joint driving motor output shaft and the walking leg
First joint drive motor output shaft is arranged vertically, and the two is linked together by respective support；The walking leg SAN GUAN
Section motor and the walking leg second joint driving motor output shaft are arranged in parallel, and the two is simultaneously connected by the meropodium piece of both sides
It is connected together, the outfan of the 3rd joint motor of the walking leg is fixed together with module disk, the module disk
It is connected with the meropodium piece.
The beneficial effects of the present invention is：The robot that the present invention is provided, land, submerged condition directly can switch, greatly
Improve greatly adaptive capacity to environment.Exclusive swimming paddle structure extremely press close to Bio-ontology, largely can imitate
The characteristics of motion of biological Portunustrituberculatuss swimming oar, it is possible to use multiple degrees of freedom swimming oar flexibly controls the underwater attitude of robot and fortune
It is dynamic, the tradition unicity that multi-foot robot water-bed can only be creeped under water is solved, underwater 3 D space motion is realized.Simultaneously should
Robot inherits the superior land walking ability of conventional multi-foot robot, can realize that the bottom is climbed using swimming oar and walking leg
Swim in row, water and sufficient oar coupling driving " scrunch-move about ", enrich the motion mode of amphibious robot.Motor pattern it is many
Sampleization not only causes the robot to have the characteristic of underwater robot and land robot concurrently, and for broken to special shoal
Unrestrained band, Very Shallow Water, shoal area also possess good exploring ability.
Description of the drawings
Fig. 1 show Fang Xie robots overall structure side view.
Fig. 2 show Fang Xie robots overall structure axonometric drawing.
Fig. 3 show walking leg structure front view.
Fig. 4 show swimming paddle structure axonometric drawing.
Fig. 5 show swimming oar crank swinging structure partial sectional view.
Fig. 6 show buoyancy regulating system structure chart.
Fig. 7 show swimming oar joint motions figure.
Fig. 8 show the travelling schematic diagram of robot advance.
Fig. 9 show robot and scrunches-move about schematic diagram.
Specific embodiment
The specific embodiment of the invention is described in detail below in conjunction with concrete accompanying drawing.It should be noted that in following embodiments
The combination of the technical characteristic or technical characteristic of description is not construed as isolated, and they can be mutually combined so as to reach
To superior technique effect.In the accompanying drawing of following embodiments, the identical label that each accompanying drawing occurs represent identical feature or
Person's part, can be applicable in different embodiments.
Fig. 1 show Fang Xie robots overall structure side view.
Fig. 2 show Fang Xie robots overall structure axonometric drawing.
Fig. 3 show walking leg structure front view.
Fig. 4 show swimming paddle structure axonometric drawing.
Fig. 5 show swimming oar crank swinging structure partial sectional view.
Fig. 6 show buoyancy regulating system structure chart.
Fig. 7 show swimming oar joint motions figure.
Fig. 8 show the travelling schematic diagram of robot advance.
Fig. 9 show robot and scrunches-move about schematic diagram.
As shown in Figure 1-2, the present invention provides a kind of amphibious multi-foot robot of sufficient oar coupling driving, including trunk 100, trip
Swimming oar unit 200 and walking foot unit 300；The trunk 100 includes structural slab 101 and lower structural slab 102；The walking leg
Unit 300 is fixed between the upper structural slab 101 and the lower structural slab 102, in star points three groups be arranged symmetrically in it is described
The both sides of trunk 100；The swimming oar unit 200 is symmetrically mounted on the end of the lower structural slab 102.
Further, the trunk 100 also includes connector 103, floating drum 104 and seal case 105, the upper structural slab
101 and the lower structural slab 102 be fixed together using the connector 103 uniform therebetween, the seal case 105
Positioned at the central authorities of the trunk 100, through the upper structural slab 101, the lower structural slab 102 is fixed on via fixed mount 106
On；The both sides of the seal case 105 are machined with the installing hole for placing watertight connector 109 and pump entrance pipeline, described
105 top of seal case is machined with observation port and aeration equipments connecting hole, and the floating drum 104 is arranged in the seal case 105
Both sides, are fixed on the upper structural slab 101.
Further, as shown in fig. 6, the buoyancy regulating system 120 includes water pump 121, electromagnetic valve 122, floating drum 104,
Water pocket 124 and water pipe 125；One end of the water pump 121 is in communication with the outside, and the other end is connected with electromagnetic valve 122, the electromagnetic valve
122 outlet connects the water pocket 124, and the water pocket 124 is sealed in the floating drum 104.
Further, as illustrated in figures 4-5, the swimming oar unit 200 includes swim oar joint drive motor, swimming oar
Frame 201, shake transmission mechanism, truss 203, quasi-truss 204, rotating mechanism, long fin 206 and empennage 207, each joint is gone here and there successively
Connection, by the swimming oar joint drive Motor drive, the swimming oar joint drive motor is fixed on the swimming oar support 201
On；The swimming oar joint drive motor includes：Swimming the first joint drive of oar motor 211, swimming oar second joint drive electricity
Machine 212, swimming the 3rd joint motor 213 of oar and swimming the 4th joint drive motor 214 of oar；The shake transmission mechanism bag
Include module piece, jack back 222, firmware 223, transferring member 224, slide block 225 and turning set 226, one end and the trip of the module piece
211 outfan of swimming the first joint drive of oar motor is connected firmly together, the fixed slide block 225 of the other end, the turning set 226
It is inserted and secured in the firmware 223 on the lower structural slab 102, the rotating mechanism includes the jack back 222 and described
Transferring member 224；The jack back 222 and transferring member 224 are inserted from the two ends of the turning set 226 respectively, and are linked together,
The transferring member 224 is fixed on the truss 203.
Further, swimming the first joint drive of oar motor 211 is fixed on described via the swimming oar support 201
On lower structural slab 102；212 output shaft of swimming oar second joint motor is connected with module disk 304, and is arranged on institute
State on truss 203, the other end is then inserted in bearing row and forms rotation pair；Swimming the 3rd joint motor 213 of oar and described
The output shaft of swimming oar second joint motor 212 is arranged vertically, and both are connected to one by respective swimming oar support 201
Rise, 213 outfan of the 3rd joint motor of the swimming oar is connected via the module disk 304 and the quasi-truss 204,
The other end is formed by bearing 209 and rotates secondary；Fixed swimming the 4th joint drive motor of oar on the quasi-truss 204
214, its outfan and module arms 202 are fixed together, each piece connecting rod 227 of connection in the two ends of the module arms 202, the company
The other end of bar 227 forms hinge with empennage 207, and the quasi-truss 204 is linked together with long fin 206, the long fin
206 end is formed via the bearing 209 of insertion with the empennage 207 and rotates secondary.
Further, as Figure 2-3, described walking foot unit 300 includes walking joints of foot, walking leg joint drive
Motor, support 301 and tibia piece 302；The walking leg joint drive motor, walking foot support 301 and tibia piece 302 are fixed on
Together；The walking joints of foot includes the 3rd joint of the first joint of walking leg 311, walking leg second joint 312 and walking leg
313, and be sequentially connected in series and form, each joint is by the walking leg joint drive Motor drive；The walking leg joint drive motor
Including the first joint drive of walking leg motor 321, walking leg second joint motor 322 and the 3rd joint drive of walking leg electricity
Machine 323；The walking leg joint drive motor is each attached on respective support 301.
Further, the first joint drive of walking leg motor 321 passes through module disk 304 and the upper structural slab
101 connections, add pad 305 between the support 301 and the lower structural slab 102；The walking leg second joint drives electricity
322 output shaft of machine and 321 output shaft of the first joint drive of walking leg motor are arranged vertically, and the two passes through respective support
301 are closely joined together；The 3rd joint motor 323 of the walking leg and the walking leg second joint motor
322 output shafts are arranged in parallel, and the two is simultaneously linked together by the meropodium piece 303 of both sides, the 3rd joint drive of the walking leg
The outfan of motor 323 is fixed together with module disk 304, and the module disk 304 is connected with the meropodium piece 303.
Specific embodiment：
The amphibious multi-foot robot of the present invention can realize the land crawling exercise under amphibious environment, float in water
Trip, scrunches in water-bed crawling exercise or water-moves about.
During work, swimming the first joint drive of oar motor can make swimming oar or so roll with 211, and swimming oar second joint drives
Galvanic electricity machine can make swimming oar rock back and forth with 212, and swimming the 3rd joint motor 213 of oar makes swimming oar flapping motion, swims
The 4th joint drive motor 214 of oar makes empennage 207 rock back and forth, and each joint of series connection will be moved and be transmitted successively, finally produce class
Like the compound motion that biological Portunustrituberculatuss swimming oar is flapped.By the phase contrast for controlling each joint motions, can produce it is different under water
Power effect.
As shown in Figure 7,8, swim in water：Robot is moved about when advancing in water, and walking foot unit 300 is with body into cone
Shape, reduces travelling resistance, and four joints swum in oar unit 200 are realized rocking from side to side successively, slide anteroposterior, flapping motion,
Horizontally slip, each motion coupling, the hydrodynamic force of generation promote robot to move about forward.When travelling forward, two for being arranged symmetrically
Individual swimming oar unit 200 is flapped the hydrodynamic force of generation, and propulsion force component is overlapped mutually, and lateral force component is cancelled out each other, lift point
In amount a cycle, meansigma methodss are zero.When leg stroke forward suddenly, can urgent reduction of speed.
As shown in figure 9, scrunching in water-moving about：Robot is slightly larger than buoyancy with the pattern advance that scrunches-move about, now gravity；
Initial time, leg joint are stretched by initial case of bending rapidly, and toe is subject to the counteracting force on ground to make robot upwards
Motion, oar unit 200 of now swimming are flapped the hydrodynamic force produced based on lift, and oar unit 200 of swimming afterwards changes motion rule
Rule, based on propulsive force, robot enters travelling state to hydrodynamic force, 300 joint motions of walking foot unit to level position to the rear,
Robot advances；Due to action of gravity, robot final subsidence, now due to the effect of buoyancy, reduce rushing for robot landing
Hit, walking foot unit 300 stretches；While landing, walking foot unit 300 second and the 3rd joint are gradually become again by extended configuration
Case of bending, is saved up strength again, starts next circulation.
The robot that the present invention is provided, can directly switch land, underwater exercise state, substantially increase its environment and adapt to
Ability.Exclusive swimming paddle structure be sufficiently close to biological structure prototype, can largely mimic biology Portunustrituberculatuss swimming
The characteristics of motion of foot, reaches the underwater attitude of control robot and motion, solves in the past that multi-foot robot can only water under water
The defect that bottom is creeped, realizes underwater 3 D space motion.The robot inherits the superior land row of conventional Fang Xie robots
Technical ability is walked, by realizing that the bottom is creeped, moved about in water and sufficient oar coupling driving " is scrunched-swum with the use of swimming oar and walking leg
It is dynamic ", enrich the motion mode of amphibious robot.The variation of motor pattern not only causes the robot to have underwater robot concurrently
With the characteristic of land robot, and also possess good exploration energy for special shoal breaker zone, Very Shallow Water, shoal area
Power.
Although having been presented for some embodiments of the present invention herein, it will be appreciated by those of skill in the art that
Without departing from the spirit of the invention, the embodiments herein can be changed.Above-described embodiment be it is exemplary, no
Should be using the embodiments herein as the restriction of interest field of the present invention.
Claims (5)
1. a kind of amphibious multi-foot robot of sufficient oar coupling driving, it is characterised in that including trunk, swimming oar unit and walking leg
Unit；The trunk includes structural slab and lower structural slab；The walking foot unit be fixed on the upper structural slab with it is described under
Between structural slab, divide three groups of both sides for being arranged symmetrically in the trunk in star；The swimming oar unit is symmetrically mounted on described
The end of lower structural slab；The swimming oar unit includes swim oar joint drive motor, support, shake transmission mechanism, truss, class
Truss, rotating mechanism, long fin and empennage, each joint are sequentially connected in series, by the swimming oar joint drive Motor drive, the trip
Swimming oar joint drive motor is each attached on respective support；The swimming oar joint drive motor includes：The first joint of swimming oar
Motor, swimming oar second joint motor, swimming the 3rd joint motor of oar and swimming oar the 4th joint drive electricity
Machine；The shake transmission mechanism includes module piece, jack back, firmware, transferring member, slide block and turning set, the one of the module piece
Together with end is connected firmly with swimming oar the first joint drive motor output end, the fixed slide block of the other end, the rotation inserting
Enter and be fixed on the lower structural slab, the rotating mechanism includes the jack back and transferring member；The jack back and described
Transferring member is inserted from the two ends of the turning set respectively, and is linked together, and the transferring member is fixed on the truss；It is described
Swimming oar the first joint drive motor is fixed on the lower structural slab via the support；The swimming oar second joint drives
The output shaft of motor is connected with module disk, and is arranged on the truss, and the other end is then inserted in the formation of bearing row and rotates secondary；Institute
The output shaft for stating swimming the 3rd joint motor of oar and the swimming oar second joint motor is arranged vertically, and both pass through
Respective support links together, and swimming the 3rd joint motor outfan of oar is via the module disk and the class
Truss is connected, and the other end is formed by bearing and rotates secondary；Fixed swimming the 4th joint drive of oar on the quasi-truss
Motor, its outfan and module arms are fixed together, each piece connecting rod of connection in the two ends of the module arms, the connecting rod it is another
End forms hinge with empennage, and the quasi-truss linked together with long fin, the end of the long fin and the empennage via
The bearing of insertion is formed and rotates secondary.
2. a kind of amphibious multi-foot robot of sufficient oar coupling driving as claimed in claim 1, it is characterised in that the trunk is also
Including connector, floating drum and seal case, the upper structural slab and the lower structural slab use the company uniform therebetween
Fitting is fixed together, and the seal case is located at the central authorities of the trunk, through the upper structural slab, fixes via fixed mount
On the lower structural slab；The seal case includes power-supply system, control system and buoyancy regulating system and watertight connector；Institute
The both sides for stating seal case are machined with the installing hole for placing watertight connector and pump entrance pipeline, the seal case top
Observation port and aeration equipments connecting hole are machined with, the floating drum is arranged in seal box both sides, are fixed on the upper structural slab.
3. a kind of amphibious multi-foot robot of sufficient oar coupling driving as claimed in claim 2, it is characterised in that the buoyancy is adjusted
Section system includes water pump, electromagnetic valve, floating drum, water pocket and water pipe；One end of the water pump is in communication with the outside, the other end and electromagnetic valve
Connection, the outlet of the electromagnetic valve connect the water pocket, and the water sac sealing is in the floating drum.
4. a kind of amphibious multi-foot robot of sufficient oar coupling driving as claimed in claim 1, it is characterised in that described walking
Foot unit includes walking joints of foot, walking leg joint drive motor, support and tibia piece；The walking leg joint drive motor,
Support and tibia piece are fixed together；The walking joints of foot includes the first joint of walking leg, walking leg second joint and walking
The 3rd joint of foot, and be sequentially connected in series and form, each joint is by walking leg joint drive Motor drive；The walking leg joint drive electricity
Machine includes walking leg the first joint drive motor, the 3rd joint motor of walking leg second joint motor and walking leg；
The walking leg joint drive motor is each attached on respective support.
5. a kind of amphibious multi-foot robot of sufficient oar coupling driving as claimed in claim 4, it is characterised in that the walking leg
First joint drive motor is connected with the upper structural slab by module disk, is added between the support and the lower structural slab
Pad；Walking leg second joint driving motor output shaft cloth vertical with the walking leg the first joint drive motor output shaft
Put, the two is linked together by respective support；The 3rd joint motor of the walking leg and the walking leg second are closed
Section driving motor output shaft is arranged in parallel, and the two is simultaneously linked together by the meropodium piece of both sides, the 3rd joint of the walking leg
The outfan of motor is fixed together with module disk, and the module disk is connected with the meropodium piece.
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| CN201510093183.0A CN104723814B (en) | 2015-03-02 | 2015-03-02 | Amphibious multi-foot robot achieving coupling drive of foot paddles |
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| CN201510093183.0A CN104723814B (en) | 2015-03-02 | 2015-03-02 | Amphibious multi-foot robot achieving coupling drive of foot paddles |
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| CN104723814B true CN104723814B (en) | 2017-04-12 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201509511D0 (en) | 2015-06-01 | 2015-07-15 | Imp Innovations Ltd | Robotic vehicle |
| CN106628072B (en) * | 2016-09-30 | 2019-06-11 | 哈尔滨工程大学 | A kind of bionical deep-sea unmanned submersibles of state that navigate more |
| CN106741286B (en) * | 2017-01-12 | 2024-04-05 | 南京理工大学 | Five-foot bionic robot mechanism |
| CN107351939B (en) * | 2017-07-26 | 2023-07-14 | 黑龙江工程学院 | Leg mechanism of foot robot |
| CN108945358B (en) * | 2018-07-11 | 2019-12-31 | 哈尔滨工程大学 | Underwater full hydraulic driving method for multi-legged robot |
| CN109649096A (en) * | 2018-12-17 | 2019-04-19 | 上海交通大学 | A kind of Amphibious bionics robot |
| CN110077564B (en) * | 2019-05-15 | 2021-02-05 | 河海大学常州校区 | Underwater eight-foot robot |
| CN111251797A (en) * | 2020-02-21 | 2020-06-09 | 深圳大学 | Amphibious robot |
| CN111907669B (en) * | 2020-07-08 | 2022-10-25 | 哈尔滨工程大学 | Motion mode switching mechanism and navigation climbing bionic robot applying same |
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